Animal limb three-dimensional force detection system and method

Abstract

The invention provides a three-dimensional force detection system for animal limbs. The three-dimensional force detection system comprises a trunk fixing device, a limb connecting plate, a connecting rod, a flexible sensing strain gauge, a strain gauge base and an electric stimulator, wherein the trunk fixing device is provided with a pit structure matched with the shape of an animal to be detected, and the animal to be detected is fixed through the clamping assembly; one side of the limb connecting plate is tightly attached to the lower limb of the animal to be detected, and the other side is connected with the connecting rod; one end of each connecting rod is connected with the limb connecting plate, the other end of each connecting rod is connected with the flexible sensing strain gauge, and the number of the connecting rods is determined according to detection precision set by a user; the flexible sensing strain gauge is fixed to the strain gauge base and used for detecting deformation generated by the flexible sensing strain gauge when the lower limbs of the animal to be detected move and obtaining and outputting a current change signal corresponding to the deformation. The invention aims to solve the problem that the mechanical detection requirement of an animal to be detected in a natural state is difficult to meet in the prior art.

Description

Technical Field

[0001] The present invention belongs to the field of animal experimental research, medical research and rehabilitation technology, and in particular relates to a three-dimensional force detection system and method for animal limbs. Background Art

[0002] In modern biomedical research, animal models serve as crucial tools, providing essential data for uncovering disease mechanisms and developing treatments. Muscle mechanics and related research, particularly in small animal models, is a hot topic in the current biomedical field.

[0003] However, existing muscle mechanics research equipment has numerous limitations in terms of functionality and applicability, particularly when it comes to testing the mechanics of animals in their natural state. While mainstream muscle mechanics testing equipment, such as the Aurora testing system (for animal force testing) and isokinetic muscle testing equipment (for human force testing), offers advantages in specific research scenarios, they also face significant technical bottlenecks and application limitations.

[0004] The Aurora detection system is a common muscle mechanics research device, which is mainly used for the analysis of the mechanical properties of isolated muscles. Although it has high accuracy in accurately measuring unidirectional (one-dimensional) force, the Aurora detection system cannot achieve comprehensive detection of three-dimensional force, which makes the experimental results unable to fully reflect the true force characteristics of the muscle. In the natural state, the force generated by the muscle often has multi-directional components, and only detecting the force in a single direction will lose a lot of important information. The Aurora detection system requires that the target muscle of the animal to be tested be removed from the body and fixed on the equipment for testing. This experimental method destroys the natural connection between the muscle and the surrounding tissue, resulting in a large difference between the experimental results and the actual physiological state. The Aurora detection system requires that both ends of the muscle be fixed on the equipment, which prevents the muscle from moving freely and makes it difficult to simulate the force characteristics in the natural physiological state.

[0005] Isokinetic muscle strength equipment is mainly used in human research. It is a device that measures muscle strength by maintaining a constant movement speed. Although it has been widely used in the fields of human movement rehabilitation and strength training, isokinetic muscle strength equipment requires the experimental subjects to actively apply force, and animals are usually unable to actively cooperate with experimental operations, which limits the applicability of the equipment in animal experiments. Existing isokinetic muscle strength equipment is usually large in size and difficult to apply to small animals to be tested, such as mice and rats. Isokinetic muscle strength equipment simulates the muscle force process by setting resistance and speed constraints, but it cannot measure the muscle force output in the natural state and cannot meet the measurement needs of natural muscle strength in basic biological research. Summary of the Invention

[0006] The purpose of the present invention is to provide a three-dimensional force detection system and method for animal limbs, aiming to solve the problem that the existing technology is difficult to meet the mechanical detection needs of the animal to be detected in its natural state.

[0007] In a first aspect, the present invention provides a three-dimensional force detection system for an animal limb, comprising a trunk fixing device, a limb connecting plate, a connecting rod, a flexible sensing strain gauge, a strain gauge base, and an electrical stimulator;

[0008] In which, the trunk fixing device is provided with a pit structure adapted to the appearance of the animal to be detected, the pit structure is integrated into the electrical stimulator for accommodating the animal to be detected, and the pit structure fixes the animal to be detected through a clamping assembly; when performing three-dimensional force detection on the animal to be detected, one side of the limb connecting plate is tightly fitted with the lower limbs of the animal to be detected, and the other side is connected to the connecting rod; one end of the connecting rod is connected to the limb connecting plate, and the other end is connected to the flexible sensing strain gauge, and the number of the connecting rods is determined according to the detection accuracy set by the user; the flexible sensing strain gauge is fixed to the strain gauge base, and is used to detect the deformation generated by the flexible sensing strain gauge when the lower limbs of the animal to be detected move, and obtain and output the current change signal corresponding to the deformation. The number of the flexible sensing strain gauges is the same as the number of the connecting rods; the electrical stimulator is used to stimulate the muscles of the animal to be detected so that the animal's limbs generate strength.

[0009] In some embodiments, the contact surface of the limb connecting plate with the lower limb of the animal to be tested is provided with a biocompatible adhesive layer, and the other surface is equipped with a first ball joint female head connected to the connecting rod.

