A Method for Measuring the Multidimensional Stiffness of Human Upper Limb Based on Cooperative Robotic Arm

Abstract

The invention discloses a method for measuring the multi-dimensional terminal stiffness of an upper limb of a human body based on a cooperative mechanical arm, which belongs to the field of limb stiffness measurement. First, a multi-dimensional random micro-perturbation within a specific frequency band is generated, and the multi-degree-of-freedom collaborative manipulator is used to apply the generated disturbance to the end of the upper limb of the human body, and the multi-dimensional end stiffness parameter is calculated by the parameter identification method of the multi-input and multi-output system. The present invention proposes to use the multi-degree-of-freedom cooperative mechanical arm to generate disturbances to measure the stiffness of the upper limbs of the human body, and can generate random disturbances that meet the requirements of the amplitude and frequency band range without the need for special development of disturbance equipment, eliminating the need for the development of special measurement devices. The process reduces the difficulty of measuring the stiffness of the upper limb end of the human body. Combining the generation of multi-dimensional random disturbance and the parameter identification method of the multi-input multi-output system, when the tool end of the manipulator can achieve enough multi-dimensional movement, it can be realized according to the measurement requirements. One-dimensional, two-dimensional or three-dimensional stiffness measurement of human upper extremity.

Description

technical field [0001] The invention belongs to the field of limb stiffness measurement, and more specifically relates to a method for measuring the multi-dimensional terminal stiffness of human upper limbs based on a collaborative robot arm. Background technique [0002] The limb stiffness of the human body describes the strength of the limb's resistance to external disturbances, and the stiffness adjustment characteristics of the limb play a crucial role in maintaining the stable interaction of the limb with the unknown environment. Since the extremity of the human upper extremity performs most of the complex interactive tasks of the human body, the stiffness of the upper extremity has received extensive attention. The method of obtaining the stiffness of the upper limb end is to apply a small disturbance to the upper limb end and collect the end restoring force caused by the disturbance, and then obtain the stiffness parameters through the end dynamic model solution. Alt...

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Problems solved by technology

[0003] Most of the traditional solutions are based on the research needs to develop link-type electromechanical equipment for end stiffness measurement, which requires a long development time, and the generated disturbance characteristics are strongly dependent on the design characteristics of the measurement equipment, so it is difficult to meet the disturbance requirements at the same time. conditions, and most of them can only be applied to two-dimensional end stiffness measurement

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