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Joint torque measuring system for injured finger rehabilitation

A joint torque and measurement system technology, applied in control/adjustment systems, torque measurement, measurement devices, etc., can solve problems such as lack of sensing function and inability to measure the interaction force between finger joints and exoskeletons, and achieve low prices. , the effect of injury prevention, high sensitivity and measurement accuracy

Active Publication Date: 2017-12-22
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problem that the existing rehabilitation manipulators generally do not have the perception function and cannot measure the magnitude of the interaction force between the finger joints and the exoskeleton, the present invention further provides a joint torque measurement system for rehabilitation of traumatized fingers

Method used

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  • Joint torque measuring system for injured finger rehabilitation
  • Joint torque measuring system for injured finger rehabilitation
  • Joint torque measuring system for injured finger rehabilitation

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Experimental program
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Effect test

specific Embodiment approach 1

[0024] Specific implementation mode one: as Figure 1-7 As shown, the joint torque measurement system used for trauma finger rehabilitation in this embodiment includes several joint torque measurement units, each joint torque measurement unit exoskeleton joint unit 1, Bowden wire 2, motor output terminal wire wheel 3 and two Elastic element; the motor output wire wheel 3 is installed on the output shaft of the drive motor, the exoskeleton joint unit 1 includes a joint seat 14, a joint wire wheel 13, a joint angle sensor 10, two bearings 12, a D-shaped shaft 8, and a wire wheel frame 7. The magnetic steel 9 and the joint seat end cover 11; the D-shaped shaft 8 is mounted on the joint wire wheel 13, and the two ends of the D-shaped shaft 8 are installed on the wire wheel frame 7 through two bearings 12, and the joint angle sensor 10 is passed through the screw Fixed on the upper end surface of the line wheel frame 7, the magnetic steel 9 is pasted on the upper end surface of the...

specific Embodiment approach 2

[0076] Specific implementation mode two: as image 3 As shown, the joint angle sensor 10 of this embodiment is a non-contact position sensor based on the Hall principle. With this design, when measuring the angular position, the chip is located under the magnetic steel 9 fixed on the rotating shaft, and the magnetic steel 9 is radially magnetized, so when the D-shaped shaft 8 rotates, the magnetic field passing through the Hall chip also rotates. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0077] Specific implementation mode three: as image 3 As shown, the joint seat end cover 11 of this embodiment is fixed on the upper end surface of the wire wheel frame 7 by two screws. So designed, easy to disassemble. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a joint torque measuring system for injured finger rehabilitation, and relates to a joint torque measuring system. By the aid of the joint torque measuring system, the problems of general deficiency of sensing functions of existing rehabilitation manipulators and incapability of measuring the magnitude of interaction force between finger joints and external skeletons by the existing rehabilitation manipulators can be solved. The joint torque measuring system is characterized in that motor output-end cable wheels are mounted on output shafts of driving motors, D-shaped shafts are penetratingly arranged on joint cable wheels, two ends of each D-shaped shaft are mounted on cable wheel carriers via two bearings, joint angle sensors are fixedly arranged on the upper end surfaces of the cable wheel carriers via screws, magnetic steel clings onto the upper end surfaces of the D-shaped shafts, the magnetic steel and the joint angle sensors are arranged in a directly facing manner, joint seat end covers are fastened on the upper end surfaces of the cable wheel carriers, joint seats are fixedly arranged on the side walls of the cable wheel carriers, each cable wheel carrier is provided with two threading pipes which are parallel to each other, an elastic element is arranged on each threading pipe, and Bowden cables are wound on external joint unit cable wheels and the motor output-end cable wheels. The joint torque measuring system has the advantage that the joint torque measuring system can be used for injured finger rehabilitation.

Description

technical field [0001] The invention relates to a joint moment measurement system for rehabilitation of wounded fingers, which belongs to the field of exoskeleton rehabilitation hands. Background technique [0002] Since the last century, with the vigorous development of robot technology, many researchers at home and abroad have begun to try to combine robot technology with rehabilitation theory. Currently, robot-assisted therapy has been shown to be effective in improving hand motor function. Rehabilitation robots can provide continuous motion assistance to the affected limbs and can perform accurate position control, so it is of great significance to reduce the labor intensity of traditional therapy and realize the rehabilitation of hand motor function. [0003] In order to realize the closed-loop control of the robot's movement, and to collect the data of the patient's training situation during the experiment for post-experiment processing and analysis, the sensing and m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02B25J19/00G01L3/00G05D19/02A61B5/11
CPCA61B5/1118A61B5/6802A61H1/0218A61H1/0288A61H2201/1207A61H2201/1635A61H2201/1659A61H2205/067B25J19/0095G01L3/00G05D19/02
Inventor 张福海付宜利牟洋杨磊
Owner HARBIN INST OF TECH
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