[0010] In some embodiments, the connecting rod adopts a double-ended ball joint structure, and the two ends of the connecting rod are respectively provided with a first ball joint male head and a second ball joint male head. The first ball joint male head forms a rotatable connection with the first ball joint female head on the limb connecting plate, and the second ball joint male head is connected to the flexible sensing transformer.

[0011] In some embodiments, a second female ball joint is provided in the middle of the flexible sensing transformer, and the second female ball joint is rotatably connected to the second male ball joint of the connecting rod.

[0012] In some embodiments, the strain gauge base includes a first strain gauge base and a second strain gauge base, the first strain gauge base and the second strain gauge base are arranged horizontally and vertically, the first strain gauge base and the second strain gauge base are both provided with a strain gauge fixing structure, the flexible sensing strain gauge is fixed to the strain gauge fixing structure at a preset angle, and multiple flexible sensing strain gauges are adapted to multiple strain gauge fixing structures to form a three-dimensional force detection array.

[0013] In some embodiments, a support rod is further included, one end of which is fixedly connected to the first strain gauge base for supporting the first strain gauge base.

[0014] In some embodiments, a base is further included, wherein the base is used to support the electrical stimulator and the strain gauge base, and the other end of the support rod is fixed to the base.

[0015] In a second aspect, the present invention provides a method for detecting three-dimensional force of an animal limb based on the three-dimensional force detection system as described above, comprising the following steps:

[0016] receiving body parameters and detection accuracy of the animal to be detected input by a user, adjusting the position and angle of the trunk fixing device according to the body parameters, fixing the upper limbs of the animal to be detected to the trunk fixing device via the clamping assembly, and adjusting the body position of the animal to be detected so that its lower limbs hang naturally;

[0017] One side of the limb connection plate is tightly fitted to the lower limb of the animal to be tested, the flexible sensing transducer is zero-calibrated, a current change signal generated by the deformation of the flexible sensing transducer is obtained, and the obtained current change signal is converted into a multi-point force parameter vector;

[0018] Mechanical data of the lower limbs of the animal to be tested in three-dimensional space are generated according to the multi-point force parameter vector.

[0019] In some embodiments, before the step of closely fitting one side of the limb connecting plate to the lower limb of the animal to be tested, the method includes:

[0020] The number of the flexible sensing transducers and the number of the connecting rods are determined according to the body shape parameters and the detection accuracy.

[0021] In some embodiments, the step of generating mechanical data of the lower limb of the animal to be tested in three-dimensional space based on the multi-point force parameter vector includes:

[0022] Based on the preset mapping matrix and the multi-point force parameter vector, the mechanical data of the lower limbs of the animal to be tested in three-dimensional space is generated by a preset mapping function, wherein the preset mapping function is F(t)=M*I(t), F(t) represents the mechanical data of the lower limbs of the animal to be tested in three-dimensional space, I(t) represents the multi-point force parameter vector, and M represents the mapping matrix.

[0023] An embodiment of the present invention provides a three-dimensional force detection system for animal limbs, including a trunk fixing device, a limb connecting plate, a connecting rod, a flexible sensor strain gauge, a strain gauge base, and an electric stimulator. The embodiment of the present invention realizes three-dimensional force detection of animal limbs in a natural state through a suspended structure design, overcomes the limitation that traditional equipment is difficult to simulate a real motion environment, and effectively fills the gap that traditional equipment is difficult to meet the needs of animal experiments. The embodiment of the present invention also significantly improves the detection accuracy by adopting a highly sensitive flexible sensor strain gauge, and solves the problem of insufficient sensitivity in the prior art. In addition, the three-dimensional force detection system provided by the embodiment of the present invention adopts a modular design, so that the entire three-dimensional force detection system has a compact structure, a small size, and simple installation and operation, and is suitable for a variety of animal models. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic diagram of a three-dimensional force detection system for an animal limb provided by an embodiment of the present invention;

[0025] Figure 2 is another schematic diagram of a three-dimensional force detection system for an animal limb provided by an embodiment of the present invention;

[0026] Figure 3 is a partial schematic diagram of a three-dimensional force detection system for an animal limb provided by an embodiment of the present invention;

[0027] Figure 4 is a connection diagram of a connecting rod provided by an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of a trunk fixation device and an electrical stimulator provided by an embodiment of the present invention;

[0029] Figure 6 This is a flow chart of a method for detecting three-dimensional force of an animal limb based on a three-dimensional force detection system for an animal limb provided by an embodiment of the present invention; DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0031] It should be understood that the term "comprising" as used in the specification and in the claims indicates the presence of the recited features, integers, steps, operations, elements, and / or components but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terminology used in this description of the application merely describes specific embodiments and is not intended to limit the application. As used in this description of the application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "first", "second", and similar terms do not denote any order, quantity, or importance, but are used to distinguish one element from another. The terms "connected" and "coupled" and similar terms are not limited to direct or physical connections or couplings, but can include electrical connections or couplings, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are used only to denote relative positions for ease of description, and can change accordingly when the absolute positions of the described objects are changed.

[0032] In order to keep the following description of the embodiments of the application clear and concise, detailed descriptions of some known functions and known components are omitted from the specification.

