Knee joint device for human simulation test, human simulation test method and device

Abstract

The present application relates to the field of robots and humanoid robots, and provides a knee joint device for humanoid test, a humanoid test method and a device, the knee joint device for humanoid test comprises a cascaded double four-bar mechanism and a driving mechanism: the cascaded double four-bar mechanism comprises a first four-bar mechanism and a second four-bar mechanism cascaded with the first four-bar mechanism, the first four-bar mechanism is used for transmission, and the second four-bar mechanism is used for simulating rotation of a knee joint in a sagittal plane; and the driving mechanism is used for driving the first four-bar mechanism. The knee joint device for humanoid test has good support stiffness and high energy efficiency, and the humanoid test method is combined to improve the humanoid characteristics.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots and humanoid robots, in particular to a knee joint device for humanoid test, a humanoid test method and device. BACKGROUND

[0002] In the prior art, the humanoid knee joint is mainly used in the occasions of humanoid robot motion bearing component, powered prosthesis and human knee joint replacement surgery, etc.:

[0003] Referring to the Chinese patent application with publication number "CN110393651B", a knee joint assisted exoskeleton robot with a humanoid knee joint is disclosed, which adopts a cam to reproduce the instantaneous rotation center behavior of the knee joint, and a rear-mounted spring to adapt to the external impedance. However, there are mainly the following technical problems in terms of support stiffness and energy efficiency:

[0004] First, the high pair contact is easy to wear, which leads to a decrease in stiffness: the contact between the cam and the follower is point or line contact (high pair), which leads to stress concentration due to small contact area. After long-term use, the wear is significant, which directly affects the support stiffness and motion accuracy of the joint. Especially when subjected to periodic load (such as human walking impact), profile wear will further amplify gap error, causing joint looseness or motion distortion.

[0005] Second, the material deformation and compensation ability are missing: the cam profile is fixed and cannot adaptively compensate for the profile deviation after wear, resulting in a gradual decrease in support stiffness over time. If the stiffness needs to be maintained, the cam component needs to be replaced frequently, increasing maintenance costs.

[0006] Third, the friction loss is large and the transmission efficiency is low: the cam mechanism relies on sliding friction to transmit power, which results in significant energy loss (especially at high speed or under heavy load), resulting in reduced system energy efficiency. If the stable output needs to be maintained, additional driving force or energy consumption is needed to compensate for the friction loss.

[0007] Fourth, the rigid structure lacks energy recovery mechanism: the cam mechanism cannot store or release potential energy in the gait cycle like a flexible drive structure, and the kinetic energy of the joint extension in walking cannot be recycled, which increases the energy consumption burden.

[0008] Fifth, dynamic response delay: profile processing errors and friction damping will delay the active control response of the joint, affecting the smoothness of gait switching.

[0009] Referring to the Chinese patent application with publication number "CN105291131B", a humanoid knee joint with adjustable flexibility is disclosed, which mainly solves the problem of external impact on the knee joint, and adopts a planetary gear train as the transmission main body. However, there are mainly the following technical problems in terms of support stiffness and energy efficiency:

[0010] First, the installation precision requirement is extremely high: the planetary gear system needs to strictly ensure the coaxiality and parallelism of the sun gear, planetary gear and inner gear ring. Small installation deviation will lead to uneven load distribution, significantly reduce the system support stiffness and cause abnormal vibration.

[0011] Second, the manufacturing error amplifies the stiffness fluctuation: the gear tooth profile or pitch deviation is transmitted through multi-stage meshing, leading to unstable instantaneous stiffness, accelerating wear and affecting joint stability.

[0012] Third, the carrying capacity of the planet carrier is limited: the planet carrier needs to bear radial force and torque at the same time, and is easy to be elastically deformed under complex stress, which weakens the overall rigidity, and may cause tooth fracture especially under sudden impact load.

[0013] Fourth, the friction loss is significant: multi-stage gear meshing increases the contact surface friction, and the transmission efficiency decreases under high speed or heavy load working conditions, and additional energy is consumed to compensate for power loss.

[0014] Fifth, the heat dissipation bottleneck restricts the continuous output: the heat generated by gear meshing easily reduces the lubrication effect, further increases the friction loss and forms an energy efficiency attenuation cycle.

[0015] Sixth, the dynamic response is delayed: error accumulation and friction damping delay the active control response of the joint, affecting the smoothness of gait switching.

[0016] In summary, the existing anthropomorphic knee joint has many defects in support stiffness and energy efficiency, and an anthropomorphic knee joint device with good support stiffness and high energy efficiency is urgently needed.

[0017] In addition, the anthropomorphic knee joint needs to be able to realize more natural motion control when in use, such as precise knee bending, crossing obstacles, climbing stairs and other complex actions.

[0018] In order to verify whether the motion control ability of the anthropomorphic knee joint is close to the natural joint of human beings and ensure that the expected effect can be achieved in actual use, the anthropomorphic knee joint needs to be tested for anthropomorphism. The above two patents and prior art do not provide a method for anthropomorphic testing. SUMMARY

[0019] Therefore, the present application provides a knee joint device for anthropomorphic testing. One or more embodiments of the present application also relate to an anthropomorphic testing method, a computing device, a computer readable storage medium and a computer program to solve the technical defects in the prior art.

[0020] According to a first aspect of the present application, a knee joint device for anthropomorphic testing is provided, comprising a cascaded double four-bar mechanism and a driving mechanism:

[0021] The cascade double four-bar mechanism comprises a first four-bar mechanism and a second four-bar mechanism cascaded with the first four-bar mechanism, the first four-bar mechanism is used for transmission, and the second four-bar mechanism is used for simulating rotation of a knee joint in a sagittal plane.

[0022] The driving mechanism is used for driving the first four-bar mechanism.

[0023] In a possible implementation, a first motion curve of a center of instantaneous rotation of the first four-bar mechanism and a second motion curve of a center of instantaneous rotation of the second four-bar mechanism are conjugate curves.

[0024] In a possible implementation, the cascade double four-bar mechanism comprises a femur bionic assembly, a tibia bionic assembly, and a connecting rod assembly.

[0025] The femur bionic assembly comprises a femur medial condyle bionic member and a femur lateral condyle bionic member.

[0026] The tibia bionic assembly comprises a tibia medial condyle bionic member and a tibia lateral condyle bionic member.

[0027] The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod, and a fourth connecting rod, the first connecting rod is connected to the second connecting rod in transmission, the second connecting rod is connected to the third connecting rod in transmission, and the third connecting rod and the fourth connecting rod are connected in cross transmission.

[0028] The first connecting rod, the second connecting rod, the third connecting rod, the femur medial condyle bionic member, and the femur lateral condyle bionic member constitute the first four-bar mechanism.

[0029] The third connecting rod, the fourth connecting rod, the femur medial condyle bionic member, the femur lateral condyle bionic member, the tibia medial condyle bionic member, and the tibia lateral condyle bionic member constitute the second four-bar mechanism, and the second four-bar mechanism is a cross four-bar mechanism.

[0030] The first four-bar mechanism and the second four-bar mechanism are cascaded through the third connecting rod.

[0031] In a possible implementation, one end of the first connecting rod is driven to rotate by the driving mechanism, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod.

[0032] The other end of the second connecting rod is rotatably connected to a first end of the third connecting rod.

[0033] A second end of the third connecting rod is rotatably connected to a first end of the femur medial condyle bionic member and a first end of the femur lateral condyle bionic member, and a third end of the third connecting rod is rotatably connected to a second end of the tibia medial condyle bionic member and a second end of the tibia lateral condyle bionic member.

[0034] One end of the fourth connecting rod is rotatably connected with the second end of the femoral medial condyle prosthetic component and the second end of the femoral lateral condyle prosthetic component, and the other end of the fourth connecting rod is rotatably connected with the first end of the tibial medial condyle prosthetic component and the first end of the tibial lateral condyle prosthetic component.

