A mechanical simulation device for sitting lumbar manipulation training based on flexible differential drive

Abstract

The invention discloses a mechanical simulation device for seated lumbar manipulation training based on flexible differential drive, which includes a trunk, a single-degree-of-freedom flexible rotating joint and a flexible differential-driven lumbar motion simulation mechanism, the trunk and the single-degree-of-freedom flexible rotating joint The joint cover is connected, and the output link of the single-degree-of-freedom flexible rotary joint is connected with the output link of the flexible differential drive lumbar motion simulation mechanism; the output link can rotate relative to the joint cover, and the output The link is able to rotate relative to two horizontal axes perpendicular to each other. The invention has three degrees of freedom, can simulate the omni-directional movement of the waist, and has a certain degree of safety and flexibility, and can simulate the similar mechanical characteristics of the human waist when the human being accepts the lumbar rotation technique in a sitting position, thus providing a Realistic training, practice and assessment platform.

Description

technical field [0001] The invention relates to the technical field of experimental equipment for clinical medical research, in particular to a mechanical simulation device for training seated lumbar spine manipulation based on flexible differential drive. Background technique [0002] At present, the forms of the simulation mechanism for waist motion mainly include: 1) Simulate the pitch motion of the waist with a single degree of freedom; 2) Simulate the multi-directional motion of the waist with multiple degrees of freedom in a series connection. However, the current simulation institutions all have the following deficiencies: [0003] 1. Insufficient safety. Most of the current joint drives are rigid transmissions, and there are some potential safety hazards. When subjected to external impacts and collisions, not only will it cause harm to people, but it may also cause damage to the mechanism itself, which is not safe and compliant; [0004] 2. The desired movement and ...

AI Technical Summary

Problems solved by technology

[0003] 1. Insufficient safety. Most of the current joint drives are rigid transmissions, and there are some potential safety hazards. When subjected to external impacts and collisions, not only will it cause harm to people, but it may also cause damage to the mechanism itself, which is not safe and compliant;

[0004] 2. The desired movement and working space can be achieved by adopting multi-degree-of-freedom serial drive, but the serial connection increases the height of the transmission chain, increases the center of gravity of the entire mechanism, and increases the load of the motor, which has a certain impact on the stability of the mechanism ;

[0005] 3. The error of the series mechanism is the accumulation of the joint errors of the two degrees of freedom, which will eventually lead to the amplification of the error of the mechanism and poor controllability

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