[0033] The specific implementation of the application is described in detail below in combination with specific embodiments:

[0034] The embodiments of the application provide an animal limb three-dimensional force detection system 1, please refer to Figures 1 to 5 As shown in the figure, the animal limb three-dimensional force detection system 1 comprises a torso fixing device 10, a limb connecting plate 20, a connecting rod 30, a flexible sensing strain gauge 40, a strain gauge base 50, and an electric stimulator 60. Among them, the torso fixing device 10 is provided with a concave structure 11 matched with the shape of the animal to be detected, the concave structure 11 is integrated with the electric stimulator 60, used for accommodating the animal to be detected, and the concave structure 11 fixes the animal to be detected through a clamping assembly 12. When the three-dimensional force of the animal to be detected is detected, one side of the limb connecting plate 20 is closely combined with the lower limbs of the animal to be detected, and the other side is connected with the connecting rod 30. One end of the connecting rod 30 is connected with the limb connecting plate 20, and the other end is connected with the flexible sensing strain gauge 40, and the number of the connecting rod 30 is determined according to the detection accuracy set by the user. The flexible sensing strain gauge 40 is fixed on the strain gauge base 50, used for detecting the deformation of the flexible sensing strain gauge 40 when the lower limbs of the animal to be detected move, acquiring and outputting the current change signal corresponding to the deformation, and the number of the flexible sensing strain gauge 40 is the same as that of the connecting rod 30. The electric stimulator 60 is used to stimulate the muscles of the animal to be detected, so as to make the animal limbs produce strength.

[0035] The animal three-dimensional force detection system 1 provided in an embodiment of the present invention adopts a modular design, has a compact structure, and is suitable for a variety of animal models. It realizes three-dimensional force detection of the lower limbs of animals in a natural suspended state, overcomes the limitation that traditional equipment is difficult to simulate real motion environments, and effectively fills the gap that traditional equipment is difficult to meet the needs of animal experiments.

[0036] In some embodiments, the trunk fixing device 10 is fixed relative to the ground, and its overall frame is made of high-strength, corrosion-resistant materials to ensure that it remains stable during the experiment and will not move or vibrate. The trunk fixing device 10 adopts a pit structure 11 that is compatible with the appearance of the animal to be tested. The pit structure 11 can be designed as a rectangular groove, integrated into the electrical stimulator 60, and used to accommodate the animal to be tested. It can also adopt a groove design of other shapes. The pit structure 11 fixes the animal to be tested through a clamping component 12, which is used to fix the upper body of the animal to be tested in a stable position, so that the lower limbs are suspended and move freely to simulate a natural force state. The clamping component 12 can adopt a strap or a pressing plate structure. The strap adopts a flexible restraint belt to achieve non-damaging fixation, which can tie and fix the upper limbs of the animal to be tested. The pressing plate structure completes the animal's body position fixation through adjustable fasteners symmetrically arranged on both sides of the pit structure 11. The torso of the animal to be tested is firmly clamped in the pit by the adjustable fasteners, ensuring that its lower body is in a natural suspended state to simulate a real force environment.

[0037] In some embodiments, the fitting surface of the limb connecting plate 20 and the lower limb of the animal to be tested is provided with a biocompatible adhesive layer, and the other side is equipped with a first ball joint female head 21, which is connected to the connecting rod 30. The limb connecting plate 20 is an important component for connecting the lower limb of the animal to be tested to other modules in the three-dimensional force detection system 1, taking into account biocompatibility and accurate transmission of force. Specifically, the fitting surface of the limb connecting plate 20 and the lower limb of the animal to be tested or a part of the fitting surface is coated with biocompatible double-sided tape, which is used to fit tightly with the limb of the animal to be tested when the animal to be tested is subjected to three-dimensional force detection, so as to avoid irritation or damage to the animal tissue. The other side of the limb connecting plate 20 facing away from its fitting surface is equipped with a first ball joint female head 21, which forms a rotatable connection with the connecting rod 30, and the number of the first ball joint female heads 21 is the same as the number of the connecting rods 30.

[0038] In some embodiments, the connecting rod 30 adopts a double-ended ball joint structure, and the two ends of the connecting rod 30 are respectively provided with a first ball joint male head 31 and a second ball joint male head 32 to achieve universal rotation. The first ball joint male head 31 forms a rotatable connection with the first ball joint female head 21 on the limb connecting plate 20, and the second ball joint male head 32 is connected to the flexible sensing transformer sheet 40. The connecting rod 30 connects the limb connecting plate 20 with the flexible sensing transformer sheet 40, ensuring accurate force transmission and flexible multi-directional movement. The two-way ball joint design on both ends of the connecting rod 30 can provide flexible movement space in three degrees of freedom. The number of connecting rods 30 is determined according to the detection accuracy set by the user. The higher the accuracy, the more connecting rods are required, so as to cooperate with the flexible sensing transformer sheet 40 to collect as much force data as possible from different parts and positions of the lower limbs of the animal to be tested. The male ball joint on the connecting rod 30 and the female ball joint on the limb connecting plate 20 cooperate with each other to provide the connecting rod 30 with a multi-degree-of-freedom range of motion, thereby driving the movement of the limb connecting plate 20, allowing the lower limbs of the animal to be tested to swing freely in three-dimensional space, ensuring that the natural movement of the limbs is not restricted, restoring the natural movement trajectory of the limbs to the greatest extent, and avoiding movement restriction or data deviation due to rigid connection.

