Joint torque measuring device

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model relates to human body movement information, rehabilitation treatment technical field especially, relate to a joint moment measuring device. BACKGROUND

[0002] Human joint moment measurement and analysis is an important field of studying human movement. By analyzing the moment change of human joints, the characteristics and mechanism of human movement can be deeply understood, and theoretical basis and technical support can be provided for fields such as sports training, human-computer interaction and rehabilitation treatment. In the field of sports training, the size and change rule of joint moment can reflect the quality and effect of action, through the analysis of human joint moment, the sports technical level and muscle strength condition of athletes can be evaluated, which provides basis for formulating scientific and reasonable training plan, and the technical problems of athletes can also be found out and targeted training and adjustment can be carried out. In the field of human-computer interaction, by measuring the moment of human joints, the motion state of human body can be monitored in real time, and the intelligence and individualization of human-computer interaction can be realized. In the field of rehabilitation treatment, by measuring joint moment, the muscle strength and motion function condition of patients can be evaluated, which provides basis for the formulation and adjustment of rehabilitation treatment. Rehabilitation therapists can design corresponding rehabilitation training schemes according to the change rule of joint moment, to help patients recover muscle strength and motion function.

[0003] At present, the joint moment measuring device on the market has a relatively complex structure, and can only measure certain joints of the human body, the measurement area is relatively single, and the force and moment of the hand joint cannot be measured. CONTENT OF THE UTILITY MODEL

[0004] The main purpose of the utility model is to provide a joint moment measuring device which can be used for measuring the joint moment of each part of the human body.

[0005] To achieve the above purpose, the utility model provides a joint moment measuring device, which comprises:

[0006] A base is provided with a sliding rail, used for loading a force measuring unit and a static limb segment abutting against a joint to be measured;

[0007] A force measuring unit is slidingly installed on the sliding rail, used for receiving and measuring the acting force of a dynamic limb segment of the joint to be measured;

[0008] A displacement measuring unit is arranged on the base, used for measuring the displacement of the force measuring unit.

[0009] Further, the force measuring unit comprises a sliding block, a force sensor and a pressing plate, the sliding block is slidingly installed on the sliding rail, the force sensor is installed on the sliding block, and the pressing plate is installed on the force sensor.

[0010] Further, the slide rail is a slide groove opened on the base, and the sliding block is slidingly installed in the slide groove.

[0011] Further, a concave-convex matching structure is arranged between the two side walls of the sliding block and the two side groove walls of the slide groove.

[0012] Further, the force sensor is provided with two and is distributed on both sides of the pressing plate along the extending direction of the slide rail.

[0013] Further, the displacement measuring unit comprises a scale line or a displacement sensor or an angle sensor arranged on the base.

[0014] Further, the drive unit for driving the force measuring unit to move is further included.

[0015] Further, the drive unit comprises a control motor and a transmission mechanism for drivingly connecting the control motor and the force measuring unit.

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

[0017] The beneficial effects of the utility model lie in:

[0018] The utility model can be used in the measurement of joint torque of each part of human body, such as joints of upper and lower limbs or fingers, and only needs to adjust the size of each component of the device to adapt to the size of corresponding joint limbs, so as to evaluate the muscle strength and motor function condition of joints, and when used in rehabilitation treatment, provides basis for the formulation and adjustment of rehabilitation treatment, thereby designs corresponding rehabilitation training scheme, helps patient to recover muscle strength and motor function, and solves the problem of joint torque measurement of hands. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of a joint torque measuring device of an embodiment of the utility model;

[0020] Figure 2 It is an exploded view of the structure of a joint torque measuring device of an embodiment of the utility model;

[0021] Figure 3 It is an exploded view of the structure of a force measuring unit in a joint torque measuring device of an embodiment of the utility model;

[0022] Figure 4 It is a measurement principle schematic view of a joint torque measuring device of an embodiment of the utility model;

[0023] Figure 5 It is a structural schematic view of one kind of displacement measuring unit of the utility model.

[0024] Figure 6The measuring principle schematic view of two force sensors in an embodiment of the utility model.

[0025] Mark explanation:

[0026] 1, base; 11, sliding slot; 12, convex rib; 13, scale line; 14, control motor; 15, external gear; 16, rack.

[0027] 2, force measurement unit; 21, sliding block; 211, rib groove; 22, force sensor; 23, pressing plate. Specific implementation

[0028] The technical scheme in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. The embodiments in the application and the features in the embodiments can be combined with each other without conflict. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model.

[0029] It should be noted that if the embodiments of the utility model involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain specific posture (as shown in the drawings), if the specific posture changes, the directional indications also change accordingly. In addition, if the embodiments of the utility model involve the description of "first", "second", etc., the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing throughout the text includes three parallel schemes. For example, "A and / or B" includes A scheme, or B scheme, or A and B simultaneously meet the scheme. In addition, "multiple" means two or more.

