Safety interaction dummy and method of digital wound calculation thereof

Abstract

The application provides a safe interactive dummy and a method for digital wound calculation of the same, the safe interactive dummy comprising a human tissue structure, a flexible sensing array, a digital wound algorithm model, and a visual interface; the human tissue structure is composed of parts to form a human body and imitate physical characteristics of the human body; the flexible sensing array collects pressure and shear force signals received by the human body and transmits the signals to a damage calculation module; the model is based on the maximum elongation linear strain and the maximum shear stress criterion and dynamically accumulates and calculates damages of each part of the body; and the system presents potential mechanical injuries in real time through the visual interface. The application can realize quantitative evaluation and intuitive early warning of safety of a nursing robot and can identify and evaluate injury risks in a nursing process in a physical prototype test stage.

Description

Technical Field

[0001] This invention relates to the field of robot safety testing technology, specifically a safe interactive dummy and a method for calculating digital trauma. Background Technology

[0002] With the increasing trend of population aging, nursing robots (including transfer robots, bathing robots, and rehabilitation training robots) are being used more and more widely in the fields of medical and elderly care services. Unlike industrial robots, nursing robots need to have frequent, continuous, and large-area physical contact with the human body (especially the elderly or disabled patients with fragile physiological functions). Therefore, the safety of robot interaction is the primary prerequisite for its use.

[0003] Current robot safety testing primarily follows the crash test standards of the automotive industry, using dummies mainly designed to assess the risk of fractures and internal organ rupture under instantaneous high-acceleration impacts. However, in nursing scenarios, the main safety risks do not stem from instantaneous impacts, but rather from prolonged, low-frequency, and cumulative contact injuries. For example, when a robot lifts a human body, improper gripping force from the robotic arm, shear friction at the contact point, or prolonged pressure on a specific area can easily lead to soft tissue ischemia and subcutaneous hematoma.

[0004] Existing test dummies and evaluation methods have the following significant drawbacks: Lack of soft tissue biomimetic characteristics: Traditional dummy materials are mostly rigid or semi-rigid, which cannot simulate the nonlinear deformation of human skin, fat and muscles under stress, and cannot truly reflect the stress distribution at the contact interface.

[0005] Limited sensing dimension: Most sensors only monitor normal pressure, ignoring shear forces that cause more severe soft tissue damage.

[0006] Lack of cumulative damage assessment model: Existing electronic skin can only provide feedback on the current force value and cannot perform integral calculation of damage based on the time dimension. That is, the system cannot determine the pathological difference between "10 Newtons of force applied continuously for 1 minute" and "10 Newtons of force applied continuously for 1 hour".

[0007] Low visualization: Test results are usually a large number of data charts, and R&D personnel cannot intuitively see the damage left on the human body by the robot's movements, making it difficult to optimize the control strategy in a targeted manner during the prototype iteration stage.

[0008] Therefore, there is an urgent need for a nursing robot safety interactive dummy that can simulate the characteristics of human soft tissue, integrate multi-dimensional perception, and transform physical contact into visualized digital trauma risk. Summary of the Invention

[0009] To address the problems of existing technologies, this invention provides a safe interactive dummy and a method for calculating digital trauma. This dummy can accurately sense pressure and shear force, and through a built-in algorithm model, it transforms these physical quantities into a cumulative damage index that conforms to pathological characteristics. The potential risks of injury and bruising are then presented in a visual manner, thereby achieving a quantitative assessment of the safety of interactive nursing robots.

[0010] This invention provides a safe interactive dummy, comprising a bionic dummy body, a flexible sensor array, a data processing unit, and a visualization terminal; The bionic dummy body is distributed according to the natural structure of the human body and serves as the physical carrier of the system. Its key contact areas are covered with the flexible sensor array. The flexible sensing array is electrically connected to the data processing unit and is used to collect physical interaction data; The data processing unit integrates a digital trauma algorithm model, which is used to process the collected data and calculate cumulative damage. The visualization terminal is signal-connected to the data processing unit and is used to display the digital damage assessment results in real time.

[0011] Further improvements include the bionic dummy body adopting a three-layer structure that simulates human bones, muscles, and skin; the material selected for the bionic dummy body has similar flexibility and viscoelasticity to real human soft tissue, which is used to generate nonlinear deformation under stress to reflect the stress distribution at the contact interface.

[0012] In a further improvement, the flexible sensor array makes flexible contact with the skin to monitor normal pressure and shear force in real time during the nursing process.