[0039] The connecting rod 30 is made of a high-rigidity lightweight material, such as carbon fiber, aluminum alloy or other composite materials. This material selection not only ensures the precise transmission of force, but also reduces the impact on the overall weight of the three-dimensional force detection system, further improving the stability and flexibility of the three-dimensional force detection system.

[0040] In some embodiments, a second ball joint female head 41 is provided in the middle of the flexible sensing strain gauge 40, and the second ball joint female head 41 forms a rotatable connection with the second ball joint male head 32 of the connecting rod 30. The flexible sensing strain gauge 40 is the core mechanical detection component in the three-dimensional force detection system 1, and is used to sense the three-dimensional force and deformation generated by limb movement in real time. Specifically, the flexible sensing strain gauge 40 is used to detect the deformation generated by the flexible sensing strain gauge 40 when the lower limbs of the animal to be detected move, and to obtain and output the current change signal corresponding to the deformation. The sensing and electrode materials of the flexible sensing strain gauge 40 include but are not limited to carbon, silver, liquid metal, gold or other flexible materials with good conductivity. These materials give the strain gauge high sensitivity, low hysteresis and high durability, enabling it to accurately capture tiny mechanical changes. The base material of the flexible sensing transducer 40 includes, but is not limited to, polydimethylsiloxane (PIMS), eco-flexible rubber (Eco-fFex), polyurethane (TPU), latex, and hydrogenated styrene-butadiene block copolymer (SEBS). These materials have excellent elasticity and fatigue resistance, can adapt to complex motion conditions, and protect the flexible sensing transducer 40 from external damage. The number of flexible sensing transducers 40 is the same as the number of connecting rods 30.

[0041] In some embodiments, each flexible sensing strain gauge 40 is further equipped with an elastic material adapter compatible with the second ball joint female head 41, which adopts a composite structure of a flexible film layer and a rigid support combined by bonding, welding or mechanical fixation. The elastic adapter can maintain high precision during force transmission while preventing mechanical interference from affecting detection accuracy.

[0042] In some embodiments, the strain gauge base 50 includes a first strain gauge base 51 and a second strain gauge base 52 arranged horizontally and vertically, each provided with a strain gauge fixing structure 53, and the flexible sensing strain gauges 40 are fixed to the strain gauge fixing structure 53 at a preset angle. Multiple flexible sensing strain gauges 40 are adapted to multiple strain gauge fixing structures 53 to form a three-dimensional force detection array. The strain gauge base 50 is the mounting and supporting structure of the flexible sensing strain gauges 40, which can provide the necessary space and mechanical support for the strain gauges while avoiding restrictions on their deformation. The first strain gauge base 51 is horizontally arranged directly above the electrical stimulator 60, and the second strain gauge base 52 is vertically arranged to the right of the electrical stimulator 60. The first strain gauge base 51 and the second strain gauge base 52 are connected and fixed by an angle connector to form an overall frame structure. The angle connector adopts an F-shaped metal component, and the rigid connection of the first strain gauge base 51 and the second strain gauge base 52 is achieved by bolt fastening. The strain gauge base 50 ensures that the installation angle and position of the flexible sensing strain gauges 40 meet the mechanical detection requirements through the precisely designed strain gauge fixing structure 53, so that the deformation of the flexible sensing strain gauges 40 under stress is avoided, and the influence of the strain gauge base 50 structure on the performance of the strain gauges is avoided.

[0043] In some embodiments, multiple flexible sensing strain gauges 40 are arranged in a preset spatial geometric configuration to form a three-dimensional force detection unit. When the number of flexible sensing strain gauges 40 is three, the three flexible sensing strain gauges 40 can be arranged in an equilateral triangle. When the number of flexible sensing strain gauges 40 is four, the four flexible sensing strain gauges 40 can be arranged in a square, rectangle or shape adapted to the lower limbs of the animal to be detected. The three-dimensional force detection unit synchronously collects multi-dimensional mechanical signals generated by the limb movement of the animal to be detected through the multidirectional distribution of flexible sensing strain gauges 40, which can capture the force and deformation generated by the limb movement from multiple directions at the same time, thereby realizing the collaborative detection of force and deformation behavior in three-dimensional space and providing more abundant and accurate data support for the mechanical research of the animal to be detected.

[0044] Specifically, a strain gauge sensor can be integrated into the flexible sensing transducer 40. The strain gauge sensor is used to detect the deformation of the flexible sensing transducer 40 when the lower limbs of the animal to be detected move, and obtain and output a current change signal corresponding to the deformation. Optionally, a strain gauge sensor (not shown) can also be independently set on the strain gauge base 50, connected to the flexible sensing transducer 40 through mechanical coupling or electrical connection, and used to detect the deformation of the flexible sensing transducer 40 when the lower limbs of the animal to be detected move, and obtain and output a current change signal corresponding to the deformation. The strain gauge sensor can output the current change signal through a wireless or wired connection. When the lower limbs of the animal to be detected are in a stationary state, the strain gauge sensor detects the initial deformation state of the flexible sensing transducer 40 and outputs the corresponding initial current change signal as the zero-point baseline. When the lower limbs of the animal to be detected move freely, the strain gauge sensor detects the dynamic deformation state of the flexible sensing transducer 40 in real time and converts it into a dynamic current change signal that changes with time.

