A human-computer interaction force detection device

A detection device and human-computer interaction technology, applied in the field of robotics, can solve problems such as low accuracy, poor stability, and poor human comfort, and achieve the effect of improving accuracy

Active Publication Date: 2017-11-17
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of poor stability, low accuracy and poor human body comfort in the existing interactive force detection method, the present invention further proposes a human-computer interaction force detection device

Method used

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  • A human-computer interaction force detection device

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Experimental program
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Effect test

specific Embodiment approach 1

[0011] Specific implementation mode one: combine figure 1 Describe this embodiment, a human-computer interaction force detection device described in this embodiment includes a first exoskeleton rod 1, a first joint head 2, a connecting shaft 5, a key 6, a second bearing 7, a magnetic encoder 8, a binding Binding rod 9, elastic body 10, second joint head 14, first connection assembly and second connection assembly, the lower end of the first exoskeleton rod 1 is connected to the upper end of the first joint head 2, and the outer side of the first joint head 2 is The wall is rotatably connected to the inner wall on one side of the second joint head 14 through the first connecting assembly, and the outer wall on the other side of the first joint head 2 is rotated to the inner wall on the other side of the second joint head 14 through the second connecting assembly. Connection, one end of the connecting shaft 5 is connected to the outer side wall of the second joint head 14 throug...

specific Embodiment approach 2

[0012] Specific implementation mode two: combination figure 1 Describe this embodiment, the first connection assembly of a human-computer interaction force detection device described in this embodiment includes a first bearing 3, a support shaft 4 and a fifth bearing 15, and the first bearing 3 is embedded in the first joint head 2 On the outer side wall of one side, the fifth bearing 15 is embedded on the inner side wall of the second joint head 14, one end of the support shaft 4 is inserted into the first bearing 3, and the other end of the support shaft 4 is inserted into the fifth bearing within 15. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0013] Specific implementation mode three: combination figure 1 Describe this embodiment, the second connection assembly of a human-computer interaction force detection device described in this embodiment includes a third bearing 11, an optical axis 12 and a fourth bearing 13, the third bearing 11 is embedded in the first joint head 2 On the outer side wall of the other side, the fourth bearing 13 is embedded on the inner side wall of the second joint head 14, one end of the optical axis 12 is inserted in the third bearing 11, and the other end of the optical axis 12 is inserted in the third bearing. In the four bearings 13. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention discloses a human-machine mutual force detection device, relates to detection, in particular relates to a human-machine mutual force detection device, and aims to solve the problems of low stability, low accuracy and poor human body comfortableness of the existing mutual force detection mode. The lower end of a first outer skeleton rod is connected with the upper end of a first joint head; the outer side wall of one side of the first joint head is connected with the inner side wall of one side of a second joint head in a rotatable manner through a first connection assembly; the outer side wall of the other side of the first joint head is connected with the inner side wall of the other side of the second joint head in a rotatable manner through a second connection assembly; one end of a connection shaft is connected with the outer side wall of one side of the second joint head through a bolt; a magnetic encoder, a second bearing and an elastomer sleeve the connection shaft in sequence from outside to inside; the elastomer is connected with the outer side wall of the connection shaft through a key; the upper end of a tying rod sleeves the second bearing. The human-machine mutual force detection device belongs to the field of robots or medical instruments.

Description

technical field [0001] The invention relates to a detection, in particular to a human-computer interaction force detection device, which belongs to the field of robots or medical equipment. Background technique [0002] Wearable exoskeleton robots enable people to enhance their ability to walk with a load. In its application, the detection of the interaction force between the human body and the exoskeleton has always been a major difficulty in the application of exoskeletons. The accuracy of interaction force detection Effectiveness is the key to ensure the coordination and consistency of wearable exoskeleton and human body movement. The current interaction force detection methods mostly use pressure sensors at the exoskeleton and human body straps to obtain interaction force information. Since human muscles are soft tissues, this The method not only has instability in detecting the interaction force, but also has defects in the detection accuracy of the interaction force an...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J19/02
CPCB25J9/0006B25J19/02
Inventor 杜志江董为龙亿张志明高永卓王伟东于洪健闫志远吴冬梅
Owner HARBIN INST OF TECH
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