[0013] Further improvements include the integration of the following functional units within the data processing unit: Synthetic stress calculation program: Based on the vector relationship between pressure and shear signals, it performs synthetic calculations on instantaneous forces to simulate the real stress state of soft tissue under the coupled action of normal pressure and shear friction. Time-integrated cumulative damage procedure: Based on the maximum elongation strain and maximum shear stress criteria, the stress signal is integrated in the time domain to convert the degree of soft tissue ischemia and potential congestion caused by continuous pressure or chronic contact into a cumulative damage index. System stability fault tolerance program: used to filter out abnormal sensor signals, noise interference or instantaneous jumps, ensuring the reliability of damage assessment results.

[0014] This invention also provides a method for digital trauma calculation using a safe interactive dummy, comprising the following steps: 1) The skin of the bionic dummy deforms under load, and the flexible sensor array collects data on normal pressure and shear force, which is then coupled to the data processing unit through a flexible conductive line. 2) Construct a trauma algorithm model based on the maximum elongation strain and maximum shear stress criteria: The collected normal pressure and shear force data signals are vector synthesized to obtain the synthesized stress value; Based on the synthesized stress value, combined with the time integration algorithm program, the damage accumulation calculation in the time domain is performed on the stressed area, thereby generating a cumulative damage index that reflects the degree of soft tissue ischemia and the subcutaneous tissue damage status. 3) The visualization terminal uses a visualization interface to display the cumulative damage index and potential mechanical damage output by the data processing unit in real time on the corresponding human body part model in the form of images.

[0015] Further improvements are made to the process of obtaining the synthetic stress value in step 2), which is as follows: Pressure P(t) and shear force signals are acquired through a flexible sensing array. Synthesize according to the following formula: ; The equivalent combined stress is given by α, which is the shear weighting coefficient, ranging from 3.0 to 5.0.

[0016] Further improvements were made to the shear force signal. Synthesis of shear force components on the x and y axes obtained from flexible sensor array .

[0017] Further improvements are made, and the specific process for calculating the cumulative damage in step 2) is as follows: Integrating the combined equivalent stress: ; Where D(T) is the damage index, For the combined stress, The stress threshold is the capillary occlusion pressure, and m is the time sensitivity index, with a value between 2 and 4. The above equation is discretized during the program's calculation. ; D n This represents the cumulative damage value at the current sampling time. This represents the sampling time interval.

[0018] The beneficial effects of this invention are as follows: 1. Achieved quantitative assessment of cumulative damage: Breaking through the limitation of traditional dummies that can only assess instantaneous impact damage, by introducing a digital trauma algorithm model based on time integration, it can accurately identify the risk of soft tissue ischemia caused by low-frequency and long-term contact during nursing care, filling the gap in long-term interactive safety testing of nursing robots.

[0019] 2. A multi-dimensional biomimetic sensing system was constructed: a flexible sensing array consisting of a pressure sensing layer and an epidermal shear force sensing array was adopted, combined with biomimetic materials with nonlinear deformation characteristics, which can capture normal pressure, shear friction and motor thermal effect in all directions, and realistically reproduce the physical response of human skin under complex interaction.

[0020] 3. Provides an intuitive visualization early warning mechanism: By mapping abstract sensor data to digital bruises on a human body model, it realizes an intuitive presentation of injury risks, greatly reduces the threshold for data interpretation, and can help R&D personnel quickly locate unsafe actions in robot control strategies. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A schematic diagram of the detection method of the present invention is shown.

[0023] Figure 2 The flowchart for digital trauma modeling is shown.

[0024] Figure 3 A schematic diagram of the present invention is shown. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] This invention discloses a digital trauma visualization interactive dummy for safety assessment of nursing robots, comprising a bionic dummy body, a multi-layer skin sensor structure, and a data processing module, such as... Figure 1As shown. The bionic dummy body includes a head, neck, limbs, and torso, with each structure distributed according to the natural structure of the human body. The multi-layer skin sensor structure includes a deep pressure sensing module 1 and an epidermal shear force sensing module 2, which are covered on the surface of the torso, limbs, and other key areas prone to mechanical contact, and establish a signal connection with the internal digital trauma calculation module.

[0027] The dummy's skin deforms under load. The modules mentioned above are used to collect normal pressure and shear force data, which are coupled to the data processing and control module 3 via flexible conductive lines. The data processing and control module 3 integrates the following functional units: Synthetic stress calculation program 4: Based on the vector relationship between pressure and shear signals, the instantaneous stress is synthesized and solved to simulate the real stress state of soft tissue under the coupling action of normal pressure and shear friction. Time-integrated cumulative damage procedure 5: Based on the maximum elongation strain and maximum shear stress criteria, the stress signal is integrated in the time domain to convert the degree of soft tissue ischemia and potential congestion caused by continuous pressure or chronic contact into a cumulative damage index. System stability fault tolerance program 6: Used to filter out abnormal sensor signals, noise interference or instantaneous jumps, ensuring the reliability of damage assessment results.