[0045] In a specific implementation, the strain gauge sensor can also convert the detected current change signal to obtain a multi-point force parameter vector. Specifically, the strain gauge sensor converts the detected current change signal into an analog electrical signal within a preset voltage range, and then filters and amplifies the analog electrical signal to effectively filter out high-frequency noise and outliers, thereby obtaining a first-processed analog electrical signal. When the lower limbs of the animal being tested freely move, the flexible sensing strain gauge 40 generates some non-target signal interference, such as noise generated by muscle tremors, contact friction, and respiratory movements. This noise is superimposed on the analog electrical signal. Therefore, the analog electrical signal after filtering and signal amplification can be input into a fourth-order adaptive noise canceller. This canceller analyzes the non-target signal interference components in the analog electrical signal in real time and adaptively adjusts its own filtering parameters to further remove the non-target signal interference from the first-processed analog electrical signal, thereby obtaining a second-processed analog electrical signal. Finally, the second-processed analog electrical signal is converted into a digital signal, which is then analyzed to obtain the multi-point force parameter vector. The multi-point force parameter vector contains force-related parameter information at multiple measurement points on the flexible sensing transducer 40. It can reflect the force applied at different locations on the animal's lower limbs, such as the foot joints, toes, and the center of the foot. Ultimately, the multi-point force parameter vector is output to a computer terminal via wired or wireless means for subsequent data analysis and processing.

[0046] In another specific embodiment, the three-dimensional force detection system 1 further includes a data processing module (not shown) connected to the flexible sensing strain gauge 40. The data processing module is disposed on the strain gauge base 50 and is configured to receive current change signals detected by the strain gauge sensors in the flexible sensing strain gauge and convert the current change signals to obtain multi-point force parameter vectors. The specific conversion process of the current change signals by the data processing module can be found in the aforementioned embodiment of the strain gauge sensor and will not be further described here.

[0047] In some embodiments, the electrical stimulator 60 is positioned below the first strain gauge base 51. The electrical stimulator 60 is fixedly integrated with an electrical stimulation system for stimulating the muscles or nerves of the animal to be tested through electrodes to generate muscle force, simulating the process of muscle activation by natural neural signals. The electrical stimulation system can precisely control parameters such as the intensity, frequency, and duration of the stimulation, and applies electrical signals to specific parts of the animal's limbs through electrodes to simulate natural neural signals. The electrical stimulation system also supports multi-channel output, can stimulate different muscle groups simultaneously, and provides support for complex mechanical experiments. It is equipped with overcurrent protection and biocompatibility design to ensure the safety of the animal to be tested. The parameters of the electrical stimulation system, such as current intensity, frequency, and pulse width, can be flexibly adjusted according to experimental requirements. Specifically, the electrical stimulator 60 can be connected to a computer terminal, and the control and parameter setting of the electrical stimulation system can be achieved through preset control software. The computer terminal can input specific stimulation parameters, such as current intensity, frequency, pulse width, and stimulation duration, into the electrical stimulator 60 according to the experimental design (for example, experimental data of the animal to be tested). These parameters are transmitted to the electrical stimulator 60 via wired or wireless transmission. After receiving the command, the electrical stimulator generates a corresponding electrical signal according to the set parameters and accurately applies it to the animal's muscles or nerves through electrodes. Simultaneously, during the testing process of the animal, the computer terminal monitors the operating status of the electrical stimulator 60 in real time, including information such as output current and voltage, and makes adjustments or interventions when necessary. Furthermore, the computer terminal can record the stimulation parameters and the animal's physiological response data during the testing process, facilitating subsequent data analysis and experimental optimization.

[0048] In some embodiments, the three-dimensional force detection system 1 for an animal limb further includes a support rod 70, one end of which is fixedly connected to the first strain gauge base 51 for supporting the first strain gauge base 51. Specifically, two support rods 70 may be provided, with the two support rods 70 symmetrically disposed at two corners of the first strain gauge base 51 away from the second strain gauge base 52, and one end of the support rod 70 is fixed to the first strain gauge base 50 by screws or other fasteners to achieve a detachable connection.

[0049] In some embodiments, the three-dimensional force detection system 1 of the animal limb further comprises a base 80 for carrying the electric stimulator 60 and the strain gauge base 50. The other end of the support rod 70 is fixed to the base. Thus, a stable support structure is provided for the entire three-dimensional force detection system, ensuring that each component remains stable during detection, thereby ensuring the accuracy and reliability of the detection results.

