Limb end stiffness measuring device and measuring method thereof

Abstract

The invention discloses a limb end stiffness measuring device and a measuring method for measuring the stiffness of a human upper limb end. The device comprises a force measuring module, a transmission module and a driving module. The driving module comprises a main shaft, a bearing, a gear transmission mechanism and a guide rail connecting plate. The gear transmission mechanism meshes with an outer gear ring of the inner circumference of the bearing, and the guide rail connecting plate is connected with the gear mechanism. The guide rail connecting plate is provided with a guide rail; the transmission module comprises a bracket, a cam mechanism and a transmission connecting plate, and the guide rail connects the driving module and the bracket; the force measuring module comprises a sensorconnecting plate, a force sensor and a handle, and the force sensor is connected to the center shaft of the transmission connecting plate through the sensor connecting plate. Through the measuring device, a small random motion with an amplitude variation range of 2 to 8 mm is realized, the measuring device is suitable for the limb end stiffness experiment under different requirements, the vibration frequency is adjustable, and the adjustment step is simple and easy. The invention also discloses a measuring method of the device.

Description

technical field [0001] The invention belongs to the field of limb stiffness measurement, and more particularly relates to a limb end stiffness measurement device and a measurement method thereof. Background technique [0002] With the advent of the Industry 4.0 era, human-machine collaboration technology has attracted more and more people's attention and attention. This technology emphasizes the mutual assistance and coexistence between humans and robots. Its applications have involved in manufacturing, medical rehabilitation, bionics, services and other fields. In the human-machine cooperation mode, the machine assists the human to complete the tiring, difficult or complicated work under the guidance of the human. Since human limbs have the characteristics of spontaneously adjusting dynamic parameters to adapt to changes in the external environment during movement, in order to ensure the compliance of human-machine cooperation, it is required that the machine can adaptively...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides a limb end stiffness measurement device and its measurement method. Through the design of the force measurement module, the transmission module and the drive module, the rotation of the planetary wheel and the reciprocating motion of the cam Combined to generate small random vibrations, cooperate with force sensors and position sensors or capture system to measure force and displacement data, and calculate end stiffness, thus solving the technical problem of difficulty in measuring the stiffness of limb ends

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