Joint torque measuring device and method

Abstract

The invention discloses a joint torque measuring device and method, and the device comprises a base which is provided with a sliding rail and is used for bearing a force measuring unit and a static limb joint which abuts against a to-be-measured joint; the force measuring unit is mounted on the sliding rail in a sliding manner and is used for receiving and measuring the acting force of a movable limb joint of the joint to be measured; and the displacement measuring unit is arranged on the base and is used for measuring the displacement of the force measuring unit. The device can be used for measuring torques of joints of all positions of a human body, such as joints of upper and lower limbs or fingers, the muscle strength and motion function conditions of the joints can be evaluated only by adjusting the sizes of all parts of the device to be matched with the sizes of the corresponding joints and limbs, and a basis is provided for formulation and adjustment of rehabilitation treatment when the device is applied to rehabilitation treatment; accordingly, a corresponding rehabilitation training scheme is designed, and the patient is helped to recover muscle strength and motion functions.

Description

Technical Field

[0001] The present invention relates to the technical field of human motion information and rehabilitation therapy, and in particular to a joint torque measurement device and method. Background Art

[0002] The measurement and analysis of human joint torque is a crucial area of ​​research in human motion. By analyzing changes in joint torque, we can gain a deeper understanding of the characteristics and mechanisms of human motion, providing theoretical and technical support for fields such as sports training, human-computer interaction, and rehabilitation therapy. In sports training, the magnitude and variation of joint torque can reflect the quality and effectiveness of movement. By analyzing joint torque, we can assess an athlete's technical level and muscle strength, providing a basis for developing scientific and rational training plans. It can also identify technical issues and enable targeted training and adjustments. In human-computer interaction, measuring joint torque allows for real-time monitoring of the body's motion state, enabling intelligent and personalized human-computer interaction. In rehabilitation therapy, measuring joint torque can assess a patient's muscle strength and motor function, providing a basis for the development and adjustment of rehabilitation treatments. Rehabilitation therapists can design appropriate rehabilitation training programs based on the variation patterns of joint torque to help patients regain muscle strength and motor function.

[0003] The joint torque measurement devices currently on the market have a relatively complex structure and can only measure certain joints of the human body. The measurement area is relatively single, and the force and torque of the hand joints cannot be measured. Summary of the Invention

[0004] The main purpose of the present invention is to provide a joint torque measurement device and method that can be used to measure joint torques at various parts of the human body.

[0005] To achieve the above object, the present invention provides a joint torque measurement device, comprising:

[0006] A base with a slide rail for accommodating a force measurement unit and a static limb against a joint to be measured;

[0007] A force measuring unit is slidably mounted on the slide rail and is used to receive and measure the force acting on the movable segment of the joint to be measured;

[0008] The displacement measuring unit is arranged on the base and is used to measure the displacement of the force measuring unit.

[0009] Furthermore, the force measuring unit includes a slider, a force sensor and a pressing plate, the slider is slidably mounted on the slide rail, the force sensor is mounted on the slider, and the pressing plate is mounted on the force sensor.

[0010] Furthermore, the slide rail is a slide groove provided on the base, and the slider is slidably installed in the slide groove.

[0011] Furthermore, a concave-convex matching structure is provided between the two side walls of the slider and the two side walls of the sliding groove.

[0012] Furthermore, two force sensors are provided and distributed on both sides of the pressing plate along the extending direction of the slide rail.

[0013] Furthermore, the displacement measuring unit includes a scale line or a displacement sensor or an angle sensor provided on the base.

[0014] Furthermore, it also includes a driving unit for driving the force measuring unit to move.

[0015] Furthermore, the driving unit includes a control motor and a transmission mechanism for transmission-connecting the control motor to the force measuring unit.

[0016] Furthermore, a plurality of the force measuring units are connected to the slide rail.

