阅读说明：本技术 一种用于测量肘关节曲伸刚度的实验平台及测量系统 (Experiment platform and measurement system for measuring bending and stretching rigidity of elbow joint ) 是由 梁杰俊一 刘阳 熊蔡华 汪涛 孙晨露 程坤华 邓亦骁 于 2021-07-28 设计创作，主要内容包括：本发明属于关节刚度测量相关技术领域,并公开了一种用于测量肘关节曲伸刚度的实验平台及测量系统。该实验平台包括底板和设置在该底板上的大臂固定单元、小臂固定单元和驱动力单元,其中：大臂固定单元固定大臂,小臂固定单元固定小臂,大臂固定单元与小臂固定单元呈夹角设置,使得大臂和小臂固定时呈相应夹角,驱动力单元给小臂提供拉力改变小臂和大臂之间的夹角；驱动力单元包括设置在小臂固定单元两侧的定滑轮,该定滑轮上悬挂有负载,该负载与小臂固定单元通过牵引绳连接,小臂固定单元底部设置有滚轮,实现小臂正向和反向的两个方向的弯曲。通过本发明,解决刚度测量中包含小臂自重和不能两个方向弯曲的问题。(The invention belongs to the technical field related to joint rigidity measurement, and discloses an experiment platform and a measurement system for measuring elbow joint flexion and extension rigidity. This experiment platform includes the bottom plate and sets up big arm fixed unit, forearm fixed unit and the drive power unit on this bottom plate, wherein: the large arm fixing unit is used for fixing a large arm, the small arm fixing unit is used for fixing a small arm, the large arm fixing unit and the small arm fixing unit are arranged in an included angle mode, so that the large arm and the small arm are in corresponding included angles when fixed, and the driving force unit is used for providing tension for the small arm to change the included angle between the small arm and the large arm; the driving force unit comprises fixed pulleys arranged on two sides of the small arm fixing unit, loads are hung on the fixed pulleys and connected with the small arm fixing unit through a traction rope, and rollers are arranged at the bottom of the small arm fixing unit to realize bending of the small arm in the forward direction and the reverse direction. The invention solves the problems that the stiffness measurement comprises the dead weight of the forearm and the bending in two directions cannot be realized.)

1. An experiment platform for measuring the bending and stretching rigidity of an elbow joint, which is characterized by comprising a bottom plate (1), and a large arm fixing unit (2), a small arm fixing unit (3) and a driving force unit (4) which are arranged on the bottom plate, wherein:

the large arm fixing unit (2) is used for fixing a large arm, the small arm fixing unit (3) is used for fixing a small arm, the large arm fixing unit and the small arm fixing unit are arranged in an included angle mode, so that the large arm and the small arm are fixed in a corresponding included angle mode, and the driving force unit (4) is used for providing pulling force for the small arm so as to change the included angle between the small arm and the large arm;

the driving force unit (4) comprises fixed pulleys (502) arranged on two sides of the small arm fixing unit, a load (5) is hung on each fixed pulley and connected with the small arm fixing unit through a traction rope, rollers (303) are arranged at the bottom of the small arm fixing unit, and the small arm fixing unit is pulled by the aid of gravity of loads on different sides to achieve bending of the small arm in the forward direction and the reverse direction.

2. An experimental platform for measuring the flexion stiffness of the elbow joint according to claim 1, characterized in that the upper arm fixing unit (2) is rotatable on the base, and the initial angle between the upper arm and the lower arm is changed by rotating the upper arm fixing unit.

3. An experimental platform for measuring the bending stiffness of an elbow joint according to claim 2, characterized in that the upper arm fixing unit (2) comprises an upper arm base (201) and a C-shaped upper arm tray (202), the upper arm base (201) is used for fixing the upper arm fixing unit on the base plate, and the C-shaped upper arm tray (202) is used for clamping the upper arm.

4. An experimental platform for measuring the bending stiffness of elbow joint according to claim 3, characterized in that the base plate (1) is provided with a plurality of big arm mounting holes (7), and the big arm fixing unit is rotated by connecting the big arm base with different big arm mounting holes on the base plate.

5. An experimental platform for measuring the flexion stiffness of the elbow joint according to claim 3 or 4, characterized in that the C-shaped forearm tray (202) is provided with a bandage for fixing the forearm.

6. An experimental platform for measuring the bending stiffness of elbow joint according to claim 1 or 2, characterized in that the forearm fixing unit (3) comprises a forearm base (302) and a C-shaped forearm tray (301), the bottom of the forearm base is provided with the roller (303), and the C-shaped forearm tray is used for clamping the forearm.