[0028] The data processing and control module 3 is communicatively connected to the visualization terminal 7. The visualization terminal 7 has a built-in digital trauma visualization interface and a 3D human body model, which converts the cumulative injury index into digital bruises, indentations, or injury areas in real time and projects them onto the corresponding parts of the model. The sensors are used to sense pressure and shear force, and the signal data is input to the data processing and control module 3. The signals are generated based on the response of the simulation material to the load; different simulation material structures are used for the skin models of different body parts, and the signals collected from each location are also different.

[0029] The present invention provides a method for digital trauma calculation using a secure interactive dummy, such as... Figure 2 and Figure 3 As shown, it includes the following steps: 1) The skin of the bionic dummy deforms under load, and the flexible sensor array collects data on normal pressure and shear force, which is then coupled to the data processing unit through a flexible conductive line.

[0030] 2) Construct a trauma algorithm model based on the maximum elongation strain and maximum shear stress criteria: The collected normal pressure and shear force data signals are vector synthesized to obtain the synthesized stress value; Based on the synthesized stress value, combined with the time integration algorithm program, the damage accumulation calculation in the time domain is performed on the stressed area, thereby generating a cumulative damage index that reflects the degree of soft tissue ischemia and the subcutaneous tissue damage status. The process of obtaining the synthetic stress value is as follows: pressure P(t) and shear force signals are collected by a flexible sensing array. Synthesize according to the following formula: ; The equivalent combined stress is given by α, which is the shear weighting coefficient, ranging from 3.0 to 5.0.

[0031] Further improvements were made to the shear force signal. Synthesis of shear force components on the x and y axes obtained from flexible sensor array .

[0032] Further improvements are made, and the specific process for calculating the cumulative damage in step 2) is as follows: Integrating the combined equivalent stress: ; Where D(T) is the damage index, For the combined stress, The stress threshold is the capillary occlusion pressure, and m is the time sensitivity index, with a value between 2 and 4. The above equation is discretized during the program's calculation. ; D n This represents the cumulative damage value at the current sampling time. This represents the sampling time interval.

[0033] 3) The visualization terminal uses a visualization interface to display the cumulative damage index and potential mechanical damage output by the data processing unit in real time on the corresponding human body part model in the form of images.

[0034] The present invention will be further illustrated by a specific embodiment below.

[0035] 1) Construction of biomimetic physical structures: In this embodiment, the dummy skin layer uses a modified silicone elastomer with a thickness ranging from 3mm to 5mm to simulate the nonlinear deformation characteristics of human skin. This skin layer is filled with a trace amount of conductive powder, and the impedance change during compression simulates the electrical response of the skin under stress. The muscle layer uses a thermoplastic elastomer (TPE) with a Shore hardness of A-10, achieving nonlinear deformation characteristics similar to real human skin, fat, and muscle.

[0036] 2) Array deployment of multi-layer sensors: The sensor network is deployed on a flexible FPC substrate in key stress areas of the dummy (such as the armpits, back, and elbows). The specific deployment of each sensor module is as follows: Deep pressure sensing module: Utilizing the piezoresistive principle, this module acquires normal pressure signals perpendicular to the skin surface. Located beneath the dummy's muscle layer, it monitors the pressure exerted on the dummy's skin in real time. Epidermal shear force sensing module: Employing a capacitive triaxial force sensor, this module specifically monitors the shear friction force generated when the robot performs grasping or lifting actions. Installed in the dummy's epidermis, this module primarily senses the tangential friction force between the robot and the dummy's contact surfaces.

[0037] 3) Calculation process of digital trauma algorithm: After receiving the raw data collected by the sensor, the data processing and control module executes the following steps: S1. Vector Synthesis: Using a stress synthesis calculation program, the collected normal pressure (P) and shear force (τ) are vector synthesized according to the Mises equivalent stress principle. The synthesized mechanical signal will reflect the actual deformation of the dummy skin under multi-directional stress.

[0038] ; S2. Time integral calculation: Time integral cumulative damage procedure (5) based on biomechanical formula ; The damage index (DI) is calculated by continuously integrating the mechanical signals acquired by the sensor over time. This formula reflects the time sensitivity of biological tissues: the longer the pressure or shear force lasts, the higher the damage index. This step can accurately simulate the damage of soft tissues under prolonged pressure.

[0039] S3. Fault Tolerance: System Stability Fault Tolerance Procedure: This procedure filters out instantaneous mechanical pulses or external noise interference caused by dummy displacement, ensuring the stability and accuracy of the damage index. This step guarantees the scientific validity and reliability of the calculation results.

