CN108387351B - A kind of acral stiffness measurement device and its measurement method - Google Patents
A kind of acral stiffness measurement device and its measurement method Download PDFInfo
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- CN108387351B CN108387351B CN201810146719.4A CN201810146719A CN108387351B CN 108387351 B CN108387351 B CN 108387351B CN 201810146719 A CN201810146719 A CN 201810146719A CN 108387351 B CN108387351 B CN 108387351B
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0066—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by exciting or detecting vibration or acceleration
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Abstract
The invention discloses a kind of acral stiffness measurement device and measurement methods, for measuring human upper limb end poing rigidity.The device includes force-measuring module, transmission module and drive module, drive module include main shaft, support, gear drive and guide rail splice, and gear drive is engaged with the outer gear ring of support inner periphery, guide rail splice is connect with gear drive, and guide rail is provided on guide rail splice；Transmission module includes that bracket, cam mechanism and transmission connection plate, guide rail connect drive module with bracket；Force-measuring module includes sensor connecting plate, force snesor and handle, passes through the center axis connection of sensor connecting plate and transmission connection plate.Small size random motion of the amplitude variations range between 2-8mm is realized through the invention, and suitable for the acral Rigidity Experiment under different demands, and vibration frequency is adjustable, and set-up procedure is simple and easy.The invention also discloses the measurement methods of device.
Description
Technical field
The invention belongs to limbs stiffness measurement field, more particularly, to a kind of acral stiffness measurement device and its
Measurement method.
Background technique
With the arrival in industrial 4.0 epoch, man-machine collaboration technology has been to be concerned by more and more people and payes attention to, and the technology is strong
The relationship that mediator coexists with robot mutual assistance, application have been directed to the fields such as the manufacturing, medical rehabilitation, bionical, service.In people
In machine collaboration mode, under the guidance of people, auxiliary people goes to complete tired arduous or complicated work machine.Since human limb has
Spontaneous adjusting kinetic parameter is during the motion to adapt to the characteristic that external environment changes, in order to guarantee the submissive of man-machine collaboration
Property, it is desirable to system parameter can be adaptively adjusted in machine, improve sync rates using impedance adjustment.Impedance control is a kind of
In conjunction with inertia, damping, rigidity closed loop control method, compared to open ring position control, with high stability, flexibility and control
The features such as precision processed is high.Impedance control theory proposed that in the same year, it is ellipse that Mussa-Ivaldi proposes rigidity in 1985 by Hogan
Ball is theoretical, graphically to describe human upper limb rigidity characteristic, has established theoretical basis for acral stiffness measurement field.
Human limb's movement is to be carried out by myotasis bone around joint, obtains human body flesh in nineteen fifty Hill research
Meat has the characteristic of spring-like rigidity, however, the rigidity of flesh skeleton model is non-linear and can not intuitively measure, therefore,
Need to introduce a kind of limbs stiffness measurement technology.The theoretical basis of limbs stiffness measurement technology is that limbs are moved through small-scale
A spring model can be considered as in journey, meet linear relationship between limbs displacement and restoring force.
Specifically, the measurement of acral rigidity is based on a grade low amplitude vibrations, by measuring acral return
Multiple power and displacement, and then calculate end poing rigidity value.Although having multiple research institutions both at home and abroad for human body stiffness measurement skill
Art conducts a research, but presently, there are acral stiffness measurement technology be mostly based on six degree of freedom DLR mechanical arm, price is high
It is expensive, and since the kinetic model of mechanical arm introduces the factors such as coriolis force, centrifugal force, gravity, so that system has multi input
Multi output, nonlinearity, close coupling characteristic, therefore control program is complicated, it is difficult to meet the market demand.According to measurement need
Ask, need to adjust vibration amplitude and frequency under different measuring conditions, and conventionally, in mechanical arm control program into
Row modification is cumbersome and complicated.Based on the above technological deficiency and the market demand, this field needs to design a kind of cost and survey
The lower acral stiffness measurement device of difficulty and measurement method are measured, to meet the product needs and Research Requirements in each field.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of acral stiffness measurement devices
And its measurement method, by force-measuring module, the design of transmission module and drive module, by the reciprocal of the rotation of planetary gear and cam
Movement combines, and generates small size random vibration, cooperation force snesor and position sensor or captures systematic survey power and displacement data,
End poing rigidity is calculated, the technical problem for measuring acral rigidity difficulty is thus solved.