7. The experimental platform for measuring the bending and stretching rigidity of the elbow joint as claimed in claim 6, wherein a plurality of fixed pulley mounting holes (8) are formed in the bottom plate (1), and the front and rear positions of the forearm fixing unit are adjusted by adjusting the mounting positions of the fixed pulleys, so as to adapt to different lengths of the forearm.

8. An experimental platform for measuring the flexion stiffness of the elbow joint according to claim 6 or 7, characterized in that the C-shaped forearm tray (301) is provided with a bandage for fixing the forearm.

9. An experimental platform for measuring the bending stiffness of elbow joint according to claim 1 or 2, characterized in that the base plate 1 is provided with a notch (6) through which the pulling rope passes to avoid interference with the base plate.

10. A measurement system for measuring the flexion and extension stiffness of an elbow joint, characterized in that the measurement system comprises an experimental platform according to any one of claims 1-9 and an optical motion capture device for capturing joint angle changes of the elbow joint on the experimental platform.

Technical Field

The invention belongs to the technical field related to joint rigidity measurement, and particularly relates to an experiment platform and a measurement system for measuring elbow joint flexion and extension rigidity.

Background

With the continuous improvement of the international technological level, the flexible joint is a research hotspot in the field of humanoid robots or artificial limb arms, and has the advantages of relieving collision, avoiding damage, accumulating energy, changing the force output characteristic at any time and the like. The current solutions are the following: the elastic element is connected in series, but the rigidity of the elastic element is not changed, namely, the elastic element only plays a role of an elastic driver; the medium of magneto-rheological or electro-rheological is introduced for control, but the liquid characteristics in the medium need to be completely researched; a pneumatic muscle model is utilized, but the device is too bulky; shape memory alloys are used, but the stiffness cannot be made to change at any time with its own requirements.

On the basis of structural design, it is very important to study and clarify the rigidity change form of the human elbow joint, a common method generally introduces a positioning error, a friction error, a muscle compensation error and the like, and the existing problems in measuring the rigidity of the elbow include two aspects, namely, on one hand, the measurement of the rigidity process includes the dead weight of the forearm, on the other hand, the forearm cannot bend in two directions, and only can bend in the positive direction, and the rigidity in the positive direction is measured. Therefore, an experimental platform with simple structure and capable of solving the above problems is urgently needed.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides an experimental platform and a measurement system for measuring the bending and stretching rigidity of an elbow joint, and solves the problems that the rigidity measurement comprises the dead weight of a forearm and the bending in two directions cannot be realized.

To achieve the above object, according to one aspect of the present invention, there is provided an experiment platform for measuring a flexion stiffness of an elbow joint, the experiment platform including a base plate, and an upper arm fixing unit, a lower arm fixing unit and a driving force unit provided on the base plate, wherein:

the driving force unit is used for providing pulling force for the small arm so as to change the included angle between the small arm and the large arm;

the driving force unit comprises fixed pulleys arranged on two sides of the small arm fixing unit, a load is suspended on the fixed pulleys and connected with the small arm fixing unit through a traction rope, rollers are arranged at the bottom of the small arm fixing unit, and the small arm fixing unit is pulled by gravity of loads on different sides to realize bending of the small arm in two directions, namely the forward direction and the reverse direction.

Further preferably, the large arm fixing unit is rotatable on the base, and an initial included angle between the large arm and the small arm is changed by rotating the large arm fixing unit.

Further preferably, the large arm fixing unit includes a large arm base and a C-shaped large arm tray, the large arm base is used for fixing the large arm fixing unit on the bottom plate, and the C-shaped large arm tray is used for clamping the large arm.

It is further preferable that the base plate is provided with a plurality of large arm mounting holes, and the large arm fixing unit is rotated by connecting the large arm base to different large arm mounting holes on the base plate.

Further preferably, a bandage is arranged on the C-shaped large arm tray and used for fixing the large arm.

Further preferably, the forearm fixing unit comprises a forearm base and a C-shaped forearm tray, the roller is arranged at the bottom of the forearm base, and the C-shaped forearm tray is used for clamping the forearm.

Further preferably, the bottom plate is provided with a plurality of fixed pulley mounting holes, and the front and rear positions of the small arm fixing unit are adjusted by adjusting the mounting positions of the fixed pulleys, so that the small arm fixing unit is suitable for different small arm lengths.

Further preferably, a bandage is arranged on the C-shaped forearm tray and used for fixing the forearm.

Further preferably, a notch is formed in the bottom plate 1, and the traction rope penetrates through the notch, so that the traction rope is prevented from interfering with the bottom plate.

According to another aspect of the invention, a measuring system for measuring the flexion and extension stiffness of an elbow joint is provided, the measuring system comprising the experimental platform and an optical motion capture device, wherein the optical motion capture device is used for capturing the joint angle change of the elbow joint on the experimental platform.

