Joint torque measurement device and method

Abstract

The application discloses a kind of joint torque measuring device and method, measuring device includes: base, it is equipped with slide rail on, for loading force measurement unit and abutting the static limb segment of joint to be measured;Force measurement unit, slidingly installed on the slide rail, for receiving and measuring the acting force of the dynamic limb segment of joint to be measured;Displacement measurement unit is arranged on the base, for measuring the displacement of the force measurement unit.The application can be used in the measurement of joint torque in various parts of human body, such as upper and lower limbs or finger joints, etc., only the size of each component of the device is adjusted to adapt to the size of the corresponding joint limb, to evaluate the muscle strength and motor function of the joint, when used in rehabilitation therapy, provide basis for the development and adjustment of rehabilitation therapy, so as to design the corresponding rehabilitation training scheme, help patients recover muscle strength and motor function.

Description

Technical Field

[0001] This invention relates to the fields of human motion information and rehabilitation therapy, and in particular to a joint torque measuring device and method. Background Technology

[0002] Human joint torque measurement and analysis is a crucial field of human movement research. By analyzing changes in joint torque, we can gain a deeper understanding of the characteristics and mechanisms of human movement, providing theoretical basis and technical support for sports training, human-computer interaction, and rehabilitation therapy. In sports training, the magnitude and variation of joint torque reflect the quality and effectiveness of movement. Analysis of joint torque allows us to assess athletes' technical skills and muscle strength, providing a basis for developing scientific and reasonable training plans. It also helps identify technical problems and allows for targeted training and adjustments. In human-computer interaction, measuring joint torque enables real-time monitoring of human movement, achieving intelligent and personalized human-computer interaction. In rehabilitation therapy, measuring joint torque allows us to assess patients' muscle strength and motor function, providing a basis for developing and adjusting rehabilitation treatments. Rehabilitation therapists can design corresponding rehabilitation training programs based on the variation patterns of joint torque to help patients restore muscle strength and motor function.

[0003] Currently available joint torque measuring devices have complex structures and can only measure certain joints in the human body, resulting in a limited measurement area. They cannot measure the force and torque of hand joints. Summary of the Invention

[0004] The main objective of this invention is to provide a joint torque measuring device and method that can be used to measure the torque of joints in various parts of the human body.

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

[0006] The base is equipped with slide rails for supporting the force measuring unit and the stationary segment of the joint to be tested;

[0007] A force measuring unit is slidably mounted on the slide rail and is used to receive and measure the force exerted by the articulated joint of the joint under test.

[0008] A displacement measuring unit is mounted 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 groove formed on the base, and the slider is slidably installed in the groove.

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

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

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

[0014] Furthermore, it also includes a drive unit for moving the force measuring unit.

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

[0016] Furthermore, multiple force measuring units are connected to the slide rail.

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

[0018] (1) Place the stationary segment of the joint to be tested against the base, and place the movable segment of the joint to be tested on the force measuring unit. Then, the joint to be tested moves, causing the movable segment of the joint to be tested to press the force measuring unit. Measure the loading force F1 generated by the movable segment of the joint to be tested at this time. After releasing, slide the force measuring unit a distance of Δ1. Then, the joint to be tested moves, causing the movable segment of the joint to be tested to press the force measuring unit. Measure the loading force F2 generated by the movable segment of the joint to be tested at this time.

[0019] (2) Substitute F1 and F2 into the following relationship and solve the equations simultaneously to calculate the torque M of the joint to be tested;

[0020]

[0021] Where L1 is the distance between the point of application of the applied force F1 and the joint to be tested, L2 is the distance between the point of application of the applied force F2 and the joint to be tested, 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, multiple force measuring units are set up to measure simultaneously.

[0023] The beneficial effects of this invention are reflected in:

[0024] This 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. By simply adjusting the size of each component of the device to fit the size of the corresponding joint, the muscle strength and motor function of the joint can be assessed. When applied in rehabilitation therapy, it provides a basis for the formulation and adjustment of rehabilitation therapy, thereby designing corresponding rehabilitation training programs to help patients restore muscle strength and motor function and solve the problem of torque measurement of hand joints. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a joint torque measuring device according to an embodiment of the present invention;

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

[0027] Figure 3 This is an exploded view of the force measuring unit in a joint torque measuring device according to an embodiment of the present invention;

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

[0029] Figure 5 This is a schematic diagram of the structure of one of the displacement measuring units of the present invention.

[0030] Figure 6 This is a schematic diagram illustrating the measurement principle of two force sensors in one embodiment of the present invention.