To achieve the above object, according to one aspect of the present invention, a kind of acral stiffness measurement device is provided, it should
Device includes force-measuring module, transmission module and drive module, which is characterized in that
The drive module includes main shaft and the support, gear drive and the guide rail splice that are sleeved on the main shaft,
The gear drive setting is engaged inside the support, and with the outer gear ring of the support inner periphery, the guide rail connection
The top of the gear drive is arranged in plate, and connect with the gear drive, the main shaft by with the gear
The engagement of transmission mechanism drives the gear drive and the guide rail splice to rotate together, in addition, on the guide rail splice
It is additionally provided with guide rail, for connecting the drive module and transmission module；
The transmission module include bracket, cam mechanism and transmission connection plate, the bracket by the guide rail with it is described
Guide rail splice connection, follows the guide rail splice to rotate, the cam machine while moving reciprocatingly along the guide rail
Structure is connect with the main shaft, and the top of the bracket is arranged in, and is connected for converting the transmission for the rotation of the main shaft
Fishplate bar along the guide rail direction reciprocating motion, it is described transmission connection plate be arranged in the cam mechanism top and with the cam
Mechanism connection,；
The force-measuring module includes sensor connecting plate, force snesor and handle, and the sensor connecting plate is by the power
The center axis connection of sensor and the transmission connection plate, and make the force snesor that the central axis be followed to do random vibration
Dynamic, the handle is connect with the force snesor, and it is followed to do random vibration.
It is further preferred that the gear drive includes planet carrier and three planetary gears being provided at its inner portion,
On the one hand three planetary gears are engaged with the sun gear on the main shaft, on the other hand engage with the outer gear ring of the support.
It is further preferred that the cam mechanism includes cam and cam connecting plate, the cam passes through key and the master
The bottom of axis connection, the cam connecting plate is provided with mandril, which follows along cam rail moves.
It is further preferred that the bottom of each planetary gear planet axis is provided with circlip, for described
The axially position of planet axis.
It is further preferred that center axis connection of the sensor connecting plate by screw and the transmission connection plate, institute
Transmission connection plate is stated by bearing and center axis connection, so that the sensor connecting plate only carries out the past of all directions in plane
Multiple movement is without rotating, to realize random vibration.
It is another aspect of this invention to provide that a kind of measurement method of above-mentioned acral stiffness measurement device is provided,
It is characterized in that, the measurement method includes the following steps:
(a) it is tested the acral handle for holding measuring device of object, while by the acral of tested object
Link position sensor drives the main axis of measuring device, and acral two-dimension displacement is obtained from the position sensor
X obtains the size of two-dimentional restoring force F from the force snesor of measuring device；
(b) the acral displacement x and restoring force F kinetics equation (I) are established,
Wherein, x is acral two-dimension displacement, x1And x2Respectively represent sagittal axis direction and coronal axis direction two not
Equidirectional displacement,It is speed,It is acceleration, F is acral two-dimentional restoring force, F1And F2Respectively represent sagittal axis
The restoring force in direction and coronal two different directions of axis direction, IijIt is inertia of the power in the acral direction i in the direction j, BijIt is
The power in the direction i damps in the direction j, KijBe the direction i power in j directional stiffness, i=1 or j=1 indicate sagittal axis direction, i=2 or
J=2 indicates coronal axis direction；
(c) Fourier transform is carried out to kinetics equation (I), obtains the kinetics equation of the displacement and restoring force in frequency
Expression formula (ii) on domain, and then obtain transmission function Gij(s) expression formula on frequency domain (iii),
Wherein, f is frequency values, and X (s) is the Fourier transform of x, and F (s) is the Fourier transform of F；
(d) to two-dimension displacement (x1,x2) and two-dimentional power (F1,F2) Fourier transform is carried out respectively, obtain the position of frequency domain representation
Move x1(f),x2(f) and restoring force F1(f),F2(f)；
(e) according to two-dimension displacement and two-dimentional restoring force and transmission function Gij(f) expression formula (IV) of relationship calculates transmitting letter
Number Gij(f), and its function curve is drawn,
(f) according to the G obtained in step (e)ij(f) function curve, and expression formula (iii) is combined, using least square
Method recognizes the parameter I in the expression formula (iii)ij,Bij,Kij, thus to obtain the measured value K of rigidityij。
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, the present invention is vibrated by cam mechanism realization device, and under the driving of brshless DC motor, sun gear passes through master
Axis band moving cam rotate, force-measuring module by screw and be sequentially connected plate center axis connection, transmission connection plate by bearing with
Center axis connection, when transmission connection plate moves back and forth and rotates, force-measuring module realizes random vibration by a small margin；
2, the present invention generates different directions by planetary gear mechanism and vibrates, different from traditional single output planetary retarder,
Revolving speed is exported using sun gear and planetary gear simultaneously, based on there is fixed rotating ratio between sun gear and planetary gear, in external tooth
Under the premise of circle is fixed, the sun gear of planetary gear mechanism drives cam mechanism rotation, and planetary gear drives planet carrier to connect with guide rail
Plate rotation, while guide rail splice rotation, cam mechanism moves reciprocatingly along guide rail direction, and realization produces in all directions
Raw vibration, simulates random vibration, and planetary gear mechanism is ingenious in conjunction with cam mechanism；
3, the present invention by adjusting cam mechanism cam rail, so as to adjust the motion profile of mandril, can 2mm~
The amplitude of random vibration is adjusted within the scope of 8mm, cam rail requires motion process steadily without impact, by the side for replacing cam
Formula, quickly and easily regulating device amplitude；
4, the present invention meets the needs of market is to acral stiffness measurement device, is put forward for the first time towards acral rigidity
The design method of fields of measurement measuring device can guarantee to be greatly lowered under the premise of measurement effect maintains an equal level with conventional method
Cost.