[0017] The present invention also provides a joint torque measurement method, which is implemented using the above-mentioned joint torque measurement device, and the steps include:

[0018] (1) The static segment of the joint to be measured is placed against the base, and the dynamic segment of the joint to be measured is placed on the force measuring unit. The joint to be measured is then moved so that the dynamic segment of the joint to be measured presses the force measuring unit, and the loading force F1 generated by the dynamic segment of the joint to be measured at this time is measured. After releasing the force measuring unit, the force measuring unit is slid a distance of Δ1, and then the joint to be measured is moved so that the dynamic segment of the joint to be measured presses the force measuring unit, and the loading force F2 generated by the dynamic segment of the joint to be measured at this time is measured;

[0019] (2) Substitute F1 and F2 into the following relationship and use simultaneous equations to calculate the moment M of the joint to be measured;

[0020]

[0021] Where L1 is the distance between the point of application of the loading force F1 and the joint to be measured, L2 is the distance between the point of application of the loading force F2 and the joint to be measured, and Δ is the distance between the points of application of F1 and F2. By default, Δ1 is equal to Δ.

[0022] Furthermore, when measuring the torque of each joint of the finger, a plurality of force measuring units are provided to measure simultaneously.

[0023] The beneficial effects of the present invention are embodied in:

[0024] The present invention can be used to measure the torque of joints in various parts of the human body, such as the joints of the upper and lower limbs or fingers. It is only necessary to adjust the sizes of the various components of the device to adapt to the size of the corresponding joint limbs to evaluate the muscle strength and motor function of the joints. When used in rehabilitation treatment, it provides a basis for the formulation and adjustment of rehabilitation treatment, thereby designing corresponding rehabilitation training plans, helping patients restore muscle strength and motor function, and solving the torque measurement problem of hand joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the structure of a joint torque measurement device according to an embodiment of the present invention;

[0026] Figure 2 This is an exploded view of the structure of a joint torque measurement device according to an embodiment of the present invention;

[0027] Figure 3 An exploded diagram of the structure of a force measurement unit in a joint torque measurement device according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the measurement principle of a joint torque measurement device according to an embodiment of the present invention;

[0029] Figure 5 FIG. 1 is a structural diagram of a displacement measurement unit according to the present invention.

[0030] Figure 6 Schematic diagram of the measurement principle of two force sensors in one embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. Base; 11. Slide; 12. Ridge; 13. Scale line; 14. Control motor; 15. External gear; 16. Rack.

[0033] 2. Force measuring unit; 21. Slider; 211. Groove; 22. Force sensor; 23. Press plate. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative positional relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. In addition, if the embodiments of the present invention involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes in which A and B are satisfied at the same time. In addition, "multiple" refers to more than two.

[0036] See also Figures 1 to 4 :

[0037] The joint torque measuring device of the present invention comprises:

[0038] A base 1 with a slide rail for accommodating a force measurement unit 2 and a static limb against the joint to be measured;

[0039] The force measuring unit 2 is slidably mounted on the slide rail and is used to receive and measure the force acting on the dynamic segment of the joint to be measured.

[0040] The displacement measuring unit is arranged on the base 1 and is used to measure the displacement of the force measuring unit 2 .

[0041] The two limbs connected to the joint to be measured are called static limb segments and dynamic limb segments. For example, the static limb segment of the elbow joint is the upper arm and the dynamic limb segment is the lower arm. The method for measuring the joint torque using the joint torque measuring device of the present invention is as follows: Figure 4 , the steps include:

[0042] (1) In the initial state, the force measuring unit 2 is positioned at a certain position (the position is not limited, as long as it can correspond to the movable segment of the joint to be measured), the static segment of the joint to be measured is placed against the base 1, and the movable segment of the joint to be measured is placed on the force measuring unit 2 (the pressing plate 23 described below), and then the joint to be measured moves so that the movable segment of the joint to be measured presses the force measuring unit 2, and the loading force F1 generated by the movable segment of the joint to be measured at this time is measured, and after being released, the force measuring unit 2 is slid a distance of Δ1 (within the range of action of the movable segment of the joint to be measured), and then the joint to be measured moves so that the movable segment of the joint to be measured presses the force measuring unit 2 again, and the loading force F2 generated by the movable segment of the joint to be measured at this time is measured;

[0043] (2) Substitute F1 and F2 into the following relationship and use simultaneous equations to calculate the moment M of the joint to be measured;

[0044]

[0045] Where L1 is the distance between the point of application of the loading force F1 and the joint to be measured, L2 is the distance between the point of application of the loading force F2 and the joint to be measured, and Δ is the distance between the points of application of F1 and F2. By default, Δ1 is equal to Δ. Since L1 and L2 cannot be measured, the magnitude of the moment M of the joint to be measured remains unchanged. Therefore, the moment M can be calculated by combining the loading forces F1 and F2 at the two positions and the distance difference Δ.