[0040] 4) Real-time rendering of trauma visualization: The calculated Injury Index (DI) is transmitted in real time to the visualization terminal via a data interface. The terminal has a built-in 3D human anatomical model and uses coordinate mapping technology to visualize the Injury Index: when the DI is in the low-risk range, the model surface displays normal skin color, indicating no obvious injury. When the DI reaches the warning threshold, the corresponding location on the model surface turns light red, simulating skin redness, indicating potential minor injury.

[0041] When the DI exceeds the damage threshold, the model surface is rendered with a deep purple patch texture to simulate subcutaneous bruising or contusion, indicating that there is severe damage in the area.

[0042] Through this interface, researchers can intuitively identify defects in the robot's control algorithm (e.g., digital bruising caused by excessive shearing force under the armpit when the robotic arm picks up a dummy), and then precisely optimize the robot's interaction force and motion path.

[0043] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of the present invention. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention, without departing from the principle of the present invention, should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A safe interactive dummy, characterized in that: It includes a bionic dummy body, a flexible sensor array, a data processing unit, and a visualization terminal; The bionic dummy body is distributed according to the natural structure of the human body and serves as the physical carrier of the system. Its key contact areas are covered with the flexible sensor array. The flexible sensing array is electrically connected to the data processing unit and is used to collect physical interaction data; The data processing unit integrates a digital trauma algorithm model, which is used to process the collected data and calculate cumulative damage. The visualization terminal is signal-connected to the data processing unit and is used to display the digital damage assessment results in real time.

2. The safe interactive dummy according to claim 1, characterized in that: The bionic dummy body adopts a three-layer structure that simulates human bones, muscles and skin; the material selected for the bionic dummy body has similar flexibility and viscoelasticity to real human soft tissue, which is used to generate nonlinear deformation under force to reflect the stress distribution at the contact interface.

3. The safe interactive dummy according to claim 2, characterized in that: The flexible sensor array makes flexible contact with the skin and is used to monitor normal pressure and shear force in real time during the nursing process.

4. The safe interactive dummy according to claim 1, characterized in that: The data processing unit integrates the following functional units: Synthetic stress calculation program: Based on the vector relationship between pressure and shear signals, it performs synthetic calculations on instantaneous forces to simulate the real stress state of soft tissue under the coupled action of normal pressure and shear friction. Time-integrated cumulative damage procedure: Based on the maximum elongation strain and maximum shear stress criteria, the stress signal is integrated in the time domain to convert the degree of soft tissue ischemia and potential congestion caused by continuous pressure or chronic contact into a cumulative damage index. System stability fault tolerance program: used to filter out abnormal sensor signals, noise interference or instantaneous jumps, ensuring the reliability of damage assessment results.

5. A method for digital trauma calculation using a safe interactive dummy, employing the safe interactive dummy as described in claim 1, characterized in that... Includes the following steps: 1) The skin of the bionic dummy deforms under load, and the flexible sensor array collects data on normal pressure and shear force, which is then coupled to the data processing unit through a flexible conductive line. 2) Construct a trauma algorithm model based on the maximum elongation strain and maximum shear stress criteria: The collected normal pressure and shear force data signals are vector synthesized to obtain the synthesized stress value; Based on the synthesized stress value, combined with the time integration algorithm program, the damage accumulation calculation in the time domain is performed on the stressed area, thereby generating a cumulative damage index that reflects the degree of soft tissue ischemia and the subcutaneous tissue damage status. 3) The visualization terminal uses a visualization interface to display the cumulative damage index and potential mechanical damage output by the data processing unit in real time on the corresponding human body part model in the form of images.

6. The method for digital trauma calculation using a safe interactive dummy according to claim 5, characterized in that: Step 2) describes the process of obtaining the synthetic stress value as follows: Pressure P(t) and shear force signals are acquired through a flexible sensing array. Synthesize according to the following formula: ； The equivalent combined stress is given by α, which is the shear weighting coefficient, ranging from 3.0 to 5.

0.

7. The method for digital trauma calculation using a safe interactive dummy according to claim 6, characterized in that: The shear force signal Synthesis of shear force components on the x and y axes obtained from flexible sensor array .

8. The method for digital trauma calculation using a safe interactive dummy according to claim 5, characterized in that: Step 2) The specific process of damage accumulation calculation is as follows: Integrating the combined equivalent stress: ； Where D(T) is the damage index, For the combined stress, The stress threshold is the capillary occlusion pressure, and m is the time sensitivity index, with a value between 2 and 4. The above equation is discretized during the program's calculation. ； D n This represents the cumulative damage value at the current sampling time. This represents the sampling time interval.

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