Detailed description of the invention
Fig. 1 is the overall structure signal of acral stiffness measurement device constructed by preferred embodiment according to the invention
Figure；
Fig. 2 is the overall structure section view of acral stiffness measurement device constructed by preferred embodiment according to the invention
Figure；
Fig. 3 is the structural schematic diagram of gear drive constructed by preferred embodiment according to the invention；
Fig. 4 is the structural schematic diagram of guide rail splice constructed by preferred embodiment according to the invention；
Fig. 5 is the structural schematic diagram of bracket constructed by preferred embodiment according to the invention and cam；
Fig. 6 is force-measuring module constructed by preferred embodiment according to the invention, and be sequentially connected plate and cam connecting plate
Structural schematic diagram；
Fig. 7 is the structural schematic diagram of transmission connection plate and central axis constructed by preferred embodiment according to the invention.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1-handle 2-force snesor, 3-sensor connecting plate 4-transmission connection, 5-cam of plate connecting plate 6-
12-mandril of central axis of 10-screw of frame 7-guide rail, 8-guide rail splice, 9-support 11-transmission connection plate
13-19-outer gear rings of key 14-cam, 15-planet axis, 16-planetary gear, 17-sun gear, 18-planet carrier 20-
Circlip 21-main shaft, 22-bearing, 23-cam rail
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
A kind of acral stiffness measurement device, the device include force-measuring module, transmission module and drive module, drive mould
Block includes main shaft 21 and the support 9, gear drive and the guide rail splice 8 that are sleeved on the main shaft, gear drive packet
Three planetary gears 16 for including planet carrier 18 and being provided at its inner portion, three planetary gears one side and the sun gear on main shaft
17 engagements, are on the other hand engaged with the outer gear ring of support 19, and gear drive is arranged inside support 9, and guide rail splice 8 is set
It sets in the top of gear drive, and is connect with the gear drive, one group of guide rail 7 is additionally provided on guide rail splice 8,
It include track and sliding block in each guide rail 7, track is fixed by screws on guide rail splice 8, and sliding block side is provided with ball,
Ball realizes reciprocating motion by cooperating with track, and sliding block is fixedly connected by screw with bracket 6, and main shaft 21 passes through sun gear 17
It is engaged with gear drive and gear drive and guide rail splice 8 is driven to rotate together.
Transmission module includes bracket 6, cam mechanism and transmission connection plate 4, and bracket 6 passes through the sliding block and driving mould in guide rail
Block connection, is connect with cam mechanism by screw, follows drive module to rotate while moving reciprocatingly along guide rail, cam machine
The top of bracket 6 is arranged in structure, and connect with main shaft 21, and cam mechanism includes cam 14 and cam connecting plate 5, and cam passes through key
13 connect with main shaft 21, and the bottom of cam connecting plate is provided with mandril 12, and mandril follows cam to move along cam rail 23
Move back and forth, cam rail requires motion process steadily without impact, the plate that is sequentially connected be arranged in the top of cam mechanism and and its
Connection, the cam mechanism are converted into transmission connection plate 4 along the reciprocating motion of guide rail 7 for main shaft, and be sequentially connected plate 4 and branch
The movement of frame 6 is identical, and the two is opposing stationary.
Force-measuring module includes sensor connecting plate 3, force snesor 2 and handle 1, sensor connecting plate 3 by force snesor 2 with
The central axis 11 of transmission connection plate connects, and makes the force snesor that central axis 11 be followed to do random vibration, the random vibration
The reciprocating motion done when turning around for the transmission connection plate rotation in horizontal plane all directions, the handle and the force snesor
Connection, and it is followed to do random vibration.Handle 1 is connect with force snesor 2, and transmission connection plate 4 and cam connecting plate 5 pass through screw
Connection, the two common center axis 11.