[0035] In a possible implementation, the cascaded double four-bar mechanism further comprises a rotating shaft assembly configured to realize the rotatable connection of the connecting rod assembly.

[0036] In a possible implementation, the human-simulating test-oriented knee joint device further comprises a base configured to support the cascaded double four-bar mechanism and the driving mechanism.

[0037] In a possible implementation, the human-simulating test-oriented knee joint device further comprises a prosthetic tendon configured to simulate the quadriceps tendon and the patellar tendon of a human body connected with a patella.

[0038] In a possible implementation, the prosthetic tendon comprises a tendon rope and a spring, one end of the spring is fixed, the other end of the spring is connected with one end of the tendon rope, and the other end of the tendon rope is connected to the cascaded double four-bar mechanism.

[0039] In a possible implementation, the human-simulating test-oriented knee joint device further comprises a control mechanism configured to control the driving mechanism to drive the movement of the cascaded double four-bar mechanism.

[0040] In a possible implementation, the control mechanism comprises a model construction module, an optimization module, and a control module.

[0041] The model construction module is configured to construct a knee joint model based on a topological graph of the cascaded double four-bar mechanism and construct an optimization model corresponding to the knee joint model.

[0042] The optimization module is configured to optimize the knee joint model constructed by the model construction module by using an optimization method according to the optimization model constructed by the model construction module.

[0043] The control module is configured to control the driving mechanism according to the knee joint model optimized by the optimization module.

[0044] According to a second aspect of the embodiments of the present specification, a human-simulating test method is provided, which is a method for performing human-simulating test by using the human-simulating test-oriented knee joint device described above, and the method comprises the following steps.

[0045] constructing a knee joint model: constructing a knee joint model based on a topological graph of the cascaded double four-bar mechanism, wherein nodes of the topological graph are components rotatably connected by the cascaded double four-bar mechanism.

[0046] constructing an optimization model;

[0047] optimizing the knee joint model according to the optimization model by using an optimization method;

[0048] controlling the driver by using the optimized knee joint model to perform human-like testing.

[0049] In a possible implementation, the step of constructing the knee joint model comprises:

[0050] constructing a kinematics model based on a local exponential product, the kinematics model having an initial pose of each node as an input and a target pose of each node as an output, and having an exponential mapping relationship from a Lie algebra of a first kinematics parameter of the node to a Lie group matrix between the input and the output, the first kinematics parameter comprising one or more of a rotation angle, an angular velocity and an angular acceleration;

[0051] constructing a differential kinematics model based on a Lie algebra structure, the differential kinematics model having a second kinematics parameter of the node and a previous node as an output, the second kinematics parameter comprising a velocity or / and an acceleration, and having an input of a first kinematics parameter of the node, and having a linear combination relationship based on an adjoint mapping operator and a motion screw axis of the node between the input and the output of the differential kinematics model;

[0052] constructing a dynamics model based on a natural orthogonal decoupling method, the dynamics model having a second kinematics parameter of the node, an external force received by the node and a mass matrix as an input, and having a dynamics parameter of the node and a next node as an output, the dynamics parameter comprising one or more of a force screw, a constraint reaction force and a maximum stress, and having a linear combination relationship based on an adjoint mapping operator between the input and the output.

[0053] In a possible implementation, the step of constructing the optimization model comprises:

[0054] constructing the optimization model based on one or more optimization objectives of system energy consumption, a peak driving torque of the motor and a peak driving power of the motor.

[0055] In a possible implementation, the step of optimizing the knee joint model according to the optimization model by using the optimization method comprises:

[0056] inputting the target pose and the initial pose of each node of the cascaded double four-bar mechanism into the kinematics model to obtain the first kinematics parameter of each node;

[0057] inputting the second kinematics parameter of the node and the previous node, the motion screw axis of the node and the first kinematics parameter obtained by the kinematics model into the differential kinematics model to obtain the second kinematics parameter of each node;

[0058] inputting the second kinematic parameters of each node obtained by the differential kinematic model and the first kinematic parameters of each node obtained by the kinematic model into the dynamic model to obtain dynamic parameters of each node;

[0059] based on the constraint of the dynamic parameters, adopting a heuristic method to make the optimization objective of the optimization model optimal;

[0060] controlling the driving mechanism by the first kinematic parameters, the second kinematic parameters and the dynamic parameters of each node corresponding to the optimal optimization objective.

[0061] In a possible implementation manner, the step of adopting the heuristic method to make the optimization objective of the optimization model optimal comprises:

[0062] adjusting the Jacobian of the first four-bar mechanism or / and the Jacobian of the second four-bar mechanism to make the optimization objective of the optimization model optimal.

[0063] In a possible implementation manner, the step of constructing the kinematic model based on the local exponential product comprises:

[0064] constructing a three-dimensional coordinate system at each node of the cascaded double four-bar mechanism, and obtaining a six-dimensional motion screw axis of each node in the corresponding coordinate system;

[0065] constructing the kinematic model of the closed loop of the first four-bar mechanism and the second four-bar mechanism based on the motion screw axis of each node, the initial pose and the target pose combined by the local exponential product.

[0066] In a possible implementation manner, the step of constructing the differential kinematic model based on the Lie algebra structure comprises:

[0067] adopting the off-body segmentation method to realize the conversion of the cascaded double four-bar mechanism from the closed loop mechanism to the open chain;

[0068] constructing the differential kinematic model according to the recursive relationship between adjacent nodes under the open chain condition.

[0069] In a possible implementation manner, the step of constructing the dynamic model based on the natural orthogonal decoupling supplement method comprises:

[0070] obtaining the natural orthogonal decoupling matrix under the local exponential product based on the velocity and the angular velocity of each node of the cascaded double four-bar mechanism;

[0071] constructing the force screw model based on the natural orthogonal decoupling matrix of the cascaded double four-bar mechanism combined with Newtonian dynamics.

[0072] In a possible implementation manner, the step of constructing the dynamic model based on the natural orthogonal decoupling supplement method further comprises:

[0073] constructing a dynamics model of the second four-bar mechanism based on the motion relationship of the cross four bars;

[0074] obtaining constraint conditions of the dynamics model of the second four-bar mechanism based on the virtual work principle;

[0075] constructing a constraint reaction force model of the second four-bar mechanism based on the constraint conditions and the dynamics model of the second four-bar mechanism.

[0076] In a possible implementation, the step of constructing the dynamics model based on the natural orthogonal decoupling method further includes:

[0077] The first four-bar mechanism drives the second four-bar mechanism, the end node of the first four-bar mechanism is the initial node of the second four-bar mechanism, and a dynamics model of the first four-bar mechanism is constructed based on the constraint reaction force model of the second four-bar mechanism;

[0078] obtaining constraint conditions of the dynamics model of the first four-bar mechanism based on the virtual work principle;

[0079] constructing a constraint reaction force model of the first four-bar mechanism based on the constraint conditions and the dynamics model of the first four-bar mechanism.

[0080] In a possible implementation, the step of constructing the dynamics model based on the natural orthogonal decoupling method further includes:

[0081] constructing a maximum stress model of each node based on force analysis in material mechanics.

[0082] According to a third aspect of the embodiments of the present specification, a computing device is provided, including:

[0083] a memory and a processor;

[0084] The memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions, and the computer executable instructions, when executed by the processor, implement the steps of the above-mentioned human simulation test method.

[0085] According to a fourth aspect of the embodiments of the present specification, a computer readable storage medium is provided, which stores computer executable instructions, and the instructions, when executed by a processor, implement the steps of the above-mentioned human simulation test method.

[0086] According to a fifth aspect of the embodiments of the present specification, a computer program is provided, and when the computer program is executed in a computer, the computer program causes the computer to execute the steps of the above-mentioned human simulation test method.