[0046] The present invention can be used to measure the torque of joints in various parts of the human body, such as the joints of the upper and lower limbs or fingers. It is only necessary to adjust the size of the various components of the device to adapt to the size of the corresponding joint limbs to evaluate the muscle strength and motor function of the joints. When used in rehabilitation treatment, it provides a basis for the formulation and adjustment of rehabilitation treatment, thereby designing corresponding rehabilitation training plans to help patients restore muscle strength and motor function.

[0047] In a specific implementation, the force data measured by the force measurement unit can be transmitted to a data acquisition device, the conditioning unit in the data acquisition device converts the pressure signal into a conditioning signal, the conversion unit converts the conditioning signal into a digital signal, and the communication unit sends the digital signal to relevant personnel for analysis.

[0048] In one embodiment, the force measurement unit 2 includes a slider 21, a force sensor 22, and a pressing plate 23. The slider 21 is slidably mounted on the slide rail, the force sensor 22 is mounted on the slider 21, and the pressing plate 23 is mounted on the force sensor 22. This design has a simple structure and is easy to manufacture. In practice, bolts or screws can be used for installation and connection.

[0049] In one embodiment, the slide rail is a slide groove 11 provided on the base 1, and the slider 21 is slidably mounted in the slide groove 11. With this design, the slider does not protrude from the base, making it easier for the limb to exert force.

[0050] In one embodiment, a concave-convex structure is provided between the side walls of the slider 21 and the side walls of the chute 11. For example, in the example shown in the figure, the side walls of the slider 21 are provided with rib grooves 211, and the side walls of the chute 11 are provided with ribs 12 that mate with the slider 21, or the ribs and rib grooves are swapped. This design makes it difficult for the slider to fall out of the chute, and the structural stability is improved.

[0051] In one embodiment, the force sensors 22 are provided with two and are distributed on both sides of the pressing plate 23 along the extending direction of the slide rail. Figure 6 , first measure the loading force F1, F1=F a1 +F b1 , F a1 and F b1 The force measured by the two force sensors is the distance between the F1 action point and the left side of the slider. Where l is the midpoint distance between the two force sensors; after moving the slider by Δ1, the loading force F2 is measured. Δ1 can be measured by the displacement measurement unit. At this time, the force measured by the force sensors on the left and right sides of the slider is F a2 and F b2 , where F2=F a2 +F b2 , the distance between the F2 action point and the left side of the slider Where l is the midpoint distance between the two force sensors; the distance between the points of application of F1 and F2 is Δ = Δ1 - l1 + l2. The following equations are used to calculate the joint torque M. Placing two sensors on each slider accurately determines the magnitude and location of the force, providing more precise measurement of joint torque.

[0052]

[0053] In one embodiment, the displacement measuring unit includes a scale line 13 provided on the surface of the base and cooperating with the slide rail, such as Figure 1 As shown, this design facilitates direct reading of the sliding distance Δ1 of the force measuring unit, and the measuring range of the scale line corresponds to the length of the slide slot.

[0054] The displacement measuring unit may also be a displacement sensor or an angle sensor, as long as it can measure the sliding distance of the force measuring unit.

[0055] In one embodiment, the device further comprises a driving unit for driving the force measuring unit to move. This design has a high degree of automation and is more convenient to use.

[0056] In one embodiment, the drive unit includes a control motor 14 and a transmission mechanism for transmission-connecting the control motor 14 to the force measuring unit 2 .

[0057] Figure 5 For example, the transmission mechanism includes an external gear 15 and a rack 16, the control motor 14 is arranged in the base 1, the external gear 15 is fixed on the output shaft of the control motor 14, the rack 16 is fixed on the force measuring unit 2, and the external gear 15 and the rack 16 are engaged with each other.

