Single-degree-of-freedom joint torque testing device

A technology of joint torque and degrees of freedom, applied in the field of exoskeleton, can solve problems such as influence

Inactive Publication Date: 2019-05-14
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Vacuum protective clothing can effectively reduce the damage caused by direct contact between the wearer and the exoskeleton, but due to the residual pressure (the pressure difference inside and outside the clothing) caused by the vacuum protective clothing, the protective clothing is inevitable when the wearer is active. The ground will generate a considerable torque, and the magnitude of the torque directly affects the physical strength and life support system consumed by the wearer to complete the operation.

Method used

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Embodiment Construction

[0031] The present invention will be further described below in conjunction with the accompanying drawings. Examples of the described process are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar structures or structures with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, and cannot be construed as limiting the present invention.

[0032] Such as figure 1 , 2 As shown in, 3, and 4, a device for testing single-degree-of-freedom joint torque includes a wearable structure for the wearer’s limbs. According to the wearer’s body structure, determine the relative position of the thigh fixing ring (001) and the thigh bar (009) to determine The relative position of the ankle joint fixing ring (003) and the calf rod (010) is suitable for wearing by wearers of different body shapes, and is fixed by a nut....

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PUM

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Abstract

The invention discloses a single-degree-of-freedom joint torque testing device. The single-degree-of-freedom joint torque testing device is suitable for a torque test of a human leg knee joint, can also be used in a torque test of an arm and hand elbow joint, and is composed of a gas bag, a thigh fixing ring, a shank fixing ring, a thigh rod, a shank rod, a connector, a torque sensor, a force sensor, a thigh fixing band and a shank fixing band. The thigh rod is fixed and is hinged to the shank rod through the connector, and a mechanical limiting structure is arranged at a joint of the thigh rod and the shank rod. The shank rod can rotate within a certain range. A wearer wears the single-degree-of-freedom joint torque testing device after wearing the gas bag with designated gas pressure. The torque sensor is used for testing the torque of a knee joint of the wearer. The force sensor is used for measuring the acting force applied by a shank to an ankle joint fixing ring, and the joint torque of the knee joint is obtained through calculation. The single-degree-of-freedom joint torque testing device can act as a testing device for testing the torsional moment of the single-degree-of-freedom joint.

Description

Technical field [0001] The invention relates to a device for testing the moment of a single degree of freedom joint, and relates to the field of exoskeleton. Background technique [0002] An exoskeleton is a robot that wears on the outside of the human body and can provide protection, support, assistance and motion assistance functions. It is a very active branch of robotics research. Due to the huge role played by exoskeleton boosters in various fields, its development prospects are very broad. Vacuum protective clothing can effectively reduce the damage caused by the direct contact between the wearer and the exoskeleton, but due to the residual pressure (the pressure difference between the inside and outside of the clothing) caused by the vacuum protective clothing, the protective clothing is inevitable when the wearer is active The ground has to produce a considerable moment, and the magnitude of the moment directly affects the physical strength of the wearer to complete the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J17/00B25J9/00
Inventor 戴跃洪王君尧秦开宇李照阳周丰
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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