[0087] The knee joint device for humanoid test adopts a cascade double four-bar mechanism to reproduce the characteristics of the knee joint for humanoid test from the aspects of transmission and movement, so that the load is uniformly distributed and local stress concentration is avoided, and the support stiffness is good.

[0088] The application provides a humanoid test method based on the knee joint device for humanoid test.

[0089] The humanoid test method is based on the topological graph of the cascade double four-bar mechanism to construct a knee joint model, and provides a model support for optimization design, and then the knee joint model is optimized by using an optimization method according to the optimized model, so that the system energy consumption is reduced and the humanoid characteristics are improved. BRIEF DESCRIPTION OF DRAWINGS

[0090] Figure 1 is a three-dimensional schematic view of one embodiment of the knee joint device for humanoid test;

[0091] Figure 2 is a plane schematic view of one embodiment of the knee joint device for humanoid test;

[0092] Figure 3 is a schematic view of one embodiment of the humanoid test method;

[0093] Figure 4 is a flowchart of one embodiment of the humanoid test method;

[0094] Figure 5 is a schematic view of one embodiment of the cascade double four-bar mechanism from a closed-loop mechanism to an open chain;

[0095] Figure 6 is a schematic view of one embodiment of the recursive relationship between adjacent nodes of the cascade double four-bar mechanism;

[0096] Figure 7 is a schematic view of one embodiment of the stress borne by the rod corresponding to the node of the cascade double four-bar mechanism;

[0097] Figure 8 is a result comparison chart of one specific embodiment of the humanoid test method;

[0098] Figure 9is a block diagram schematic view of one embodiment of the computing device of the present invention;

[0099] Wherein, 1, cascaded double four-bar linkage; 11, femoral lateral condyle bionic component; 12, femoral medial condyle bionic component; 13, tibial lateral condyle bionic component; 14, tibial medial condyle bionic component; 15, first connecting rod; 16, second connecting rod; 17, third connecting rod; 18, fourth connecting rod; 2, driving mechanism; 3, bionic tendon; 31, spring; 32, tendon rope; 4, base; 41, top connecting plate; 42, upper connecting plate; 43, lower connecting plate. DETAILED DESCRIPTION

[0100] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present description. However, the present description can be practiced without the specific details, which are not intended to limit the present description in any way. Those skilled in the art, having the benefit of the present description, can appreciate variations from the specific implementations described herein that fall within the scope of the present description.

[0101] The terminology used in the one or more embodiments of the present description is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the present description. As used in the one or more embodiments of the present description 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. It will be further understood that the terms "comprises" and / or "comprising," when used in the one or more embodiments of the present description, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0102] It will be understood that, although the terms first, second, etc. can be used herein to describe various information, these terms are not intended to denote a temporal or chronological order. Rather, these terms are used only as a shorthand notation. For example, in the one or more embodiments of the present description, first can be termed second, and similarly, second can be termed first, without departing from the scope of the one or more embodiments of the present description. As used herein, the term "if' can be interpreted to mean "when" or "upon" or "in response to determining" taking into account the context in which the term is used.

[0103] Figure 1 is a perspective view of one embodiment of the bionic knee device for humanoid testing of the present invention, Figure 2 is a plan view of one embodiment of the bionic knee device for humanoid testing of the present invention, as shown in Figure 1 and Figure 2 As shown in the figures, the bionic knee device for humanoid testing includes a cascaded double four-bar linkage 1 and a driving mechanism 2:

[0104] The cascade double four-bar mechanism 1 comprises a first four-bar mechanism and a second four-bar mechanism cascaded with the first four-bar mechanism, the first four-bar mechanism is used for transmission, and the second four-bar mechanism is used for simulating rotation of a knee joint in a sagittal plane.

[0105] The driving mechanism 2 is used for driving the first four-bar mechanism.

[0106] The knee joint device for humanoid test has high support stiffness and high energy efficiency.

[0107] Firstly, the cascade double four-bar mechanism 1 is in rolling contact, the dynamic change of the instantaneous rotation center in the flexion and extension process of the knee joint is realized, the load distribution is more uniform, local stress concentration is avoided, and the support stiffness is improved.

[0108] Secondly, the dead point locking function of the cascade double four-bar mechanism 1 can form mechanical self-locking when the knee joint is fully extended, and the high-rigidity support state is maintained without continuous energy consumption, so that the standing period stability is significantly improved.

[0109] Thirdly, rolling friction is used to replace sliding friction, transmission loss is reduced, and the rigidity attenuation rate after long-term use is greatly reduced.

[0110] Fourthly, the cascade double four-bar mechanism 1 is triggered by foot contact to realize autonomous switching of rigid support-flexible buffering-rigid locking, and the system energy consumption is reduced.

[0111] Fifthly, the landing impact force is converted into elastic potential energy storage by the cascade double four-bar mechanism 1, the auxiliary joint extension is released in the stepping period, and the gait cycle energy recovery rate is improved.

[0112] In a feasible implementation manner, as shown in Figure 3 the first motion curve C1 of the instantaneous rotation center of the first four-bar mechanism and the second motion curve C2 of the instantaneous rotation center of the second four-bar mechanism are conjugate curves, and a conjugate surface formed by the conjugate curves simulates the contact motion process of the femoral condyle and the tibial condyle and the femoral condyle and the tibial condyle.

[0113] The cascade double four-bar mechanism 1 is adopted, and the motion process of the joint surfaces of the femur and the tibia is simulated through the conjugate surface, so that high-fidelity simulation of the instantaneous rolling-sliding characteristics of the human knee joint can be realized.

[0114] In a feasible implementation manner, as shown in Figure 1 and Figure 2 the cascade double four-bar mechanism 1 comprises a femur bionic assembly, a tibia bionic assembly and a connecting rod assembly.

[0115] The femur bionic assembly comprises a femoral medial condyle bionic member 12 and a femoral lateral condyle bionic member 11.

[0116] The tibial bionic assembly includes a tibial medial condyle bionic member 14 and a tibial lateral condyle bionic member 13;

[0117] The linkage assembly includes a first linkage 15, a second linkage 16, a third linkage 17 and a fourth linkage 18, the first linkage 15 is driven to the second linkage 16, the second linkage 16 is driven to the third linkage 17, and the third linkage 17 and the fourth linkage 18 are cross-driven:

[0118] The first linkage 15, the second linkage 16, the third linkage 17, the femoral medial condyle bionic member 12 and the femoral lateral condyle bionic member 11 constitute a first four-bar mechanism;

[0119] The third linkage 17, the fourth linkage 18, the femoral medial condyle bionic member 12, the femoral lateral condyle bionic member 11, the tibial medial condyle bionic member 14 and the tibial lateral condyle bionic member 13 constitute a second four-bar mechanism, and the second four-bar mechanism is a cross four-bar mechanism;

[0120] The first four-bar mechanism and the second four-bar mechanism are cascaded through the third linkage 17.

[0121] The cascaded double four-bar mechanism 1 is composed of a first four-bar mechanism and a second four-bar mechanism, the first four-bar mechanism plays a role in transmitting power, the second four-bar mechanism is a cross four-bar mechanism, the cross four-bar mechanism can effectively simulate the rolling-sliding motion behavior of the human knee joint in the sagittal plane, and the characteristics of the human-like test knee joint are reproduced from the aspects of transmission and motion, thereby improving the human-like characteristics.

