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A method for robots to simulate the passive dynamic state of human limb muscles

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: 2021-04-06
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 master this skill Lag, and, including low-level professional and technical personnel, it is necessary to examine a large number of patients in the process of clinical practice before they can gradually master the method, which seriously affects the learning progress, learning effect and systematic learning

Method used

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  • A method for robots to simulate the passive dynamic state of human limb muscles
  • A method for robots to simulate the passive dynamic state of human limb muscles
  • A method for robots to simulate the passive dynamic state of human limb muscles

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Effect test

Embodiment 1

[0057] refer to Figure 1 to 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 r...

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 naturally droop, the elbow joints droop naturally, and the palms face forward, and start the control system; then the operator rests one hand on the back of the lower end of the robot's upper arm, and holds the robot with the other hand. Gently lift the upper limb at the front end of the forearm of the robot, so that the robot is in the position of shoulder joint flexion angle of 45°, abduction angl...

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 naturally droop, the elbow joints naturally droop, and the palms face forward, and the control system is activated. Then, the operator rests one hand on the back of the lower end of the robot's upper arm, and holds it with the other hand. Gently lift the upper limb at the front end of the forearm of the robot, so that the robot is in the position of shoulder joint flexion angle of 45°, abduction angle of 30°, internal rotation...

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Abstract

The invention discloses a method for a robot to simulate the dynamic state of the muscles of the limbs of a human body, including a method for simulating different levels of human body's elbow or knee bending tension, and a method for simulating different levels of human body's elbow or knee extension tension. The base, the shoulder joint assembly, the upper arm, the elbow joint assembly, the forearm and the palm, the shoulder joint assembly can drive the upper arm to rotate in all directions, and the shoulder joint assembly can drive the forearm to do flexion and extension. The operator can observe and feel the movement state of the robot during the simulation process, and quickly master the practical skills of the human body tension inspection method through repeated experience.

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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Patent Type & Authority Patents(China)
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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