Method for simulating passive dynamic state of muscles of limbs of human body by robot

A robot and muscle tension technology, applied in the field of robot simulation, can solve problems such as timing lag, affecting learning progress, learning effect and learning system

Active Publication Date: 2020-08-21
JIANGSU SMARTWALK INTELLIGENCE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, students majoring in human sciences such as medicine and kinesiology have the opportunity to contact patients after entering the internship stage, and start to actually learn the method of checking the tension displayed by human muscles during passive movement, and the time to learn and

Method used

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  • Method for simulating passive dynamic state of muscles of limbs of human body by robot
  • Method for simulating passive dynamic state of muscles of limbs of human body by robot
  • Method for simulating passive dynamic state of muscles of limbs of human body by robot

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Embodiment 1

[0057] refer to Figure 1 ~ Figure 4 , the present embodiment provides a robot for simulating the dynamic state of the muscles of the limbs of the human body, including a base 1, a shoulder joint assembly, a large arm 5, an elbow joint assembly, a forearm 14 and a palm 16; the shoulder joint assembly includes a shoulder joint fixation Part 2 and the shoulder joint movable part 3, one end of the shoulder joint fixed part 2 is fixed on the base, the other end is connected to the shoulder joint movable part 3, the shoulder joint movable part 3 is fixedly connected with the upper arm 5 and can drive the upper arm to rotate in all directions The elbow assembly includes a drive motor 6 and a motor reducer 8, the input end of the motor reducer 8 is connected to the drive motor 6, the boom 5 and the small arm 14 are located on both sides of the output shaft end of the motor reducer, and the motor reducer 8 is fixed on On the big arm 5, the motor reducer 8 drives the small arm 14 to ro...

Embodiment 2

[0069] refer to Figure 5 and Figure 6 In the following, the method for simulating the muscle tension of different levels of elbow flexion muscles of the human body by the robot shown in Embodiment 1 is taken as an example to illustrate the method for the robot of the present invention to simulate the dynamic state of the muscles of the limbs of the human body.

[0070] The method for the application robot to simulate different grades of elbow flexion muscle tension of the human body includes:

[0071] Level 0: The operator places the robot in a position where the shoulder joints are naturally drooping with the elbow joints and the palms facing forward, and starts the control system; then the operator puts one hand on the back of the lower end of the robot's upper arm, and holds the robot's forearm with the other hand Gently lift the upper limbs at the front end, so that the robot is in the position of shoulder joint flexion angle of 45°, abduction angle of 30°, internal rot...

Embodiment 3

[0079] refer to Figure 5 and Figure 7 Next, the method for simulating the extensor muscle tension of different levels of the human body by the robot shown in Embodiment 1 is taken as an example to illustrate the method for the robot of the present invention to simulate the dynamic state of the muscles of the limbs of the human body.

[0080]The method for the application robot to simulate different levels of elbow extension muscle tension of the human body includes:

[0081] Level 0: The operator places the robot in a position where the shoulder joints, elbow joints are naturally drooping, and the palms are facing forward, and the control system is activated. Then, the operator puts one hand on the back of the lower end of the robot's upper arm, and holds the robot's forearm with the other hand. Gently lift the upper limbs at the front end, so that the robot is in the position of shoulder joint flexion angle of 45°, abduction angle of 30°, internal rotation of 30°, and elbo...

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Abstract

The invention discloses a method for simulating a passive dynamic state of muscles of limbs of a human body by a robot. A method for simulating different levels of elbow flexion or knee flexion tension of the human body and a method for simulating different levels of elbow extension or knee extension tension of the human body are included. The robot is provided with a base, a shoulder joint assembly, a large arm, an elbow joint assembly, a small arm and a palm which are sequentially connected, the shoulder joint assembly can drive the large arm to rotate in all directions, and the shoulder joint assembly can drive the small arm to move in flexion and extension. An operator can observe and feel the motion state of the robot in the simulation process, and through repeated experience, the practical skills of a human body tension inspection method can be quickly mastered.

Description

technical field [0001] The invention relates to the technical field of robot simulation, and more particularly relates to a method for a robot to simulate the dynamic state of muscles of limbs of a human body. Background technique [0002] The dynamic state of the muscles of the limbs of the human body is mainly reflected in the tension state displayed by the muscles of the upper or lower limbs during the passive stretching exercise. In related fields such as medicine and kinematics, the state of muscle strength is usually expressed in a graded manner. Refer to the clinical The modified Ashworth scale commonly used in medicine is used as the grading standard for human muscle tension. The muscle tension of human limbs can be divided into six levels: 0, 1, 1+, 2, 3, and 4. [0003] After human nerve injury, especially central nervous system injury, due to the damage of the nerve control system, the muscles controlled by it will show different degrees of tension, and the tensio...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/02B25J17/02G09B23/28
CPCB25J9/10B25J9/02B25J17/02G09B23/28A61F5/013
Inventor 蔡可书管小荣朱蒙崔吉李仲
Owner JIANGSU SMARTWALK INTELLIGENCE TECH CO LTD
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