[0122] The first four-bar mechanism is composed of the first linkage 15, the second linkage 16, the third linkage 17, the femoral medial condyle bionic member 12 and the femoral lateral condyle bionic member 11. The second four-bar mechanism is composed of the third linkage 17, the fourth linkage 18, the femoral medial condyle bionic member 12, the femoral lateral condyle bionic member 11, the tibial medial condyle bionic member 14 and the tibial lateral condyle bionic member 13. The driving mechanism 2 drives the first linkage 15 to the third linkage 17, and the power is transmitted by the third linkage 17, thereby driving the tibia to move, so as to realize the relative rolling-sliding characteristics of the femur and the tibia. The joint surface of the two condyles is stretched into a surface by the spatial curve of the instantaneous rotation center, thereby ensuring that the femur and the tibia can realize relative rolling contact without sliding, so as to reduce the contact friction and improve the bearing capacity of the joint.

[0123] In one feasible embodiment, as shown in Figure 1 In the cascaded double four-bar mechanism 1:

[0124] One end of the first connecting rod 15 is driven to rotate by the driving mechanism 2, and the other end of the first connecting rod 15 is rotatably connected to one end of the second connecting rod 16;

[0125] The other end of the second connecting rod 16 is rotatably connected to a first end of the third connecting rod 17;

[0126] A second end of the third connecting rod 17 is rotatably connected to a first end of the femoral medial condyle simulation member 12 and a first end of the femoral lateral condyle simulation member 11, and a third end of the third connecting rod 17 is rotatably connected to a second end of the tibial medial condyle simulation member 14 and a second end of the tibial lateral condyle simulation member 13.

[0127] One end of the fourth connecting rod 18 is rotatably connected to a second end of the femoral medial condyle simulation member 12 and a second end of the femoral lateral condyle simulation member 11, and the other end of the fourth connecting rod 18 is rotatably connected to a first end of the tibial medial condyle simulation member 14 and a first end of the tibial lateral condyle simulation member 13.

[0128] Preferably, each member in the above-mentioned cascade double four-bar mechanism 1 is rotatably connected by a rotating shaft assembly, which can include a rotating shaft, a ball bearing and a nut, the ball bearing and the nut being sleeved on the rotating shaft, and two rotatably connected members being sleeved on the rotating shaft and located between the ball bearing and the nut.

[0129] In one possible implementation, as shown in Figure 1 The knee joint device further includes a base 4 for fixing the third ends of the femoral medial condyle simulation member 12, the femoral lateral condyle simulation member 11, the tibial medial condyle simulation member 14 and the tibial lateral condyle simulation member 13 away from the sagittal plane (contact surface).

[0130] In one possible implementation, the base 4 includes an upper connecting plate 42 and a lower connecting plate 43, the upper connecting plate 42 being used to connect the third ends of the femoral medial condyle simulation member 12 and the femoral lateral condyle simulation member 11, and the lower connecting plate 43 being used to connect the third ends of the femoral medial condyle simulation member 12 and the femoral lateral condyle simulation member 11.

[0131] Preferably, the upper connecting plate 42 includes a first connecting portion, a second connecting portion and a third connecting portion, the first connecting portion being used to connect the third end of the femoral lateral condyle simulation member 11, the second connecting portion being used to connect the first connecting portion and the third connecting portion, and the third connecting portion being used to connect the third end of the femoral medial condyle simulation member 12.

[0132] Preferably, the lower connecting plate 43 comprises a fourth connecting part for connecting the third end of the lateral condyle of tibia bionic member 13, a fifth connecting part for connecting the fourth connecting part and a sixth connecting part for connecting the third end of the medial condyle of tibia bionic member 14.

[0133] In a feasible implementation, the driving mechanism 2 comprises a driving motor for driving the first connecting rod 15 to rotate.

[0134] In a feasible implementation, the driving mechanism 2 further comprises a motor support assembly, which comprises a motor shell serving as a protective shell of the driving motor and connected to one side of the base 4, and a support plate connected to the other side of the base 4.

[0135] In a feasible implementation, the driving mechanism 2 further comprises an electrical interconnection assembly for synchronizing the rotating shafts of the rotatable connections of the components in the cascaded double four-bar mechanism 1.

[0136] In a feasible implementation, as shown in Figure 2 The knee joint device for human simulation test further comprises a bionic tendon 3 configured to simulate the quadriceps tendon and patellar tendon connected to the patella of the human body and provide support for the energy exchange in the motion process of the cascaded double four-bar mechanism 1.

[0137] Preferably, the bionic tendon 3 comprises a tendon rope 32 and a spring 31, one end of the spring 31 is fixed, the other end of the spring 31 is connected to one end of the tendon rope 32, and the other end of the tendon rope 32 is connected to the medial condyle of tibia bionic member 14 through one end of the fourth connecting rod 18.

[0138] The bionic tendon 3 comprises a tendon rope 32 and a spring 31, thereby being capable of simulating the quadriceps tendon and patellar tendon connected to the patella of the human body and providing support for the energy exchange in the motion process of the system, and further reducing the energy consumption of the system.

[0139] In a preferred implementation, the knee joint device for human simulation test comprises a cascaded double four-bar mechanism 1, a driving mechanism 2, a bionic tendon 3, and a base 4.

[0140] The cascaded double four-bar mechanism 1 comprises a femur bionic assembly, a tibia bionic assembly, and a connecting rod assembly.

[0141] The femur bionic assembly comprises a medial condyle of femur bionic member 12 and a lateral condyle of femur bionic member 11.

[0142] The tibia bionic assembly comprises a medial condyle of tibia bionic member 14 and a lateral condyle of tibia bionic member 13.

[0143] The linkage assembly comprises a first linkage 15, a second linkage 16, a third linkage 17 and a fourth linkage 18, the first linkage 15 is in transmission to the second linkage 16, the second linkage 16 is in transmission to the third linkage 17, the third linkage 17 and the fourth linkage 18 are in cross transmission:

[0144] The first linkage 15, the second linkage 16, the third linkage 17, the femoral medial condyle bionic member 12 and the femoral lateral condyle bionic member 11 constitute a first four-bar mechanism;

[0145] The third linkage 17, the fourth linkage 18, the femoral medial condyle bionic member 12, the femoral lateral condyle bionic member 11, the tibial medial condyle bionic member 14 and the tibial lateral condyle bionic member 13 constitute a second four-bar mechanism, and the second four-bar mechanism is a cross four-bar mechanism;

[0146] The driving mechanism 2 comprises a driving motor, a motor housing, a support plate and an electrical interconnection assembly;

[0147] The base 4 comprises a top connecting plate 41, an upper connecting plate 42 and a lower connecting plate 43;

[0148] The bionic tendon 3 comprises a tendon rope 32 and a spring 31;

[0149] Wherein:

[0150] The first end of the top connecting plate 41 is connected with the motor housing, the second end of the top connecting plate 41 is located outside the support plate, and the third end between the first end and the second end of the top connecting plate 41 is fixedly connected with one end of the spring 31;

[0151] The first end of the upper connecting plate 42 is fixedly connected with the third end of the femoral medial condyle bionic member 12, the second end of the upper connecting plate 42 is fixedly connected with the third end of the femoral lateral condyle bionic member 11, and the third end between the first end and the second end of the upper connecting plate 42 is provided with a through hole into which the other end of the spring 31 extends;

[0152] The other end of the spring 31 is connected with one end of the tendon rope;

[0153] The other end of the tendon rope is connected with the tibial medial condyle bionic member 14 through one end of the fourth linkage 18;

[0154] The first end of the lower connecting plate 43 is fixedly connected with the third end of the femoral medial condyle bionic member 12, and the second end of the lower connecting plate 43 is fixedly connected with the third end of the femoral lateral condyle bionic member 11;

[0155] One end of the first connecting rod is connected to the rotor of the driving motor, and the other end of the first connecting rod 15 is rotatably connected with one end of the second connecting rod 16 through a first rotating shaft assembly;

[0156] The other end of the second connecting rod 16 is rotatably connected with the first end of the third connecting rod 17 through a second rotating shaft assembly;

[0157] The second end of the third connecting rod 17 is rotatably connected with the first end of the femoral medial condyle bionic member 12 and the first end of the femoral lateral condyle bionic member 11 through a third rotating shaft assembly, and the third end of the third connecting rod 17 is rotatably connected with the second end of the tibial medial condyle bionic member 14 and the second end of the tibial lateral condyle bionic member 13 through a sixth rotating shaft assembly;

[0158] One end of the fourth connecting rod 18 is rotatably connected with the second end of the femoral medial condyle bionic member 12 and the second end of the femoral lateral condyle bionic member 11 through a fourth rotating shaft assembly, and the other end of the fourth connecting rod 18 is rotatably connected with the first end of the tibial medial condyle bionic member 14 and the first end of the tibial lateral condyle bionic member 13 through a fifth rotating shaft assembly.

