CN104013408B - For joint torque measurement and training system - Google Patents
For joint torque measurement and training system Download PDFInfo
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- CN104013408B CN104013408B CN201410299533.4A CN201410299533A CN104013408B CN 104013408 B CN104013408 B CN 104013408B CN 201410299533 A CN201410299533 A CN 201410299533A CN 104013408 B CN104013408 B CN 104013408B
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- 238000012549 training Methods 0.000 title claims abstract description 32
- 238000005259 measurement Methods 0.000 title claims abstract description 31
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 10
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 238000000926 separation method Methods 0.000 claims description 6
- 210000003414 extremity Anatomy 0.000 description 79
- 210000000544 articulatio talocruralis Anatomy 0.000 description 28
- 210000002683 foot Anatomy 0.000 description 24
- 210000000878 metatarsophalangeal joint Anatomy 0.000 description 21
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010521 absorption reaction Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 208000005392 Spasm Diseases 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 206010003246 arthritis Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 150000002739 metals Chemical class 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000010223 real-time analysis Methods 0.000 description 2
- 241000209202 Bromus secalinus Species 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 125000003003 spiro group Chemical group 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
This application discloses a kind of for joint torque measurement and training system, comprising: measure pedestal and limb fixer.Wherein, described limb fixer is the device of fixed limb; Connection supporting plate in described measurement pedestal can be fixed with described limb fixer or be separated fast; The location light of the localizer projection in described measurement pedestal makes to be measured or train limbs can be fixed on suitable measuring position more accurately.The present invention can make the rotating shaft of existing joint measurment and training system be in coaxial position with axle center, joint and provide the function be separated rapidly, improve measuring accuracy and shorten comparatively to the time to improve practicality and provide extra safety measure.
Description
Technical field
The application relates to measurement clothing arts, particularly relates to a kind of for joint torque measurement and training system.
Background technology
In the angle of sports science, the suppleness of human synovial and the intensity of limbs are to the existing close relationship of motion table.At clinicing aspect, the nervous dysfunction patients such as apoplexy, spasm and neurologic defict and the wounded with long-term lacking motion often have limbs contracture problem and cause paralysis.In rehabilitation course, therapist can improve the movable amplitude in joint by distinct methods such as orthosis, massage or medicines.And stretching is a kind of conventional method.This Therapeutic Method can carry out by therapist's staff or by machinery, and measure joint moment of torsion be a kind of objective mode go assessment different treatment methods to the effect of individual patient person.
In the technology of existing measurement joint moment of torsion, first the limbs of experimenter are fixed on measurement and training system.When experimenter loosens, limb integumental system is bending and extend, the moment of torsion in the torque sensor in system and computer record joint.Again or when experimenter on one's own initiative bending and extension limbs time, torque sensor in system is measured the moment of torsion of limbs output and is sent data to computer, and control the rotary speed of CD-ROM drive motor and move angle makes feedback, the power of helping or resistance is bestowed, to carry out limb activity or strength training to limbs.
Prior art, when practical application, spend the long period to go suitably to fix measured's limbs on device.Because in this preliminary procedure, the rotating shaft of limbs joint axle center and measuring device must be in coaxial position, otherwise the joint moment of torsion measured just can be inaccurate, even may cause damage to tested joint.Existing system does not have supplying method to determine, and whether axle center, joint is in coaxial position with the rotating shaft of system.And when being applied to the patient of the handicapped or limb rigidity such as spasm or arthritis, often will to take longer at position, comparatively on this preliminary procedure, often make therefore long readiness time running cost increase and lower the practicality of system.
So, how to provide a kind of device or equipment to determine whether limbs joint axle center is in coaxial position with the rotating shaft of system, and shorten comparatively to the technical problem that the time just becomes urgently to be resolved hurrily to improve system availability.
Summary of the invention
Technical problems to be solved in this application are to provide a kind of for joint torque measurement and training system, be difficult to determine that whether limbs joint axle center is in the problem of coaxial position with the rotating shaft of the torque measurement of existing joint and training system to solve, and shorten proof time to improve system availability.
For solving the problems of the technologies described above, this application provides a kind of for joint torque measurement and training system, comprising: be applied to the limb fixer in described joint and measure pedestal, wherein, described limb fixer, for fixing tested limbs; Described measurement pedestal comprises: supporting seat, rocking bracket, localizer and driven unit, and wherein, described rocking bracket, localizer and driven unit are separately fixed on described supporting seat; Described rocking bracket comprises and connects supporting plate and gantry column, and described connection supporting plate can connect or be separated with described limb fixer, and described gantry column connects the rotating shaft of described connection supporting plate and described driven unit; The location light of described localizer projection shows the tangent plane position of the swinging center of described rocking bracket, aligns in the axle center when limbs joint axle center be arranged on described limb fixer can be swung with described rocking bracket; Described driven unit is by conputer controlled, the described tested limbs swinging described rocking bracket and be fixed on, and obtain the torque data of limbs joint, or make feedback according to the torque data of obtained limbs joint, change the amplitude of fluctuation of described rocking bracket and speed and change auxiliary power to limbs joint or drag, to reach training objectives.