The bottom of the planet axis 15 of each planetary gear 16 is provided with circlip 20, and the axial direction for planet axis is fixed
Position, planet axis is planetary gear centre rotational axis, and Fig. 7 is transmission connection plate constructed by preferred embodiment according to the invention
With the structural schematic diagram of central axis, as shown in fig. 7, sensor connecting plate 3 is connect by screw with central axis 11, central axis 11 is logical
It crosses bearing to connect with transmission connection plate 4, so that sensor connecting plate 3 carry out the reciprocating motion of all directions in plane without turning
It is dynamic, to realize random vibration.
A kind of course of work of acral stiffness measurement device is as follows:
External motor driving spindle 21 rotates, and main axis drives gear drive and guide rail splice 8 to rotate, guide rail
Connecting plate drives bracket 6 to rotate, while cam 14 is rotated with main shaft 21, by the cooperation of cam 14 and mandril 12 so that bracket 6,
It moves back and forth while cam connecting plate 5 and transmission connection plate 4 rotate and along guide rail 7, in force-measuring module and transmission connection plate 4
Mandrel connection, central axis 11 are connect by bearing 22 with transmission connection plate 4, and transmission connection plate 4 is moved back and forth and rotated
When compound motion, force-measuring module carries out the reciprocating motion of all directions in plane, i.e., random vibration by a small margin.
The present invention also provides a kind of acral stiffness measurement methods, comprising the following steps:
Step 1, external motor driving spindle rotates, so that the handle of measuring device generates the random vibration of small amplitude
It is dynamic；
Step 2, by the position sensor outside test object connection, test object holds handle, when handle generates vibration
When, it drives that test object is acral follows movement, passes through position sensor or motion capture system record test object limb
The displacement data of body end records acral resilience by force snesor；
Step 3, after experiment terminates, displacement acral to test object carries out signal processing and meter with force data is replied
It calculates, obtains the measured value of end poing rigidity.Specific implementation process includes:
(1) relationship that the kinetic model as shown in equation (i) describes displacement x Yu power F is established:
Wherein, x indicates acral two-dimension displacement, x1And x2Respectively represent sagittal axis direction and coronal axis direction two
The displacement of different directions, is measured by position sensor,It is speedIt is acceleration, F is acral two-dimentional restoring force,
F1And F2The restoring force for respectively representing sagittal axis direction Yu coronal axis direction different directions, is measured, I by force snesorijIt is limb
Inertia of the power in the body end direction i in the direction j, BijIt is the power in the direction i in the damping of the direction j, KijBe the direction i power it is rigid in the direction j
Degree, i=1 or j=1 indicate sagittal axis direction, and i=2 or j=2 indicate coronal axis direction.
(2) Fourier transform is carried out to kinetics equation (i), obtains the kinetics equation of restoring force and displacement in frequency domain
On expression formula, as shown in equation (ii):
Wherein, f indicates frequency values.
It arranges equation (ii) and obtains transmission function Gij(s) expression formula on frequency domain (iii):
(3) to two-dimension displacement (x1,x2) and two-dimentional power (F1,F2) Fourier transform is carried out respectively, frequency domain table is obtained respectively
The displacement x shown1(f),x2(f) and restoring force F1(f),F2(f)。
(4) it is based on equation (iv), solves frequency response function method, the reply that experiment with computing is recorded in conjunction with power spectrum
The transmission function G of power and displacement under frequency domainij(f), and transfer curve is drawn.
(5) according to equation (iii), the frequency of fadings of analysis displacement and force signal power spectrum chooses suitable frequency model
It encloses, in conjunction with G in equation (iv)ij(f) calculated result, using the parameter I in least squares identification equation (iii)ij,Bij,
Kij, obtain the measured value K of rigidityij。
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of acral stiffness measurement device, the device include force-measuring module, transmission module and drive module, feature exists
In,
The drive module, which includes main shaft (21), to be connected with support (9), the gear drive being sleeved on the main shaft with guide rail
Plate (8), the gear drive setting are engaged inside the support, and with the outer gear ring of the support inner periphery (19), institute
The top that the gear drive is arranged in guide rail splice (8) is stated, and is connect with the gear drive, the main shaft
(21) by driving the gear drive and the guide rail splice (8) to turn together with engaging for the gear drive
It is dynamic, in addition, guide rail (7) are additionally provided on the guide rail splice (8), for connecting the drive module and transmission module；
The transmission module includes bracket (6), cam mechanism and transmission connection plate (4), and the bracket passes through the guide rail and institute
Guide rail splice (8) connection is stated, the guide rail splice is followed to rotate while moving reciprocatingly along the guide rail, it is described convex
Wheel mechanism is connect with the main shaft (21), and is arranged in the top of the bracket (6), for converting the rotation of the main shaft to
For the transmission connection plate along the reciprocating motion in guide rail (7) direction, the upper of the cam mechanism is arranged in the transmission connection plate (4)
The connection of the Fang Bingyu cam mechanism；
The force-measuring module includes sensor connecting plate (3), force snesor (2) and handle (1), and the sensor connecting plate is by institute
It states force snesor to connect with the central axis (11) of transmission connection plate (4), and the force snesor is made to follow the center
Axis (11) does random vibration, and the handle is connect with the force snesor, and it is followed to do random vibration.