[0050] The embodiment of the present application modularly designs each component module and uses lightweight materials, thereby realizing the compact structure and portability of the three-dimensional force detection system. Meanwhile, by optimizing the layout of the connecting rods and the flexible sensing strain gauges, the detection accuracy and the stability of the three-dimensional force detection system are improved. In addition, the present application overcomes the limitation of the traditional equipment that is difficult to simulate a real motion environment by designing a suspension structure of the animal to be detected and the flexible sensing strain gauges, thereby ensuring the accuracy and reliability of the detection data and further improving the overall performance of the three-dimensional force detection system, so that it can meet the high-precision detection requirements in various complex experimental environments.

[0051] The embodiment of the present application further provides a three-dimensional force detection method of an animal limb based on the three-dimensional force detection system as described above, as shown in Figure 6 The method comprises the following steps:

[0052] In step S100, the body size parameters and the detection accuracy of the animal to be detected input by the user are received, the position and the angle of the torso fixing device are adjusted according to the body size parameters, the upper limbs of the animal to be detected are fixed to the torso fixing device by the clamping assembly, and the body position of the animal to be detected is adjusted to make the lower limbs naturally droop;

[0053] In the embodiment of the present application, after the electric stimulator 60 receives the body size parameters and the detection accuracy of the animal to be detected input by the user, the position and the angle of the torso fixing device 10 are adjusted according to the parameters such as the body weight and the limb length of the animal to be detected. The body size parameters include but are not limited to the parameters such as the body weight and the limb length of the animal to be detected. The detection accuracy determines the number of the connecting rods 30 and the flexible sensing strain gauges 40 to be used. The higher the detection accuracy is, the more the number of the connecting rods 30 and the flexible sensing strain gauges 40 to be used is. In this way, as many force data as possible can be collected from different parts and different positions of the lower limbs of the animal to be detected by the cooperation of the connecting rods 30 and the flexible sensing strain gauges 40. The clamping assembly 12 fixes the upper limbs of the animal to be detected in the preset area of the torso fixing device 10. The upper limbs of the animal to be detected are fixed by using a bandage, and the body position of the animal to be detected is fixed by using the adjustable fasteners symmetrically arranged on both sides of the pit structure 11, so that the torso of the animal to be detected is stably clamped in the pit. The body position of the animal to be detected is adjusted to ensure that the lower body is in a natural drooping suspension state, so as to simulate a real force environment.

[0054] In an embodiment of the present invention, the electric stimulator 60 can be connected to a computer terminal, and the user sets the electric stimulation parameters of the electric stimulator through the computer terminal. Specifically, according to the experimental design (for example, the experimental data of the animal to be tested), the electric stimulation parameters such as current intensity, frequency, pulse width and stimulation duration are input into the electric stimulator 60 through the computer terminal, and these parameters are transmitted to the electric stimulator 60 by wire or wirelessly. After receiving the instruction, the electric stimulator generates a corresponding electrical signal according to the set parameters, and accurately applies it to the muscle or nerve of the animal through the electrodes. At the same time, during the detection process of the animal to be tested, the computer terminal monitors the working status of the electric stimulator 60 in real time, including information such as output current and voltage, and makes adjustments or interventions when necessary. In addition, the computer terminal can also record the stimulation parameters and the physiological response data of the animal during the detection process, which is convenient for subsequent data analysis and experimental optimization.

[0055] In step S200, one side of the limb connection plate is tightly fitted to the lower limb of the animal to be tested, the flexible sensing transducer is zero-calibrated, the current change signal generated by the deformation of the flexible sensing transducer is obtained, and the obtained current change signal is converted into a multi-point force parameter vector;

[0056] In an embodiment of the present invention, when performing three-dimensional force detection on an animal to be detected, the contact surface of the limb connection plate 20 and the lower limb of the animal to be detected is tightly contacted. When the animal to be detected and the limb connection plate 20 reach a stable contact state, the lower limb of the animal to be detected is naturally suspended and in a static state. At this time, the strain gauge sensor detects the initial deformation state of the flexible sensing strain gauge 40 and outputs a corresponding initial current change signal. When the lower limb of the animal to be detected begins to move freely, the strain gauge sensor detects the dynamic deformation state of the flexible sensing strain gauge 40 in real time and converts it into a dynamic current change signal that changes with time. The strain gauge sensor converts the acquired current change signal into a multi-point force parameter vector and outputs it to a computer terminal.

[0057] Specifically, the strain gauge sensor converts the detected current change signal into an analog electrical signal within a preset voltage range, and filters and amplifies the analog electrical signal to effectively filter out high-frequency noise and abnormal values, thereby obtaining an analog electrical signal after the first processing. When the lower limbs of the animal to be detected move freely, some non-target signal interference will be generated in the flexible sensing strain gauge 40, such as noise generated by muscle tremors, contact friction, breathing movements, etc. These noises will be superimposed on the analog electrical signal. Therefore, the analog electrical signal after filtering and signal amplification can be further input into a fourth-order adaptive noise canceller. The canceller analyzes the non-target signal interference components in the analog electrical signal in real time and adaptively adjusts the canceller's own filtering parameters to remove the non-target signal interference from the analog electrical signal after the first processing again, thereby obtaining an analog electrical signal after the second processing. Finally, the analog electrical signal after the second processing is converted into a digital signal, and then the digital signal is analyzed to obtain a multi-point force parameter vector. The multi-point force parameter vector contains force-related parameter information from multiple measurement points on the flexible sensing transformer 40, reflecting the force exerted at different locations on the animal's lower limbs, such as the foot joints, toes, and the center of the sole. Ultimately, the multi-point force parameter vector is output to a computer terminal via wired or wireless means for subsequent data analysis and processing. This embodiment of the present invention achieves continuous monitoring of the animal's movements through real-time, high-frequency signal acquisition, and ensures data stability and accuracy through digital processing of current change signals.