[0058] Of course, the transmission mechanism can also be of other structural forms, such as a connecting piece, or the rack can be replaced by an internal gear.

[0059] In one embodiment, the base 1 is a structure that can fit the limbs on both sides of the joint, such as a cylindrical structure, and the slide rails extend along the length of the limbs, or for a cylindrical base, along the circumference of the base. This design facilitates the application of force by the limbs.

[0060] In one embodiment, the slide rail is connected to a plurality of force measurement units 2. This design allows for simultaneous measurement of the torque of multiple joints, such as the torque of each finger joint. Three force measurement units are provided. During measurement, the palm is placed against the base, and the three phalanges of the fingers act on the pressure plates of the three force measurement units respectively.

[0061] Furthermore, the joint torque measurement device and method provided by this invention can be used for mirror training. For example, a patient with hand dysfunction can grasp the measurement device with their healthy hand and send the measured finger joint torque data to a computer. The computer can then control a rehabilitation glove to drive the affected hand to the same torque state, completing active rehabilitation training. Patients can also grasp the measurement device with their affected hand at different stages of rehabilitation to evaluate treatment effectiveness. Therapists can then adjust rehabilitation strategies based on the measurement data to help patients regain hand function.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A joint torque measurement device, characterized in that: include: A base, on which a slide rail is provided, for accommodating a force measuring unit and a static limb against a joint to be measured; A force measuring unit is slidably mounted on the slide rail and is used to receive and measure the force of the movable limb of the joint to be measured; The displacement measuring unit is arranged on the base and is used to measure the displacement of the force measuring unit.

2. The joint torque measuring device according to claim 1, characterized in that: The force measuring unit comprises a slider, a force sensor and a pressing plate. The slider is slidably mounted on the slide rail, the force sensor is mounted on the slider, and the pressing plate is mounted on the force sensor.

3. The joint torque measuring device according to claim 2, characterized in that: The slide rail is a slide groove provided on the base, and the sliding block is slidably installed in the slide groove.

4. The joint torque measuring device according to claim 3, characterized in that: A concave-convex matching structure is provided between the two side walls of the sliding block and the two side groove walls of the sliding groove.

5. The joint torque measuring device according to any one of claims 2 to 4, characterized in that: The force sensors are provided with two and are distributed on both sides of the pressing plate along the extending direction of the slide rail.

6. The joint torque measuring device according to any one of claims 1 to 4, characterized in that: The displacement measuring unit includes a scale line or a displacement sensor or an angle sensor arranged on the base.

7. The joint torque measuring device according to any one of claims 1 to 4, characterized in that: The invention also comprises a driving unit for driving the force measuring unit to move.

8. The joint torque measuring device according to claim 7, characterized in that: The driving unit comprises a control motor and a transmission mechanism for transmission-connecting the control motor with the force measuring unit.

9. The joint torque measuring device according to any one of claims 1 to 4, characterized in that: A plurality of the force measuring units are connected to the slide rail.

10. A method for measuring joint torque, characterized in that: The joint torque measurement device according to any one of claims 1 to 9 is used, and the steps include: (1) The static segment of the joint to be tested is placed against the base, and the dynamic segment of the joint to be tested is placed on the force measuring unit. Then, the joint to be tested moves so that the dynamic segment of the joint to be tested presses the force measuring unit, and the loading force F1 generated by the dynamic segment of the joint to be tested is measured. After releasing the force measuring unit, the force measuring unit is slid by a distance of Δ1, and then the joint to be tested moves so that the dynamic segment of the joint to be tested presses the force measuring unit, and the loading force F2 generated by the dynamic segment of the joint to be tested is measured; (2) Substitute F1 and F2 into the following relationship and use the simultaneous equations to calculate the moment M of the joint to be tested; Among them, L1 is the distance between the action point of the loading force F1 and the joint to be measured, L2 is the distance between the action point of the loading force F2 and the joint to be measured, Δ is the distance between the action point of F1 and the action point of F2, and by default Δ1 is equal to Δ.

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