2. a kind of acral stiffness measurement device as described in claim 1, which is characterized in that the gear drive includes
Planet carrier (18) and three planetary gears (16) being provided at its inner portion, three planetary gears are on the one hand and on the main shaft
Sun gear (17) engagement, is on the other hand engaged with the outer gear ring of the support (19).
3. a kind of acral stiffness measurement device as claimed in claim 1 or 2, which is characterized in that the cam mechanism includes
Cam (14) and cam connecting plate (5), the cam are connect by key (13) with the main shaft (21), the cam connecting plate
Bottom is provided with mandril (12), which follows along cam rail moves.
4. a kind of acral stiffness measurement device as claimed in claim 2, which is characterized in that each planetary gear row
The bottom of star axis is provided with circlip (20), the axially position for the planet axis.
5. a kind of acral stiffness measurement device as described in claim 1, which is characterized in that the sensor connecting plate passes through
Screw is connect with the central axis (11) of the transmission connection plate, and the transmission connection plate (4) passes through bearing (22) and central axis
(11) it connects, so that the sensor connecting plate only carries out the reciprocating motion of all directions in plane without rotating, to realize
Random vibration.
6. a kind of measurement method of acral stiffness measurement device as described in any one in claim 1-5, which is characterized in that
The measurement method includes the following steps:
(a) it is tested the acral handle for holding measuring device of object, while by the acral connection of tested object
Position sensor drives the main axis of measuring device, and acral two-dimension displacement x is obtained from the position sensor, from
The size of two-dimentional restoring force F is obtained on the force snesor of measuring device；
(b) the acral displacement x and restoring force F kinetics equation (I) are established,
Wherein, x is acral two-dimension displacement, x1And x2Respectively represent sagittal axis direction and coronal axis direction two not Tongfang
To displacement,It is speed,It is acceleration, F is acral two-dimentional restoring force, F1And F2Respectively represent sagittal axis direction
With the restoring force of coronal two different directions of axis direction, IijIt is inertia of the power in the acral direction i in the direction j, BijIt is the side i
To power the direction j damp, KijIt is the power in the direction i in j directional stiffness, i=1 or j=1 expression sagittal axis direction, i=2 or j=
2 indicate coronal axis direction；
(c) Fourier transform is carried out to kinetics equation (I), acquisition is described to be displaced the kinetics equation with restoring force on frequency domain
Expression formula (ii), and then obtain transmission function Gij(s) expression formula (iii),
Wherein, f is frequency values, and X (s) is the Fourier transform of x, and F (s) is the Fourier transform of F；
(d) to two-dimension displacement (x1,x2) and two-dimentional power (F1,F2) Fourier transform is carried out respectively, obtain the displacement x of frequency domain representation1
(f),x2(f) and restoring force F1(f),F2(f)；
(e) according to two-dimension displacement and two-dimentional restoring force and transmission function Gij(f) expression formula (IV) of relationship, calculation of transfer function Gij
(f), and its function curve is drawn,
(f) according to the G obtained in step (e)ij(f) function curve, and expression formula (iii) is combined, it is distinguished using least square method
Know the parameter I in the expression formula (iii)ij, Bij,Kij, thus to obtain the measured value K of rigidityij。
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| CN109717991B (en) * | 2018-12-27 | 2021-06-08 | 国家康复辅具研究中心 | Artificial limb socket with deformation regulation function and 4D printing forming method thereof |
| CN112244833B (en) * | 2020-09-27 | 2021-09-07 | 华中科技大学 | Human upper limb multi-dimensional tail end rigidity measurement method based on cooperative mechanical arm |
| CN113084812B (en) * | 2021-04-09 | 2022-06-21 | 吉林大学 | Method for evaluating rigidity performance of tail end of robot |
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