[0058] In some embodiments, before one side of the limb connecting plate 20 is tightly fitted to the lower limb of the animal to be detected, the number of flexible sensing transducers 40 and the number of connecting rods 30 are determined based on body shape parameters and detection accuracy. Specifically, the part and position of the lower limb of the animal to be detected to be collected are determined based on the body shape parameters and detection accuracy, and then the number of flexible sensing transducers and the number of connecting rods are determined based on the determined collection part and position. For example, the number of connecting rods, and thus the number of flexible sensing transducers, can be determined based on the length of the animal's foot, the number of toes, and the detection accuracy data input by the user. This allows for differentiated detection based on the animal to be detected and the needs of the user, thereby improving the detection accuracy of the animal to be detected.

[0059] In step S300, mechanical data of the lower limbs of the animal to be tested in three-dimensional space is generated according to the multi-point force parameter vector.

[0060] In an embodiment of the present invention, after obtaining the multi-point force parameter vector, mechanical data of the lower limb of the animal to be tested in three-dimensional space is generated according to the multi-point force parameter vector, thereby realizing the visual output of dynamic mechanical data.

[0061] In some embodiments, when generating the mechanical data of the lower limbs of the animal to be detected in three-dimensional space based on the multi-point force parameter vector, the mechanical data of the lower limbs of the animal to be detected in three-dimensional space is generated by a preset mapping function based on the preset mapping matrix and the multi-point force parameter vector. Furthermore, the generated mechanical data is subjected to time domain interpolation and digital filtering processing to improve the accuracy and stability of the mechanical data. Finally, the processed mechanical data is displayed in real time in a three-dimensional graphical manner for observation and analysis. The embodiment of the present invention realizes higher-dimensional force field detection through multi-point force parameter vectors and mapping matrices, which significantly improves the real-time and adaptability of the detection.

[0062] In a specific embodiment, the preset mapping function can be expressed as F(t)=M*I(t), where F(t) represents the mechanical data of the lower limb of the animal to be tested in three-dimensional space, I(t) represents the multi-point force parameter vector, and M represents the mapping matrix. The mapping matrix M can be obtained by the following method:

[0063] (1) A high-precision electric cylinder is installed on the upper end of a six-axis platform with three-dimensional movement and three-dimensional rotation functions. The moving end of the electric cylinder establishes a rigid connection with the limb connection plate 20 in the aforementioned three-dimensional force detection system 1 to ensure that the movement of the electric cylinder can be transmitted to the limb connection plate 20.

[0064] (2) Adjust the six-axis platform to different positions and angles, and record the position data of the current position and angle of the six-axis platform (i.e., the position field data corresponding to the position field). Control the movement of the electric cylinder through the computer terminal, and record the mechanical data output by the electric cylinder in real time under the current position field (i.e., the force field data corresponding to the force field). At the same time, under the current position field and the corresponding force field conditions, synchronously record the current change signal collected by the strain gauge sensor (i.e., the current field data corresponding to the current field), thereby obtaining a set of experimental data including position field data, its corresponding force field data, and associated current field data. Repeat the above steps to cover multiple different combinations of position fields, force fields, and current fields to obtain an experimental data set.

[0065] (3) Calculate the mapping matrix M based on the collected experimental data set.

[0066] In an embodiment of the present application, after obtaining the collected experimental data set, an association relationship is established between the position field data, the corresponding force field data, and the current field data, thereby obtaining a mapping matrix M. As an example, for example, the position field data is recorded as P, the force field data is recorded as F, and the current field data is recorded as I. A mapping relationship I = M*(P, F) is established between the current field I and the position field P and the force field F, and then based on the experimental data set, the mapping matrix M can be solved.

[0067] The mapping matrix obtained by the simulation method in the embodiment of the present invention can reflect the correlation between the position field data, the corresponding force field data and the current field data as realistically as possible. The mapping matrix obtained in this way can effectively improve the accuracy and efficiency of mechanical data conversion in three-dimensional space.

[0068] This embodiment of the present invention dynamically determines the number of flexible sensing discs and connecting rods based on the animal's body size and detection accuracy requirements, enabling differentiated detection for different animals and improving detection accuracy. Furthermore, this embodiment of the present invention can simultaneously collect mechanical data from multiple points, monitoring the complete mechanical distribution of the lower limb in three-dimensional space in real time and capturing force field changes during complex motion. Compared to traditional single-point measurement methods, this provides a more comprehensive reflection of the mechanical state of the lower limb in three dimensions.

