Single-degree-of-freedom joint torque testing device

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 ...

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.

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