[0159] In one possible implementation, the knee joint device for humanoid test further comprises a control mechanism configured to control the driving mechanism 2 to drive the cascaded double four-bar mechanism 1 to move.

[0160] Preferably, the control mechanism comprises a model construction module, an optimization module and a control module.

[0161] The model construction module is configured to construct a knee joint model based on a topological graph of the cascaded double four-bar mechanism 1 and construct an optimization model corresponding to the knee joint model;

[0162] The optimization module is configured to optimize the knee joint model constructed by the model construction module by using an optimization method according to the optimization model constructed by the model construction module;

[0163] The control module is configured to control the driving mechanism 2 according to the knee joint model optimized by the optimization module.

[0164] The first four-bar mechanism of the knee joint device for humanoid test can be used for transmission, and the adaptability to external impedance can be realized by optimizing the bias angle and the rod length. The second four-bar mechanism is a cross four-bar mechanism to simulate the large range of rotation of 0° to 140° in the sagittal plane of the human knee joint. The bionic tendon 3 provides an energy exchange path under the relative rotation of the femur and the tibia, and realizes the uniform distribution of the peak power of the system. In addition, according to the instantaneous rotation center equation of the second four-bar mechanism, the inner and outer condylar articular surfaces of the femur and the inner and outer condylar articular surfaces of the tibia are generated. When the second four-bar mechanism is actuated, the femur-tibia articular surface contact provides high load-bearing capacity, thereby enabling the mechanism to maintain good motion accuracy and humanoid characteristics.

[0165] Figure 3is a schematic diagram of an embodiment of the human-simulated testing method of the present application, Figure 4 is a flowchart of an embodiment of the human-simulated testing method of the present application, as shown in Figure 3 and Figure 4 the human-simulated testing method comprises:

[0166] Step S1, constructing a knee joint model, as shown in Figure 2 and Figure 3 constructing a topological graph of the knee joint device with the components rotatably connected by the knee joint device (such as the driving shaft of the driving mechanism 2, the first to sixth shaft assemblies, or the ends of the components of the knee joint device rotatably connected or the components of the cascaded double four-bar mechanism 1 connected) as nodes, and constructing the knee joint model through the kinematic and dynamic characteristics of the topological graph;

[0167] Step S2, constructing an optimization model;

[0168] Step S3, optimizing the knee joint model according to the optimization model using an optimization method;

[0169] Step S4, controlling the driving mechanism 2 using the optimized knee joint model.

[0170] In a preferred embodiment, step S1 comprises:

[0171] Step S11, constructing a kinematic model based on local exponential product, the input of the kinematic model being the initial pose of each node, the output being the target pose of each node, the input and output being an exponential mapping relationship based on the Lie algebra to Lie group matrix of the first kinematic parameters of the node, the first kinematic parameters including one or more of the rotation angle, angular velocity, and angular acceleration;

[0172] Step S12, constructing a differential kinematic model based on Lie algebra structure, the output of the differential kinematic model being the second kinematic parameters of the node and the previous node, the second kinematic parameters including velocity or / and acceleration, the input of the differential kinematic model being the first kinematic parameters of the node, the input and output of the differential kinematic model being a linear combination relationship based on the adjoint mapping operator and the motion screw axis of the node;

[0173] Step S13, constructing a dynamic model based on natural orthogonal decoupling complement method, the input of the dynamic model being the second kinematic parameters of the node, the external force, and the mass matrix, the output being the dynamic parameters of the node and the next node, the dynamic parameters including one or more of the force screw, constraint reaction force, and maximum stress, the input and output being a linear combination relationship based on the adjoint mapping operator.

[0174] The human-simulating test method constructs a kinematics model based on a local index, constructs a differential motion model based on Lie algebra structure, and constructs a dynamics model based on a natural orthogonal decoupling method on the basis of the two, thereby providing model support for optimization design, and further forming a new human-simulating knee joint optimization design method. The kinematics model, the differential motion model and the dynamics model are optimized by using an optimization method, so as to reduce energy consumption and improve human-simulating characteristics. In addition, the integrated optimization design method coupling the kinematics and dynamics parameters can provide necessary support for similar mechanism design.

[0175] In a preferred embodiment, step S2 comprises:

[0176] An optimization model is constructed based on one or more optimization targets of system energy consumption, motor peak driving torque and motor peak driving power.

[0177] In a preferred embodiment, step S3 comprises:

[0178] The target pose and the initial pose of each node of the cascaded double four-bar mechanism 1 are input into the kinematics model, so as to obtain first kinematics parameters of each node;

[0179] The second kinematics parameters of the node and the previous node, the motion screw axis of the node and the first kinematics parameters obtained by the kinematics model are input into the differential kinematics model, so as to obtain second kinematics parameters of each node;

[0180] The second kinematics parameters of each node obtained by the differential kinematics model and the first kinematics parameters of each node obtained by the kinematics model are input into the dynamics model, so as to obtain dynamics parameters of each node;

[0181] Based on the constraint of the dynamics parameters, a heuristic method (such as a genetic algorithm, a particle swarm algorithm, etc.) is used to make the optimization target of the optimization model optimal.

[0182] In a preferred embodiment, step S4 comprises:

[0183] The first kinematics parameters, the second kinematics parameters and the dynamics parameters of each node corresponding to the optimal optimization target are used to control the driving mechanism 2.

[0184] In a feasible embodiment, step S11 comprises:

[0185] A three-dimensional coordinate system is constructed at each node of the cascaded double four-bar mechanism 1, and the representation of the six-dimensional motion screw axis of each node in the corresponding coordinate system in the coordinate system is obtained, for example, , is the node index, , is the node The six-dimensional kinematic spinor axis in the coordinate system The representation in; These are rotational components, which include rotational components along the x-axis, y-axis, and z-axis. These are translation components, which include translation components along the x, y, and z axes.

[0186] Based on the local exponential product, the kinematic models of the first and second four-bar linkages are constructed using the following equations (1) and (2), respectively, using the kinematic axis of the spinor of the nodes, the initial pose, and the target pose:

[0187] (1)

[0188] (2)

[0189] in, For nodes coordinate system Relative to node coordinate system The target pose transformation matrix, For the node index of the first four-bar linkage; , For nodes Relative to node The target attitude matrix, coordinate system The origin of the coordinate system The position vector in; For nodes coordinate system Relative to node coordinate system The initial pose transformation matrix; , For nodes Relative to node The initial attitude matrix; For nodes The six-dimensional kinematic spinor axis in the coordinate system The representation in the middle, , , for Lie algebras indicate that for The antisymmetric matrix; For nodes The angle of rotation; An exponential mapping relationship from Lie algebras to Lie group matrices was established; For the node index of the second four-bar linkage; Nodes of the second four-bar linkage The node of the first four-bar linkage .