[0069] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the scope of disclosure involved in the above embodiments is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concepts. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0070] In addition, although adopting specific order to describe each operation, this should not be interpreted as requiring these operations to be executed in the specific order shown or in sequential order.Under certain environment, multitasking and parallel processing may be advantageous.Similarly, although comprising some specific implementation details in the above discussion, these should not be interpreted as limiting the scope of the present invention.Some features described in the context of independent embodiment can also be implemented in single embodiment in combination.On the contrary, the various features described in the context of independent embodiment also can be implemented in multiple embodiments individually or in the mode of any suitable subcombination.

Claims

1. A three-dimensional force detection system for animal limbs, characterized in that: It includes a trunk fixing device, a limb connecting plate, a connecting rod, a flexible sensing strain gauge, a strain gauge base and an electric stimulator; In which, the torso fixing device is provided with a pit structure adapted to the appearance of the animal to be detected, which is used to accommodate the animal to be detected, and the pit structure fixes the animal to be detected through a clamping assembly; when the animal to be detected is subjected to three-dimensional force detection, one side of the limb connecting plate is tightly fitted with the lower limbs of the animal to be detected, and the other side is connected to the connecting rod; one end of the connecting rod is connected to the limb connecting plate, and the other end is connected to the flexible sensing strain gauge, and the number of the connecting rods is determined according to the detection accuracy set by the user; the flexible sensing strain gauge is fixed to the strain gauge base, and is used to detect the deformation generated by the flexible sensing strain gauge when the lower limbs of the animal to be detected move, and obtain and output the current change signal corresponding to the deformation. The number of the flexible sensing strain gauges is the same as the number of the connecting rods; the electric stimulator is used to stimulate the muscles of the animal to be detected so that the animal's limbs generate strength.

2. The three-dimensional force detection system for an animal limb according to claim 1, wherein: The contact surface of the limb connecting plate with the lower limb of the animal to be tested is provided with a biocompatible adhesive layer, and the other surface is equipped with a first ball joint female head connected to the connecting rod.

3. The three-dimensional force detection system for an animal limb according to claim 2, wherein: The connecting rod adopts a double-ended ball joint structure, and the two ends of the connecting rod are respectively provided with a first ball joint male head and a second ball joint male head. The first ball joint male head forms a rotatable connection with the first ball joint female head on the limb connecting plate, and the second ball joint male head is connected to the flexible sensing transformer.

4. The three-dimensional force detection system for an animal limb according to claim 3, wherein: A second ball joint female head is provided in the middle of the flexible sensing transformer, and the second ball joint female head is rotatably connected to the second ball joint male head of the connecting rod.

5. The three-dimensional force detection system for an animal limb according to claim 1, wherein: The strain gauge base includes a first strain gauge base and a second strain gauge base. The first strain gauge base and the second strain gauge base are arranged horizontally and vertically. The first strain gauge base and the second strain gauge base are both provided with a strain gauge fixing structure. The flexible sensing strain gauge is fixed to the strain gauge fixing structure at a preset angle. Multiple flexible sensing strain gauges are adapted to multiple strain gauge fixing structures to form a three-dimensional force detection array.

6. The three-dimensional force detection system for an animal limb according to claim 1, wherein: It also includes a support rod, one end of which is fixedly connected to the first strain gauge base and is used to support the first strain gauge base.

7. The three-dimensional force detection system for an animal limb according to claim 1, wherein: It also includes a base, which is used to support the electrical stimulator and the strain gauge base, and the other end of the support rod is fixed to the base.

8. A method for detecting three-dimensional force of an animal limb based on the three-dimensional force detection system according to any one of claims 1 to 7, characterized in that: The following steps are involved: receiving body parameters and detection accuracy of the animal to be detected input by a user, adjusting the position and angle of the trunk fixing device according to the body parameters, fixing the upper limbs of the animal to be detected to the trunk fixing device via the clamping assembly, and adjusting the body position of the animal to be detected so that its lower limbs hang naturally; One side of the limb connection plate is tightly fitted to the lower limb of the animal to be tested, the flexible sensing transducer is zero-calibrated, a current change signal generated by the deformation of the flexible sensing transducer is obtained, and the obtained current change signal is converted into a multi-point force parameter vector; Mechanical data of the lower limbs of the animal to be tested in three-dimensional space are generated according to the multi-point force parameter vector.

9. The method for detecting the three-dimensional force of animal limb suspension according to claim 8, wherein: Before the step of closely fitting one side of the limb connecting plate to the lower limb of the animal to be tested, the method includes: The number of the flexible sensing transducers and the number of the connecting rods are determined according to the body shape parameters and the detection accuracy.

10. The method for detecting the three-dimensional force of animal limb suspension according to claim 8, wherein: The step of generating mechanical data of the lower limb of the animal to be tested in three-dimensional space according to the multi-point force parameter vector comprises: Based on the preset mapping matrix and the multi-point force parameter vector, the mechanical data of the lower limbs of the animal to be tested in three-dimensional space is generated by a preset mapping function, wherein the preset mapping function is F(t)=M*I(t), F(t) represents the mechanical data of the lower limbs of the animal to be tested in three-dimensional space, I(t) represents the multi-point force parameter vector, and M represents the mapping matrix.

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