A method of robot simulating the main dynamic state of human limb muscles

Abstract

The invention discloses a method for simulating the main dynamic states of human limb muscles by a robot, including a method for simulating different levels of human muscle strength for elbow flexion or knee flexion, and a method for simulating different levels of human body strength for elbow or knee extension. The robot is equipped with The base, the shoulder joint assembly, the upper arm, the elbow joint assembly, the forearm and the palm are sequentially connected. The shoulder joint assembly can drive the upper arm to rotate in all directions, and the shoulder joint assembly can drive the forearm to perform flexion and extension movements. 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 muscle strength test method after 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 main dynamic state of muscles of limbs of a human body. Background technique

[0002] The active dynamic state of human limb muscles is mainly reflected in the strength state shown by the active contraction of human upper limbs or lower limb muscles. In related fields such as medicine and kinematics, the state of muscle strength is usually expressed in a graded way, following the international common human body muscle strength state. According to the force classification standard, the active contraction force performance of human muscles is divided into six levels: 0, 1, 2, 3, 4, and 5.

[0003] After the human body is fatigued, accidental injury, trauma, disease and other unfortunate events, or after treatment, rehabilitation exercise, natural recovery, etc., there may be changes in related muscle strength, showing ch...

Examples

Embodiment 1

[0066] refer to Figure 1 ~ Figure 4 , the present embodiment provides a robot for simulating the main dynamic state of the muscles of the limbs of the human body, comprising 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...

Embodiment 2

[0077] refer to Figure 5 to Figure 9 In the following, the method for simulating the elbow flexion muscle strength of the human body at different levels 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 main dynamic state of the muscles of the limbs of the human body.

[0078] First of all, it needs to be explained that in the exercise of simulating muscle strength of various grades of elbow flexion, the joints of the upper limbs can only be performed after the operator places them in the initial position, and by adjusting the universal joint ball joint connecting rod 3 of the shoulder joint movable part Damping immobilizes the shoulder, i.e. the shoulder joint remains stationary during movement.

[0079] The shoulder joint rotation angle is detected and displayed by the gyro sensor 4 , the elbow joint rotation angle is detected and displayed by the angle sensor 11 , and the resistance app...

Embodiment 3

[0093] refer to Figure 5 to Figure 9 In the following, the method for simulating the elbow muscle strength 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 main dynamic state of the muscles of the limbs of the human body.

[0094] First of all, it needs to be explained that in the exercise of simulating muscle strength of various grades of elbow extension, the joints of the upper limbs can only be performed after the operator places them in the initial position, and by adjusting the universal joint ball joint connecting rod 3 of the shoulder joint movable part Damping immobilizes the shoulder, i.e. the shoulder joint remains stationary during movement.

[0095] The rotation angle of the shoulder joint is detected and displayed by the gyro sensor 4 , the rotation angle of the elbow joint is detected and displayed by the angle sensor 11 , and the resist...

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 main dynamic state of muscles of limbs of a human body. Background technique

[0002] The active dynamic state of human limb muscles is mainly reflected in the strength state shown by the active contraction of human upper limbs or lower limb muscles. In related fields such as medicine and kinematics, the state of muscle strength is usually expressed in a graded way, following the international common human body muscle strength state. According to the force classification standard, the active contraction force performance of human muscles is divided into six levels: 0, 1, 2, 3, 4, and 5.

[0003] After the human body is fatigued, accidental injury, trauma, disease and other unfortunate events, or after treatment, rehabilitation exercise, natural recovery, etc., there may be changes in related muscle strength, showing ch...

Examples

Embodiment 1

[0066] refer to Figure 1 ~ Figure 4 , the present embodiment provides a robot for simulating the main dynamic state of the muscles of the limbs of the human body, comprising 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...

Embodiment 2

[0077] refer to Figure 5 to Figure 9 In the following, the method for simulating the elbow flexion muscle strength of the human body at different levels 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 main dynamic state of the muscles of the limbs of the human body.

[0078] First of all, it needs to be explained that in the exercise of simulating muscle strength of various grades of elbow flexion, the joints of the upper limbs can only be performed after the operator places them in the initial position, and by adjusting the universal joint ball joint connecting rod 3 of the shoulder joint movable part Damping immobilizes the shoulder, i.e. the shoulder joint remains stationary during movement.

[0079] The shoulder joint rotation angle is detected and displayed by the gyro sensor 4 , the elbow joint rotation angle is detected and displayed by the angle sensor 11 , and the resistance app...

Embodiment 3

[0093] refer to Figure 5 to Figure 9 In the following, the method for simulating the elbow muscle strength 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 main dynamic state of the muscles of the limbs of the human body.

[0094] First of all, it needs to be explained that in the exercise of simulating muscle strength of various grades of elbow extension, the joints of the upper limbs can only be performed after the operator places them in the initial position, and by adjusting the universal joint ball joint connecting rod 3 of the shoulder joint movable part Damping immobilizes the shoulder, i.e. the shoulder joint remains stationary during movement.

[0095] The rotation angle of the shoulder joint is detected and displayed by the gyro sensor 4 , the rotation angle of the elbow joint is detected and displayed by the angle sensor 11 , and the resist...

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