[0030] Reference Figures 1 to 4 :

[0031] The utility model joint torque measuring device, include:

[0032] Base 1, it is equipped with slide rail on, it is used for supporting force measurement unit 2 and abutting against static limb segment of the joint to be measured;

[0033] Force measurement unit 2, it is slidably installed on the slide rail, it is used for receiving and measuring the acting force of the dynamic limb segment of the joint to be measured.

[0034] A displacement measuring unit is arranged on the base 1 and used for measuring the displacement of the force measuring unit 2.

[0035] The two limbs corresponding to the joint to be measured are called static limb and dynamic limb, such as elbow joint, the static limb is upper arm, and the dynamic limb is lower arm, the joint torque measuring device is used for measuring the joint torque, and the method is used for measuring the joint torque, referring to Figure 4 , the steps include:

[0036] (1) in the initial state, the force measuring unit 2 is positioned at a position (the position is not limited, as long as the dynamic limb of the joint to be measured can be corresponded), the static limb of the joint to be measured is abutted on the base 1, the dynamic limb of the joint to be measured is arranged on the force measuring unit 2 (the pressing plate 23 described below), then the joint to be measured is actuated, the dynamic limb of the joint to be measured is pressed on the force measuring unit 2, the loading force F1 generated by the dynamic limb of the joint to be measured at this time is measured, after the force measuring unit 2 is loosened, the force measuring unit 2 is slid by a distance Δ1 (not exceeding the action range of the dynamic limb of the joint to be measured), then the joint to be measured is actuated again, the dynamic limb of the joint to be measured is pressed on the force measuring unit 2 again, and the loading force F2 generated by the dynamic limb of the joint to be measured at this time is measured.

[0037] (2) F1 and F2 are substituted into the following relationship formula, and the force moment M of the joint to be measured is calculated by solving the equations.

[0038]

[0039] Wherein, L1 is the distance between the loading force F1 action point and the joint to be measured, L2 is the distance between the loading force F2 action point and the joint to be measured, and Δ is the distance between the F1 action point and the F2 action point, and Δ1 is equal to Δ by default, since L1 and L2 cannot be measured, the size of the force moment M of the joint to be measured remains unchanged, therefore, the force moment M can be calculated by substituting the loading force F1 and F2 and the distance difference Δ of the two positions.

[0040] The utility model can be used for measuring the joint torque of each part of human body, such as joints of upper and lower limbs or fingers, only the size of each component of the device is adjusted to adapt to the size of corresponding joint limbs, so as to evaluate the muscle strength and motor function of the joint, and when the device is used in rehabilitation treatment, the device provides basis for the formulation and adjustment of rehabilitation treatment, thereby a corresponding rehabilitation training scheme is designed to help patients recover muscle strength and motor function.

[0041] In the specific implementation, the force data measured by the force measuring unit can be transmitted to the data acquisition device, the conditioning unit in the data acquisition device converts the pressure signal into a conditioning signal, the conversion unit converts the conditioning signal into a digital signal, and the communication unit sends the digital signal to relevant personnel for analysis.

[0042] In an embodiment, the force measuring unit 2 comprises a sliding block 21, a force sensor 22 and a pressing plate 23, the sliding block 21 is slidingly installed on the slide rail, the force sensor 22 is installed on the sliding block 21, and the pressing plate 23 is installed on the force sensor 22. In this way, the structure is simple, convenient to manufacture, and in specific implementation, bolts or screws can be used for installation and connection.

[0043] In an embodiment, the slide rail is a sliding groove 11 opened on the base 1, and the sliding block 21 is slidingly installed in the sliding groove 11. In this way, the sliding block does not protrude from the base, and it is convenient for the limbs to exert force.

[0044] In an embodiment, a concave-convex matching structure is arranged between the two side walls of the sliding block 21 and the two side groove walls of the sliding groove 11, for example, a rib groove 211 is arranged on the two side walls of the sliding block 21, and a convex rib 12 matched with the concave-convex structure of the sliding block 21 is arranged on the two side groove walls of the sliding groove 11, or the positions of the convex rib and the rib groove are exchanged. In this way, the sliding block is not easy to come out of the sliding groove, and the structural stability is better.

