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Joint axis calculation method

A calculation method and joint technology, which can be used in complex mathematical operations, medical science, sensors, etc., and can solve problems such as difficulty in determining the axis of human joints.

Active Publication Date: 2022-07-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004]The purpose of the present invention is to solve the problem that it is difficult to determine the human body joint axis under the complex situation of sliding and rolling motion coupling using existing methods, and proposes a joint Axis Calculation Method

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specific Embodiment approach 1

[0042] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 1. A method for calculating a joint axis described in this embodiment, the method specifically includes the following steps:

[0043] When the joint moves, one end of the joint is fixed and the pose change of the other end of the joint is measured, and the pose of the sampling point (each measurement is taken as a sampling point) is expressed as (x, y, z, α, β, γ) T ;

[0044] Among them, x represents the position of the other end of the joint in the x-axis direction of the world coordinate system, y represents the position of the other end of the joint in the y-axis direction of the world coordinate system, and z represents the position of the other end of the joint in the z-axis direction of the world coordinate system, α, β, γ are Euler angles, α represents the angle that the joint rotates around the x-axis of the world coordinate system, β represents the angle that the joint rotates around the y-axis of the world coo...

specific Embodiment approach 2

[0062] Embodiment 2: The difference between this embodiment and Embodiment 1 is that the expression of the homogeneous transformation matrix is ​​as follows:

[0063]

[0064] Among them, T is the homogeneous transformation matrix.

[0065] Other steps and parameters are the same as in the first embodiment.

specific Embodiment approach 3

[0066] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the position vector r of the joint axis is:

[0067]

[0068] where S represents the helical axis.

[0069] Other steps and parameters are the same as in the first or second embodiment.

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Abstract

The invention discloses a joint axis calculation method and belongs to the field of biological joints. According to the method, the problem that the human body joint axis is difficult to determine under the condition of complex sliding and rolling motion coupling by adopting an existing method is solved. According to the method, the spinor theory is adopted, and the position change of the human body joint axis in the complex space coupling motion is solved according to the pose change of a skeleton mark point when the joint rotates. According to the established mathematical model, the complex axis change condition of joint compound motion can be accurately expressed, personal characteristics are achieved, and important reference is provided for exoskeleton design, other researches needing to consider human body motion and the like. The method can be applied to joint axis calculation.

Description

technical field [0001] The invention belongs to the field of biological joints, and in particular relates to a method for calculating the axis of biological joints. Background technique [0002] For patients with abnormal neural links and limb injuries, the use of wearable rehabilitation robots to provide active and passive rehabilitation training is a promising method. However, the joints of most exoskeleton robots are rotational motions with a fixed axis, and the flexion and extension motion of the joints is a pulley joint, which has been proved to be a complex motion of sliding and rolling, which will lead to human-machine incompatibility when the two move. The matching situation will cause unexpected pulling of the limbs, causing discomfort or even injury. In view of the problem of joint compensation, the current exoskeleton robot proposes to increase the passive degree of freedom to meet the range of motion of the limb under the change of the joint axis. The redundant ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/11A61B5/00G06F17/16
CPCA61B5/1121A61B5/1118A61B5/1128A61B5/72G06F17/16
Inventor 郎国栋高永生孙晓颖沈文鹏
Owner HARBIN INST OF TECH