[0031] Explanation of reference numerals in the attached figures:

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

[0033] 2. Force measuring unit; 21. Slider; 211. Rib groove; 22. Force sensor; 23. Press plate. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, etc.), these directional indications are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the attached figures). If the specific posture changes, the directional indications will also change accordingly. Furthermore, if the embodiments of the present invention involve descriptions such as "first," "second," etc., these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" can explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where A and B are simultaneously satisfied. Furthermore, "multiple" refers to two or more.

[0036] See Figures 1 to 4 :

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

[0038] The base 1 is equipped with a slide rail for supporting the force measuring unit 2 and the static limb segment that abuts against the joint to be measured.

[0039] Force measuring unit 2 is slidably mounted on the slide rail and is used to receive and measure the force exerted by the articulated joint of the joint to be tested.

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

[0041] The two limbs corresponding to the joint being tested are referred to as the static segment and the dynamic segment. For example, in the elbow joint, the static segment is the upper arm, and the dynamic segment is the forearm. For the method of measuring joint torque using the joint torque measuring device of this invention, please refer to [link to relevant documentation]. 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 articulated segment of the joint to be tested). The stationary segment of the joint to be tested is placed against the base 1, and the articulated segment of the joint to be tested is placed on the force measuring unit 2 (the pressing plate 23 below). Then the joint to be tested moves, causing the articulated segment of the joint to be tested to press the force measuring unit 2. The loading force F1 generated by the articulated segment of the joint to be tested at this time is measured. After releasing, the force measuring unit 2 is slid by a distance Δ1 (not exceeding the range of action of the articulated segment of the joint to be tested). Then the joint to be tested moves, causing the articulated segment of the joint to be tested to press the force measuring unit 2 again. The loading force F2 generated by the articulated segment of the joint to be tested at this time is measured.

[0043] (2) Substitute F1 and F2 into the following relationship and solve the equations simultaneously to calculate the torque M of the joint to be tested;

[0044]

[0045] Where L1 is the distance between the point of application of the applied force F1 and the joint to be tested, L2 is the distance between the point of application of the applied force F2 and the joint to be tested, 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 are unmeasurable, and the magnitude of the torque M of the joint to be tested remains unchanged, the torque M can be calculated by combining the applied forces F1 and F2 at the two positions and the distance difference Δ.

[0046] This 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. By simply adjusting the size of each component of the device to fit the size of the corresponding joint, the muscle strength and motor function of the joint can be assessed. When applied in rehabilitation therapy, it provides a basis for the formulation and adjustment of rehabilitation therapy, thereby designing corresponding rehabilitation training programs to help patients restore muscle strength and motor function.

[0047] In practice, the force data measured by the force measurement unit can be transmitted to the 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 measuring 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 is simple in structure and easy to manufacture. In specific implementations, bolts or screws can be used for installation and connection.

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

[0050] In one embodiment, a concave-convex fitting structure is provided between the two side walls of the slider 21 and the two side groove walls of the slide groove 11. For example, as illustrated in the figure, the two side walls of the slider 21 are provided with grooves 211, and the two side groove walls of the slide groove 11 are respectively provided with protruding ridges 12 that convex-concave fit with the slider 21, or the positions of the protruding ridges and grooves are interchanged. With this design, the slider is less likely to fall out of the slide groove, and the structural stability is better.

[0051] In one embodiment, two force sensors 22 are provided and distributed on both sides of the pressing plate 23 along the extension direction of the slide rail. For this design, the torque calculation method is described in [reference needed]. Figure 6 First, measure the applied force F1, F1 = F a1 +F b1 F a1 and F b1 The force measured by the two force sensors, and the distance of the point of application of F1 from the left side of the slider. Where l is the distance between the midpoints of the two force sensors; after moving the slider by Δ1, the applied 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 Its F2 = F a2 +F b2 The distance of the F2 point of action from the left side of the slider Where l is the distance between the midpoints of the two force sensors; the distance Δ between the points of application of F1 and F2 is Δ = Δ1 - l1 + l2. The joint torque M is calculated by solving the following equations simultaneously. Placing two sensors on each slider allows for accurate determination of the magnitude and location of the force, resulting in more precise measurement of the joint torque.

[0052]

[0053] In one embodiment, the displacement measuring unit includes scale lines 13 disposed on the surface of the base that cooperate with the slide rail, such as... Figure 1 As shown, this design allows for direct reading of the sliding distance Δ1 of the force measuring unit, and the measurement range of the scale line corresponds to the length of the groove.

[0054] The displacement measuring unit can also be a displacement sensor or an angle sensor. Any sensor capable of measuring the sliding distance of the force measuring unit is acceptable.

[0055] In one embodiment, a drive unit for moving the force measuring unit is also included. This design offers a high degree of automation and makes it more convenient to use.

[0056] In one embodiment, the drive unit includes a control motor 14 and a transmission mechanism for drivingly 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 disposed in the base 1. The external gear 15 is fixed on the output shaft of the control motor 14, and the rack 16 is fixed on the force measuring unit 2. The external gear 15 and the rack 16 mesh with each other.