[0045] In an embodiment, the force sensor 22 is provided with two and is distributed on the two sides of the pressing plate 23 along the extension direction of the slide rail. In this way, the torque calculation method is shown in Figure 6 , the loading force F1 is measured first, F1=F a1 +F b1 , F a1 and F b1 are the force sizes measured by the two force sensors respectively, and the distance of the F1 action point from the left side of the sliding block is wherein l is the midpoint distance of the two force sensors; the loading force F2 is measured after the sliding block is moved by Δ1, which can be measured by the displacement measuring unit, at this time the force sizes measured by the left and right force sensors on the sliding block are F a2 and F b2 , F2=F a2 +F b2 , the distance of the F2 action point from the left side of the sliding block is wherein l is the midpoint distance of the two force sensors; the distance Δ between the F1 action point and the F2 action point is Δ1-l1+l2, and the joint torque M is calculated by the following equation. Arranging two sensors on each sliding block can accurately know the size and position of the force, and the measurement of the joint torque is more accurate.

[0046]

[0047] In an embodiment, the displacement measuring unit comprises a scale line 13 arranged on the surface of the base and matched with the slide rail, as shown in Figure 1As shown, the design is convenient for directly reading the sliding distance Δ1 of the force measuring unit, and the measurement range of the scale line corresponds to the length of the sliding groove.

[0048] The displacement measuring unit can also be a displacement sensor or an angle sensor. As long as the sliding distance of the force measuring unit can be measured.

[0049] In an embodiment, a driving unit for driving the force measuring unit to move is further included. In this way, the degree of automation is high, and the use is more convenient.

[0050] In an embodiment, the driving unit includes a control motor 14 and a transmission mechanism for drivingly connecting the control motor 14 and the force measuring unit 2.

[0051] Figure 5 For example, the transmission mechanism includes an external gear 15 and a rack 16, the control motor 14 is arranged in the base 1, the external gear 15 is fixed on the output shaft of the control motor 14, the rack 16 is fixed on the force measuring unit 2, and the external gear 15 and the rack 16 are engaged with each other.

[0052] Of course, the transmission mechanism can also be other structures, such as a connecting piece, or the rack is replaced by an internal gear.

[0053] In an embodiment, the base 1 is a structure that can be fitted with the limbs on both sides of the joint, such as a column shape, and the sliding rail extends along the length direction of the limb, that is, along the circumference of the base for the column-shaped base. In this way, the force exerted by the limb is facilitated.

[0054] In an embodiment, a plurality of force measuring units 2 are connected to the sliding rail. In this way, the torques of multiple joints, such as the torques of the joints of the fingers, can be measured at the same time. For example, three force measuring units are arranged, and when measuring, the palm is placed against the base, and the three phalanges of the fingers act on the pressing plates of the three force measuring units, respectively.

[0055] Further, the joint torque measuring device and method provided by the utility model can be used for mirror image training. For example, a patient with hand dysfunction uses the healthy side of the hand to grip the measuring device, and sends the measured finger joint torque data to a computer. The computer can control the rehabilitation glove to drive the diseased side of the hand to reach the same torque state, and complete active rehabilitation training. The patient can also use the diseased side of the hand to grip the measuring device at different rehabilitation stages, which can be used for evaluating the treatment effect. The therapist can adjust the rehabilitation strategy according to the measurement data to help the patient recover the hand function.

[0056] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An articular moment measuring device, characterized by, The utility model relates to a force measurement device for joint, which comprises: a base provided with a slide rail for accommodating a force measurement unit and abutting against a static limb segment of a joint to be measured; a force measurement unit slidingly installed on the slide rail for receiving and measuring the force of a dynamic limb segment of the joint to be measured; a displacement measurement unit arranged on the base for measuring the displacement of the force measurement unit.

2. The articular moment measuring device of claim 1, wherein, The force measurement unit comprises a sliding block, a force sensor and a pressing plate, the sliding block is slidingly installed on the slide rail, the force sensor is installed on the sliding block, and the pressing plate is installed on the force sensor.

3. The articular moment measuring device of claim 2, wherein, The slide rail is a slide groove opened on the base, and the sliding block is slidingly installed in the slide groove.

4. The articular moment measuring device of claim 3, wherein The two side walls of the sliding block and the two side groove walls of the slide groove are provided with concave-convex matching structures.

5. Joint moment measuring device according to any one of claims 2 to 4, characterized in that The force sensor is provided with two and is distributed on the two sides of the pressing plate along the extending direction of the slide rail.

6. The articular moment measuring device according to any one of claims 1 to 4, characterized in that The displacement measurement unit comprises a scale line, a displacement sensor or an angle sensor arranged on the base.

7. The articular moment measuring device according to any one of claims 1 to 4, characterized in that Further comprising a driving unit for driving the force measurement unit to move.

8. The articular moment measuring device of claim 7, wherein, The driving unit comprises a control motor and a transmission mechanism for transmission connection between the control motor and the force measurement unit.

9. The articular moment measuring device according to any one of claims 1 to 4, characterized in that A plurality of force measurement units are connected on the slide rail.

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