[0190] In one possible implementation, step S12 comprises:

[0191] The off-body segmentation method is used to realize the cascade double four-bar mechanism 1 from a closed-loop mechanism to an open chain, as shown in Figure 5 ;

[0192] As shown in Figure 6 , the differential kinematics model is constructed by the following formula (3) or / and (4) according to the recursive relationship between adjacent nodes under the open chain condition:

[0193] (3)

[0194] (4)

[0195] wherein, and are the velocity and acceleration of node , respectively, =0, ; is the adjoint operator of the Lie algebra representation of the six-dimensional motion screw axis of node ; is the coadjoint operator of the Lie algebra representation of the six-dimensional motion screw axis of node with the Lie bracket property; is the angular velocity of node ; is the angular acceleration of node .

[0196] In one possible implementation, step S13 comprises:

[0197] Based on the velocity and angular velocity of the nodes of the cascade double four-bar mechanism 1, the natural orthogonal decoupling matrix under the local exponential product is obtained by the following formula (5)-(8):

[0198] (5)

[0199] (6)

[0200] (7)

[0201] (8)

[0202] wherein, ; is the natural orthogonal decoupling matrix of node ; is the diagonal matrix of the six-dimensional motion screw axis of node . the Lie algebra representation of the six-dimensional motion screw axis of the node ;

[0203] Based on the natural orthogonal decoupling matrix of the cascaded double four-bar mechanism 1, a force screw model is constructed by the following formula (9) through Newton dynamics:

[0204] (9)

[0205] wherein, and are force screws of the node and the node , respectively; is an external force received by the node ; is a transpose matrix of an external force adjoint mapping operator matrix of the node , is a pose transformation matrix of the external force received by the node in the body coordinate system of the node ;

[0206] In one possible implementation, step S13 further includes:

[0207] A dynamics model of the second four-bar mechanism is constructed by the following formula (10):

[0208] (10)

[0209] wherein, is a diagonal matrix of the generalized mass matrix of the second four-bar mechanism, ; is an acceleration matrix of the second four-bar mechanism, ; ; ; ; ; ; ; is a constraint reaction force matrix of the second four-bar mechanism, ; is a constraint force screw of the base 4 to the node ; is a transpose matrix of the inverse force constraint matrix of the node ; , is an active force of the second four-bar mechanism, is a constraint reaction force of the node in the x-axis direction (for example, a constraint reaction force of the base 4 to the node in the x-axis direction), For nodes Constraint reaction force along the y-axis;

[0210] Based on the principle of virtual work, the constraints of the dynamic model of the second four-bar linkage are obtained:

[0211] (11)

[0212] (12)

[0213] in, ; Let be the transpose of the natural orthogonal decoupling matrix of the second four-bar linkage. ; .

[0214] Based on the constraints and dynamic model of the second four-bar linkage, the constraint reaction force model of the second four-bar linkage is constructed using the following equation (13):

[0215] (13)

[0216] The above formula can be used to obtain the node driven by the first four-bar linkage. Main driving force and the constraint reaction forces at each node.

[0217] In one feasible implementation, step S13 further includes:

[0218] The first four-bar linkage drives the second four-bar linkage. The end node of the first four-bar linkage is the initial node of the second four-bar linkage. The main force of the initial node of the second four-bar linkage obtained through the constraint reaction force model of the second four-bar linkage is used as the external force to construct the dynamic model of the first four-bar linkage through the following formula (14):

[0219] (14)

[0220] in, Let be the diagonal matrix of the generalized mass matrix of the first four-bar linkage. ; The acceleration matrix of the first four-bar linkage. ; ; ; ; ; ; Here is the constraint reaction force matrix of the first four-bar linkage. ; For nodes The transpose of the reverse force constraint matrix; , It serves as the main power source for the first four-bar linkage. For nodes Constraint reaction forces along the x-axis (e.g., at the four pairs of nodes of the base) (constraint reaction force in the x-axis direction). For nodes Constraint reaction force along the y-axis;

[0221] Based on the principle of virtual work, the constraints of the dynamic model of the first four-bar linkage are obtained:

[0222] (15)

[0223] (16)

[0224] in, ; Let be the transpose of the natural orthogonal decoupling matrix of the first four-bar linkage. ; .

[0225] Based on the constraints and dynamic model of the first four-bar linkage, the constraint reaction force model of the first four-bar linkage is constructed using the following equation (17):

[0226] (17)

[0227] The above formula can be used to obtain the node driven by drive mechanism 2. Main driving force and the constraint reaction forces at each node.

[0228] In one feasible implementation, step S13 further includes:

[0229] Based on force analysis in mechanics of materials, the maximum stress at each node of the cascaded double four-bar linkage 1 is obtained, such as... Figure 7 As shown.

[0230] In a preferred embodiment, the step of obtaining the maximum stress at each node of the cascaded double four-bar linkage 1 based on force analysis in mechanics of materials includes:

[0231] The maximum stress at each node of the cascaded double four-bar linkage 1 is obtained using the following formula.

[0232] (18)

[0233] in, For nodes The maximum stress on the corresponding rotatable member , Allowable stress; and They are nodes Corresponding rotatable bar pair node Corresponding rotatable bar pair force in x, y direction; , and are the width, height and length of the node Corresponding rotatable bar pair.

[0234] In one possible implementation, the step S2: the method of constructing an optimization model includes:

[0235] The optimization model is constructed by the following formula (19):

[0236] (19)

[0237] Wherein, is the optimization function of system energy consumption; is the optimization function of motor peak driving torque; is the optimization function of motor peak driving power, and each optimization function above can be variously combined in weight with the optimization function in the prior art.

[0238] In another possible implementation, the step S2: the method of constructing an optimization model includes:

[0239] The optimization model is constructed by the following formula (20):

[0240] (20)

[0241] Wherein, is the loss power of the cascade double four-bar mechanism 1, is the equivalent resistance at the motor end, is the torque constant, is the motor torque, is the transmission ratio of the driving motor, and are the hysteresis and eddy current coefficients respectively, is the Steinmetz constant, is the maximum magnetic density value, is the volume of the stator core, is the number of pole pairs, is the output end angular velocity of the joint motor.

[0242] In one possible implementation, the step S3, the step of optimizing the knee joint model according to the optimization model using an optimization method includes:

[0243] The initial position of each node of the cascaded double four-bar mechanism 1 and the input rotation angle of the last node of the first four-bar mechanism are input into the kinematics model of the first four-bar mechanism and the kinematics model of the second four-bar mechanism to obtain the first kinematics parameters of each node;

[0244] The motion screw axis of the node and the first kinematics parameters obtained through the kinematics model are input into the differential kinematics model to obtain the second kinematics parameters of the node and the previous node;

[0245] The second kinematics parameters of the node, the external force and the mass matrix are input into the dynamics model to obtain the dynamics parameters of the node and the next node;

[0246] Based on the constraint of the dynamics parameters, the Jacobian of the first four-bar mechanism and / or the Jacobian of the second four-bar mechanism are adjusted to make the optimization objective of the optimization model optimal, for example, the optimization model corresponding to formula (20), because , wherein, is the Jacobian of the first four-bar mechanism, is the Jacobian of the second four-bar mechanism, is the last output torque, satisfies , wherein, is the last output angular velocity, the last output angular velocity and the last output torque are the torque corresponding to the selected output link, for example, when the angular displacement of the output link , is the output torque of the node ; a heuristic method can be used to adjust the Jacobian of the first four-bar mechanism and the Jacobian of the second four-bar mechanism based on the constraint of the maximum stress to minimize the loss power of the cascaded double four-bar mechanism 1; for another example, when the Jacobian of the first four-bar mechanism cannot guarantee the minimum loss power, a heuristic method can be used to realize the minimization of the loss power by adjusting ;

[0247] The driving mechanism 2 is controlled through the first kinematics parameters, the second kinematics parameters and the dynamics parameters of each node corresponding to the optimal optimization objective.

