Experimental platform and measuring system for measuring bending and stretching rigidity of elbow joint

Abstract

The invention belongs to the related technical field of joint rigidity measurement, and discloses an experimental platform for measuring bending and stretching rigidity of an elbow joint and a measurement system. The experiment platform comprises a bottom plate, a big arm fixing unit, a forearm fixing unit and a driving force unit, wherein the big arm fixing unit, the forearm fixing unit and the driving force unit are arranged on the bottom plate; the big arm fixing unit fixes a big arm, the forearm fixing unit fixes a forearm, and the big arm fixing unit and the forearm fixing unit form an included angle, so that the big arm and the forearm form a corresponding included angle when being fixed. The driving force unit provides pulling force for the forearm to change the included angle between the forearm and the big arm. The driving force unit comprises fixed pulleys arranged on the two sides of the forearm fixing unit, a load is hung on the fixed pulleys and connected with the forearm fixing unit through a traction rope, and idler wheels are arranged at the bottom of the forearm fixing unit so that the forearm can be bent in the forward direction and the reverse direction. According to the invention, the problems that the rigidity measurement includes the dead weight of the forearm and the forearm cannot bend in two directions are solved.

Description

technical field [0001] The invention belongs to the related technical field of joint stiffness measurement, and more specifically relates to an experimental platform and a measurement system for measuring the flexion-extension stiffness of an elbow joint. Background technique [0002] With the continuous improvement of the international level of science and technology, in the field of humanoid robots or prosthetic arms, flexible joints are a research hotspot. It has the advantages of mitigating collisions and avoiding damage, accumulating energy, and changing force output characteristics at any time. The current solutions are as follows: insert elastic elements in series, but the stiffness of the elastic elements remains unchanged, that is, only serve as an elastic driver; introduce magneto-rheological or electro-rheological media for control, but the liquid characteristics need to be fully studied; Using pneumatic muscle models, but the volume of the device is too large; us...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides an experimental platform and a measurement system for measuring the bending and extension stiffness of the elbow joint, which solves the problems of the forearm's own weight and the inability to bend in two directions in the stiffness measurement

Images