[0058] Of course, the transmission mechanism can also be in other structural forms, such as connecting parts, or the rack and pinion can be replaced with internal gears.

[0059] In one embodiment, the base 1 is a structure that can conform to the limbs on both sides of the joint, such as being cylindrical, and the slide rail extends along the length of the limb, or, for a cylindrical base, along the circumference of the base. This design facilitates the application of force to the limb.

[0060] In one embodiment, multiple force measuring units 2 are connected to the slide rail. This design allows for the simultaneous measurement of the torque of multiple joints, such as the torque of each joint in a finger. With three force measuring units, during measurement, the palm rests against the base, and the three phalanges of the fingers act on the pressing plates of the three force measuring units respectively.

[0061] Furthermore, the joint torque measuring device and method provided by this invention can be used for mirror image training. For example, a patient with hand dysfunction can use the grasping measuring device on the healthy hand to send the measured finger joint torque data to a computer. The computer can then control a rehabilitation glove to drive the affected hand to achieve the same torque state, completing active rehabilitation training. Patients can also use the grasping measuring device on the affected hand at different stages of rehabilitation to assess treatment effectiveness. Therapists can adjust rehabilitation strategies based on the measurement data to help patients recover 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 within the protection scope of the present invention.

Claims

1. A joint torque measuring device, characterized in that, include: The base is equipped with slide rails for supporting the force measuring unit and the stationary segment of the joint to be tested; A force measuring unit is slidably mounted on the slide rail and is used to receive and measure the force exerted by the articulated joint of the joint under test. A displacement measuring unit is mounted on the base and is used to measure the displacement of the force measuring unit; The method for measuring joint torque using the aforementioned joint torque measuring device includes the following steps: (1) Place the stationary segment of the joint to be tested against the base, and place the movable segment of the joint to be tested on the force measuring unit. Then, the joint to be tested moves so that the movable segment of the joint to be tested presses the force measuring unit. Measure the loading force F1 generated by the movable segment of the joint to be tested at this time. After releasing, slide the force measuring unit a distance of Δ1. Then, the joint to be tested moves so that the movable segment of the joint to be tested presses the force measuring unit. Measure the loading force F2 generated by the movable segment of the joint to be tested at this time. (2) Substitute F1 and F2 into the following relationship and solve the equations simultaneously to calculate the torque M of the joint to be tested; Where L1 is the distance between the point of application of the applied force F1 and the joint to be tested, L2 is the distance between the point of application of the applied force F2 and the joint to be tested, and Δ is the distance between the points of application of F1 and F2. By default, Δ1 is equal to Δ.

2. The joint torque measuring device as described in claim 1, characterized in that, The force measurement 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.

3. The joint torque measuring device as described in claim 2, characterized in that, The slide rail is a groove formed on the base, and the slider is slidably installed in the groove.

4. The joint torque measuring device as described in claim 3, characterized in that, The two side walls of the slider and the two side groove walls of the groove are provided with a concave-convex fit structure.

5. The joint torque measuring device as described in any one of claims 2 to 4, characterized in that, Two force sensors are provided and distributed on both sides of the pressing plate along the extension 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, a displacement sensor, or an angle sensor disposed on the base.

7. The joint torque measuring device according to any one of claims 1 to 4, characterized in that, It also includes a drive unit for moving the force measuring unit.

8. The joint torque measuring device as described in claim 7, characterized in that, The drive unit includes a control motor and a transmission mechanism for drivingly connecting the control motor to the force measuring unit.

9. The joint torque measuring device as described in any one of claims 1 to 4, characterized in that, Multiple force measuring units are connected to the slide rail.

10. A method for measuring joint torque, characterized in that, The method is implemented using the joint torque measuring device as described in any one of claims 1 to 9, and the steps include: (1) Place the stationary segment of the joint to be tested against the base, and place the movable segment of the joint to be tested on the force measuring unit. Then, the joint to be tested moves so that the movable segment of the joint to be tested presses the force measuring unit. Measure the loading force F1 generated by the movable segment of the joint to be tested at this time. After releasing, slide the force measuring unit a distance of Δ1. Then, the joint to be tested moves so that the movable segment of the joint to be tested presses the force measuring unit. Measure the loading force F2 generated by the movable segment of the joint to be tested at this time. (2) Substitute F1 and F2 into the following relationship and solve the equations simultaneously to calculate the torque M of the joint to be tested; Where L1 is the distance between the point of application of the applied force F1 and the joint to be tested, L2 is the distance between the point of application of the applied force F2 and the joint to be tested, and Δ is the distance between the points of application of F1 and F2. By default, Δ1 is equal to Δ.

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