[0248] When the second four-bar mechanism is in action, the generated femur-tibia joint surface contact provides high load-bearing capacity, thereby enabling the mechanism to maintain good motion accuracy and human-like characteristics. Human-like motion and load-bearing capacity are ensured by the femoral lateral condyle bionic component 11, the femoral medial condyle bionic component 12, the tibial lateral condyle bionic component 13, and the tibial medial condyle bionic component 14. Since the energy transmission characteristics of the second four-bar mechanism are affected by human-like motion characteristics, the first four-bar mechanism is used to correct the transmission efficiency to achieve overall efficient transmission. When the first four-bar mechanism correction cannot guarantee the optimization of the optimization model, the transmission efficiency of the second four-bar mechanism is corrected.

[0249] The application adopts local exponential product to construct the kinematics model of the closed-loop mechanism, and realizes inverse dynamics modeling under the Newtonian mechanics system by combining with the natural orthogonal decoupling supplementary matrix. Based on the constructed kinematics model and dynamics model, further combined with the optimization algorithm, the mechanism optimization design under the specified optimization problem is realized, and an integrated design method integrating kinematics parameters and dynamics parameters is obtained.

[0250] In one specific embodiment, the knee joint device of the application is tested by the human simulation test method of the application, wherein the optimization model is a loss power model of the cascaded double four-bar mechanism 1, the optimization method is to adjust the Jacobian of the first four-bar mechanism and the second four-bar mechanism by using the NSGA-II genetic algorithm with maximum stress as the constraint condition, and the obtained result is as shown in the figure Figure 8 The human simulation knee joint obtained by the knee joint device and the human simulation test method of the application reduces the loss power by 71.32% and the peak value of the driving torque by 55.90% and the peak value of the driving power by 31.22% compared with the traditional joint, thereby realizing the effect of low carbon and energy saving.

[0251] The application is superior to the traditional human simulation knee joint based on single-axis rotary joint type in terms of reproducing the rolling-sliding motion behavior and energy efficiency of human knee joints in the sagittal plane, and can effectively improve the accuracy and reliability of the human simulation.

[0252] The cascaded double four-bar mechanism 1 of the knee joint device for human simulation test is composed of two four-bar mechanisms, the first four-bar mechanism serves to transmit power, and the second four-bar mechanism is a cross four-bar mechanism, which realizes the reproduction of the trajectory of the human knee joint, and further, the contact movement process of the femoral medial condyle and the femoral lateral condyle and the tibial medial condyle and the tibial medial condyle is simulated by using a conjugate curved surface formed by conjugate curves. On the basis of the knee joint device for human simulation test, the application further proposes a human simulation test method based on model optimization. The method takes the Lie algebra-based local exponential product kinematics formula as the starting point, adopts the natural orthogonal decoupling compensation method to construct an integrated optimization design process with motor energy consumption, peak torque and peak power as optimization objectives, and overall planning of structure parameters, stress constraints and motion performance, which is suitable for the optimization design of a mechanical system with a closed-loop kinematic chain.

[0253] Figure 9 A structural block diagram of a computing device 100 according to one embodiment of the present specification is shown. The components of the computing device 100 include, but are not limited to, a memory 110 and a processor 120. The processor 120 is connected to the memory 110 through a bus 130, and a database 150 is used to save data.

[0254] The computing device 100 also includes an access device 140, which enables the computing device 100 to communicate via one or more networks 160. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 140 can include one or more of any type of network interface (e.g., a network interface card (NIC)), wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a Worldwide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC).

[0255] In one embodiment of the present specification, the above-mentioned components of the computing device 100 andFigure 9 Other components not shown in FIG. 1 can also be connected to each other in the system, such as through a bus. It should be understood that Figure 9 The illustrated computing device architecture diagram is for the purpose of example only and is not intended to limit the scope of the present specification. Other components can be added or replaced by those skilled in the art as needed.

[0256] The computing device 100 can be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smartphone), a wearable computing device (e.g., a smartwatch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 100 can also be a mobile or stationary server.

[0257] The processor 120 is configured to execute computer-executable instructions to implement the steps of the above-mentioned human simulation test method. The above is a schematic solution of the computing device according to an embodiment of the present specification. It should be noted that the technical solution of the computing device and the technical solution of the above-mentioned human simulation test method belong to the same concept, and the details of the technical solution of the computing device which are not described in detail can be referred to the description of the technical solution of the human simulation test method.

[0258] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the above-mentioned human simulation test method.

[0259] An embodiment of the present specification further provides a computer program, which, when executed in a computer, causes the computer to perform the steps of the above-mentioned human simulation test method.

[0260] It should be noted that the human simulation test method, the computing device, the computer-readable storage medium, the computer program and the knee joint device for human simulation test belong to the same concept.

[0261] The above describes a specific embodiment of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than the order in the embodiments and still achieve the desired result. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In some implementations, multitasking and parallel processing can be advantageous.

[0262] The computer readable medium can include any entity or apparatus capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, software distribution medium, etc. It should be noted that the computer readable medium can include appropriate additions or subtractions according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0263] It should be noted that for the foregoing method embodiments, the description is made for the sake of brevity, and therefore, each of the method embodiments can include additional steps as appropriate to the alternate embodiments and vice versa, some of which have been discussed above. It is also noted that while the method embodiments have been described as a single process, the process can be separated into a number of processes for different aspects, each of which, and

[0264] In the above embodiments, the description of each embodiment is focused on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0265] The preferred embodiments of the present specification disclosed above are only used to help explain the present specification. The alternative embodiments do not describe all the details and limit the invention to the specific embodiments described. Obviously, according to the content of the embodiments of the present specification, many modifications and changes can be made. The present specification selects and describes these embodiments in order to better explain the principles and practical applications of the embodiments of the present specification, so that those skilled in the art can well understand and use the present specification. The present specification is limited by the claims and their entire scope and equivalents.

Claims

1. A knee joint device for humanoid testing, characterized in that, Including cascaded double four-bar linkages and drive mechanisms: The cascaded double four-bar linkage includes a first four-bar linkage and a second four-bar linkage cascaded therewith. The first four-bar linkage is used for transmission, and the second four-bar linkage is used to simulate the rotation of the knee joint in the sagittal plane. The driving mechanism is used to drive the first four-bar linkage; Among them, the first motion curve of the instantaneous rotation center of the first four-bar linkage and the second motion curve of the instantaneous rotation center of the second four-bar linkage are conjugate curves; The cascaded double four-bar linkage includes a femoral bionic component, a tibia bionic component, and a linkage component. The femoral bionic component includes a medial femoral condyle bionic component and a lateral femoral condyle bionic component; The tibial bionic component includes a medial tibial condyle bionic component and a lateral tibial condyle bionic component; The linkage assembly includes a first link, a second link, a third link, and a fourth link. The first link drives the second link, the second link drives the third link, and the third link and the fourth link drive each other in a cross-drive configuration. The first link, the second link, the third link, the medial femoral condyle bionic component, and the lateral femoral condyle bionic component constitute the first four-bar linkage. The third link, the fourth link, the medial femoral condyle bionic component, the lateral femoral condyle bionic component, the medial tibial condyle bionic component, and the lateral tibial condyle bionic component constitute a second four-bar linkage, which is a cross four-bar linkage. The first four-bar linkage and the second four-bar linkage are cascaded through the third link.

2. The knee joint device for humanoid testing according to claim 1, characterized in that, One end of the first connecting rod is driven to rotate by the driving mechanism, and the other end of the first connecting rod is rotatably connected to one end of the second connecting rod; The other end of the second link is rotatably connected to the first end of the third link; The second end of the third link is rotatably connected to the first end of the medial femoral condyle bionic component and the first end of the lateral femoral condyle bionic component, and the third end of the third link is rotatably connected to the second end of the medial tibial condyle bionic component and the second end of the lateral tibial condyle bionic component. One end of the fourth link is rotatably connected to the second end of the medial femoral condyle bionic component and the second end of the lateral femoral condyle bionic component, and the other end of the fourth link is rotatably connected to the first end of the medial tibial condyle bionic component and the first end of the lateral tibial condyle bionic component.