Generally, compared with the prior art, the technical scheme of the invention has the following beneficial effects:

1. according to the invention, the big arm and the small arm are fixed and horizontally placed through the arranged experiment platform, the influence of the dead weight of the small arm on the angle of the elbow joint in the rigidity measurement process is avoided by applying the pulling force along the direction of the small arm, and the pulling force is applied to the small arm in the forward direction and the reverse direction through the driving force units arranged on the two sides of the small arm fixing unit, so that the small arm can be bent in the forward direction and the reverse direction, and the rigidity change of the elbow joint in the two directions is measured;

2. the large arm fixing unit can rotate, the initial included angle between the large arm and the small arm can be adjusted by rotating the large arm fixing unit, and meanwhile, the position of the small arm fixing unit can also move back and forth so as to adapt to the lengths of the large arm and the small arm of different objects to be detected;

3. according to the invention, the wrist joint, the elbow joint and the shoulder joint of the human body are coplanar through the experimental platform, and the large arm is fixed, so that the small arm can only rotate around the large arm in a plane by taking the elbow joint as a center, and other muscle compensation is not introduced, thereby improving the accuracy of rigidity measurement.

Drawings

FIG. 1 is a schematic structural diagram of an experimental platform for measuring elbow joint flexion and extension stiffness constructed in accordance with a preferred embodiment of the present invention;

FIG. 2 is a schematic structural view of a large arm fixing unit constructed in accordance with a preferred embodiment of the present invention;

FIG. 3 is a schematic structural view of an forearm fixation unit constructed in accordance with a preferred embodiment of the invention;

fig. 4 is a schematic structural view of a driving force unit constructed in accordance with a preferred embodiment of the present invention;

fig. 5 is a schematic diagram of a load constructed in accordance with a preferred embodiment of the present invention.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:

1-bottom plate, 2-big arm fixing unit, 3-small arm fixing unit, 4-driving force unit, 5-load, 6-gap, 7-big arm mounting hole, 8-fixed pulley mounting hole, 201-big arm base, 202-C type big arm tray, 301-C type small arm tray, 302-small arm base, 303-roller, 501-traction rope and 502-fixed pulley.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

A platform for testing the bending and stretching rigidity of an elbow joint comprises a bottom plate 1, a large arm fixing unit 2, a small arm fixing unit 3 and a driving force unit 4.

Referring to fig. 1, in this embodiment, the bottom plate 1 is a sheet metal part, the front end notch 6 is used to prevent interference of the fixed pulley outlet rope, the fixed pulley mounting holes 8 on both sides can make the position of the small arm fixing unit 2 conform to the arm length of the tester, and the large arm mounting hole 7 in the middle is used to change different large arm fixing directions to form different initial angles with the small arm.

Referring to fig. 2, the boom fixing unit 2 includes a boom base 201 and a C-shaped boom tray 202. C type forearm tray 202 adopts 3D to print, links firmly on forearm unable adjustment base 201 through four holes in the middle and lower part, and the human forearm of available bandage fixed, forearm base 201 adopt the sheet metal component, links firmly on bottom plate 1.

Referring to fig. 3, the forearm fixing unit 3 includes a C-shaped forearm tray 301, a forearm base 302 and rollers 303, the forearm of a person is fixed in the C-shaped forearm tray 301 by a bandage, and the C-shaped forearm tray 301 is fixed on the forearm base 302 by four fixing holes at the bottom. The 4 forearm fixing rollers 303 are fixedly connected to the forearm base 302 through bottom screw holes, and can realize translational motion perpendicular to the direction of the forearm.

Referring to fig. 4, the driving force unit 4 includes a fixed pulley 502, the fixed pulley 502 is fixed on the base plate 1, the base plate is provided with a plurality of fixed pulley mounting holes 8, and the position of the forearm can be changed by changing the fixing position of the fixed pulley and the base plate 1, so as to adapt to different lengths of the forearm of the experimenter.

Referring to fig. 5, the load 5 is connected with the small arm fixing unit 3 by a traction rope 501, and different weights can be configured according to experimental requirements.

When the experiment aims at studying the change of the contraction rigidity of the elbow of the human body, the fixed pulley 502 and the traction rope 501 can be arranged on the bottom plate 1 which is deviated to the chest of the human body. When the experiment aims at studying the change of the diastolic rigidity of the elbow of the human body, the fixed pulley 502 and the traction rope 501 can be installed on the base plate 1 far away from the chest of the human body.

The premise of the embodiment is that the planes of the deltoid muscle of the shoulder, the elbow and the wrist of the human body are parallel to the ground.

When the bending and stretching rigidity of the elbow joint is measured, the measuring system is also provided with an optical motion capturing system for capturing the change of the elbow joint angle and then according to a formulaThe stiffness of the elbow joint is calculated.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.