A kind of test device and test method of knee joint prosthesis based on industrial robot

Abstract

The invention belongs to the technical field of prosthesis testing, and in particular relates to a knee joint prosthesis testing device and testing method based on an industrial robot; the device includes an industrial robot, a bionic thigh and a ground reaction force module; The movement of the residual limb in a gait cycle can realize prosthetic testing in environments such as walking at different speeds, going up and down slopes, and up and down stairs, and can adjust the ground reaction force on the prosthetic foot, and the ground reaction force input during the prosthesis test It is more accurate, providing an accurate test environment for the intelligent knee joint assembled on the interface, and due to the use of industrial robots, this test system is more convenient and flexible to use, and the structure is simpler.

Description

technical field [0001] The invention belongs to the technical field of prosthesis testing, and in particular relates to a knee joint prosthetic testing device and testing method based on an industrial robot. Background technique [0002] At present, smart prosthetics that can perform functions such as going down stairs, going up and down hills, sitting up and walking, etc. are developing rapidly, but there are very few devices for testing their performance. However, the design and manufacture of intelligent prostheses is different from traditional passive mechanical prostheses. They are often complex electromechanical devices integrating machinery, electricity, or machinery, electricity, and hydraulics. Traditional testing methods are difficult to test intelligent prostheses. [0003] First, only a limited number of subjects can be recruited for the test of a prosthesis, and the working conditions that can be tested are limited; second, in addition to the development of the ...

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Problems solved by technology

[0002] At present, smart prosthetics that can perform functions such as going down stairs, going up and down hills, sitting up and walking, etc. are developing rapidly, but there are very few devices for testing their performance. The method of testing artificial limbs, and the design and manufacture of intelligent artificial limbs are different from traditional passive mechanical artificial limbs. They are often complex electromechanical devices integrating machinery, electricity, or machinery, electricity, and hydraulics. Traditional testing methods are difficult to test intelligent artificial limbs.

[0003] First, only a limited number of subjects can be recruited for the test of a prosthesis, and the working conditions that can be tested are limited; second, in addition to the development of the mechanical structure, the development of the control algorithm is more important in the development of intelligent prostheses. Due to imperfect product functions or control algorithms, it is easy to bring danger to the test subjects; again, the test subjects will soon enter a state of fatigue during the test, and it is difficult to ensure that the prosthesis always has the same input when working, thereby reducing the test data. accuracy; finally, traditional prosthetic testing requires mature products to carry out testing, and sockets must be specially made for the subjects. The testing cycle is long. If there is an inappropriate part in the design, extensive rework is required

[0004] At present, there are very few devices used for the development and performance testing of intelligent knee prostheses, and none of them have the function of ground reaction force control. They cannot test environments such as uphill and downhill, and it is difficult to truly simulate the walking gait of normal people. Therefore, there is an urgent need A prosthetic knee joint testing device capable of simulating normal human walking gait

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