3. The knee joint device for humanoid testing according to claim 2, characterized in that, The cascaded double four-bar linkage also includes a pivot assembly configured to enable a rotatable connection of the link assemblies.

4. The knee joint device for humanoid testing according to claim 3, characterized in that, The rotating shaft assembly includes a rotating shaft, a ball bearing, and a nut. The ball bearing and nut are sleeved on the rotating shaft, and two rotatably connected connecting rods are sleeved on the rotating shaft and located between the ball bearing and the nut.

5. The knee joint device for humanoid testing according to claim 1, characterized in that, It also includes a base configured to support the cascaded double four-bar linkage and the drive mechanism.

6. The knee joint device for humanoid testing according to claim 1, characterized in that, It also includes bionic tendons configured to mimic the quadriceps tendon and patellar tendon that connect to the patella in the human body.

7. The knee joint device for humanoid testing according to claim 6, characterized in that, The bionic tendon includes a tendon cord and a spring. One end of the spring is fixed, and the other end of the spring is connected to one end of the tendon cord. The other end of the tendon cord is connected to a cascaded double four-bar linkage.

8. The knee joint device for humanoid testing according to claim 1, characterized in that, It also includes a control mechanism configured to control the drive mechanism to drive the cascaded double four-bar linkage to move.

9. The knee joint device for humanoid testing according to claim 8, characterized in that, The control mechanism includes a model building module, an optimization module, and a control module: The model building module is configured to build a knee joint model and an optimized model corresponding to the knee joint model based on the topology of the cascaded double four-bar linkage. The optimization module is configured to optimize the knee joint model constructed by the model construction module using an optimization method based on the optimization model constructed by the model construction module; The control module is configured to control the drive mechanism based on the knee joint model optimized by the optimization module.

10. A humanoid testing method, characterized in that, The humanoid testing method is a method for conducting humanoid testing using the knee joint device for humanoid testing as described in any one of claims 1-9, comprising: Constructing a knee joint model: A knee joint model is constructed based on the topology of a cascaded double four-bar linkage, where the nodes of the topology are the rotatably connected components of the cascaded double four-bar linkage. Build an optimization model; The knee joint model was optimized using optimization methods based on the optimization model. Humanoid tests were conducted using an optimized knee joint model to control the actuator.

11. The humanoid testing method according to claim 10, characterized in that, The steps for constructing the knee joint model include: A kinematic model is constructed based on local exponential products. The input of the kinematic model is the initial pose of each node, and the output is the target pose of each node. The input and output are related by an exponential mapping relationship from the Lie algebra to the Lie group matrix based on the first kinematic parameter of the node. The first kinematic parameter includes one or more of rotation angle, angular velocity and angular acceleration. A differential kinematic model is constructed based on the Lie algebra structure. The output of the differential kinematic model is the second kinematic parameter of the node and the previous node. The second kinematic parameter includes velocity and / or acceleration. The input of the differential kinematic model is the first kinematic parameter of the node. The input and output of the differential kinematic model are a linear combination relationship based on the adjoint mapping operator and the kinematic spinor axis of the node. A dynamic model is constructed based on the natural orthogonal decoupling complement method. The input of the dynamic model is the second kinematic parameters of the nodes, the external forces and the mass matrix. The output is the dynamic parameters of the nodes and the next node. The dynamic parameters include one or more of force spinor, constraint reaction force and maximum stress. The input and output are a linear combination relationship based on the adjoint mapping operator.

12. The humanoid testing method according to claim 10, characterized in that, The steps for constructing the optimization model include: An optimization model is constructed based on one or more optimization objectives, including system energy consumption, peak motor driving torque, and peak motor driving power.

13. The humanoid testing method according to claim 11, characterized in that, The steps for optimizing the knee joint model using optimization methods based on the optimization model include: Input the target pose and initial pose of each node of the cascaded double four-bar linkage into the kinematic model to obtain the first kinematic parameters of each node; Input the second kinematic parameters of the node and the previous node, the kinematic spinor axis of the node, and the first kinematic parameters obtained through the kinematic model into the differential kinematic model to obtain the second kinematic parameters of each node. The second kinematic parameters of each node obtained through the differential kinematic model and the first kinematic parameters of each node obtained through the kinematic model are input into the dynamic model to obtain the dynamic parameters of each node. Based on the constraints of dynamic parameters, a heuristic method is used to make the optimization objective of the optimization model reach the optimum. The drive mechanism is controlled by the first kinematic parameter, second kinematic parameter, and dynamic parameter of each node corresponding to the optimal optimization objective.

14. The humanoid testing method according to claim 13, characterized in that, The steps to achieve the optimal optimization objective of the optimization model using a heuristic method include: Adjusting the Jacobian of the first four-bar linkage and / or the Jacobian of the second four-bar linkage makes the optimization objective of the optimization model reach its optimum.

15. The humanoid testing method according to claim 11, characterized in that, The steps for constructing a kinematic model based on the local exponential product include: A three-dimensional coordinate system is constructed at each node of the cascaded double four-bar linkage, and the six-dimensional kinematic spinor axis of each node in the corresponding coordinate system is represented in the coordinate system. Based on the combination of local exponential products, the kinematic models of the first and second four-bar linkages are constructed using the spinor axes of motion of each node, the initial pose, and the target pose.

16. The humanoid testing method according to claim 15, characterized in that, The steps for constructing the differential kinematics model based on the Lie algebra structure include: The cascaded double four-bar linkage is transformed from a closed-loop mechanism to an open-loop mechanism using the discrete segmentation method. A differential kinematic model is constructed based on the recursive relationship between adjacent nodes under open-chain conditions.

17. The humanoid testing method according to claim 16, characterized in that, The steps for constructing the dynamic model based on the natural orthogonal decoupling complement method include: Based on the velocity and angular velocity of the nodes in a cascaded double four-bar linkage, the natural orthogonal decoupling matrix under the local exponential product is obtained; A force spinor model is constructed based on the natural orthogonal decoupling matrix of a cascaded double four-bar linkage and Newtonian dynamics.

18. The humanoid testing method according to claim 17, characterized in that, The steps for constructing the dynamic model based on the natural orthogonal decoupling complement method also include: A dynamic model of the second four-bar linkage is constructed based on the kinematic relationships of the crossed four-bar linkage. Based on the principle of virtual work, the constraints of the dynamic model of the second four-bar linkage are obtained; Based on the constraints and dynamic model of the second four-bar linkage, a constraint reaction force model of the second four-bar linkage is constructed.

19. The humanoid testing method according to claim 18, characterized in that, The steps for constructing the dynamic model based on the natural orthogonal decoupling complement method also include: The first four-bar linkage drives the second four-bar linkage. The end node of the first four-bar linkage is the initial node of the second four-bar linkage. The dynamic model of the first four-bar linkage is constructed based on the constraint reaction force model of the second four-bar linkage. Based on the principle of virtual work, the constraints of the dynamic model of the first four-bar linkage are obtained; Based on the constraints and dynamic model of the first four-bar linkage, a constraint reaction force model of the first four-bar linkage is constructed.

20. The humanoid testing method according to claim 19, characterized in that, The steps for constructing the dynamic model based on the natural orthogonal decoupling complement method also include: The maximum stress model for each node is constructed based on the force analysis in mechanics of materials.

21. A computing device, characterized in that, include: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the humanoid testing method according to any one of claims 10 to 20.

22. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions that, when executed by a processor, implement the steps of the humanoid testing method according to any one of claims 10 to 20.

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