Further, described limb fixer is comprise further: plate shaped or coordinate the bearing device of limbs shapes, and for the fastening structure of fixing described tested limbs at described bearing device.
Further, described limb fixer, also comprises connecting interface, for connecting described connection supporting plate.
Further, the described connection supporting plate of described rocking bracket can connect or be separated with described limb fixer, for: the described connection supporting plate of described rocking bracket is provided with the adsorption-type equipment of corresponding described limb fixer connecting interface; After described limb fixer and the tested limbs be fixed on are according to the light location, location of described localizer, described limb fixer is fixed on described rocking bracket by described adsorption-type device start; Or experimenter closes described adsorption-type equipment voluntarily by controller, by described limb fixer and the tested limbs be fixed on and described measurement base-separation.
Further, described adsorption-type equipment, further such as, for having the equipment of connection or separation function fast, electromagnetic adsorption equipment or vacuum adsorption equipment.
Further, described driven unit comprises CD-ROM drive motor, gear-box and torque sensor, and wherein, described CD-ROM drive motor and described torque sensor are via the conputer controlled be connected; Described gear-box, the rotating speed exported for reducing described CD-ROM drive motor also increases output torque, transmits power, and swing described rocking bracket through the described torque sensor connected, and flexing and stretch tested limbs joint; Described torque sensor, for measuring the torque data between described gear-box and described rocking bracket, and is sent to described computer by described torque data.
Compared with prior art, the one described in the application is used for joint torque measurement and training system, reaches following effect:
1) the application is by separable described limb fixer and localizer, make limbs joint and the axle center of rocking bracket be in coaxial after can fixed position fast, obtain accurate torque data when guaranteeing in measurement or train.
2) the application is by separable described limb fixer, makes experimenter first limbs can be fixed the upper described rocking bracket of appropriate rear just connection, shortens position comparatively to the time.The effect that saves time when being applied to the patient of the handicapped or limb rigidity such as spasm or arthritis is more obvious.When number of subjects is many time, multiple described limb fixer can be adopted and dress in advance, to shorten the turn time and to raise the efficiency.Described limb fixer coordinates the application of localizer can effectively improve check and correction speed.
3) prior art uses torque limiter or avoids tested joint to bear excessive square limitting and injured by closing the method such as CD-ROM drive motor, but these safety measures can not allow experimenter be separated with device.The application, by separable described limb fixer, is made experimenter can be separated with device voluntarily by controller, provides extra safety measure.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present application, and form a application's part, the schematic description and description of the application, for explaining the application, does not form the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the schematic diagram measuring pedestal described in the embodiment of the present application
Fig. 2 is the schematic diagram of rocking bracket described in the embodiment of the present application
Fig. 3 is the schematic diagram of driven unit described in the embodiment of the present application
Fig. 4 is the schematic diagram that the application is applied to limb fixer described in ankle joint embodiment
Fig. 5 a and Fig. 5 b is the rearview that the application is applied to that limb fixer described in ankle joint embodiment carries out highly check and correction
Fig. 5 c and Fig. 5 d is that the application is applied to limb fixer described in ankle joint embodiment and carries out the top view of position check and correction
Fig. 6 is the schematic diagram that the application is applied to ankle joint embodiment
Fig. 7 a to Fig. 7 c be the application be applied to ankle joint examples measure moment of torsion or training time side view
Fig. 8 is the schematic diagram that the application needs optional feature when being applied to metatarsophalangeal joints embodiment
Fig. 9 is the top view that the application is applied to the described limb fixer of metatarsophalangeal joints embodiment
Figure 10 is the schematic diagram of toe supporting plate described in the embodiment of the present application
Figure 11 a and Figure 11 b be the application be applied to limb fixer described in metatarsophalangeal joints embodiment carry out position check and correction time top view
Figure 12 is the schematic diagram that the application is applied to metatarsophalangeal joints embodiment
Figure 13 a and Figure 13 b be the application be applied to metatarsophalangeal joints examples measure moment of torsion or training time side view
Detailed description of the invention
As employed some vocabulary to censure specific components in the middle of description and claim.Those skilled in the art should understand, and hardware manufacturer may call same assembly with different noun.This specification and claims are not used as with the difference of title the mode distinguishing assembly, but are used as the criterion of differentiation with assembly difference functionally.Description subsequent descriptions is implement the better embodiment of the application, and described description is for the purpose of the rule that the application is described, and is not used to the scope limiting the application.The protection domain of the application is when being as the criterion depending on the claims person of defining.
Below in conjunction with accompanying drawing, the application is described in further detail, but not as the restriction to the application.
As shown in Figure 1, described measurement pedestal 1 mainly comprises: supporting seat 101, bearing block 102, localizer 103, locator bracket 104, rocking bracket 2 and driven unit 3.Wherein, described supporting seat 101 is the rigid frames with support and fixation.Described bearing block 102, described locator bracket 104 and described driven unit 3 are fixed on described supporting seat 101.Described bearing block 102 is provided with ball bearing or roller bearing, and the bearing of two described bearing blocks 102 is in coaxial position, and connects described rocking bracket 2.Described rocking bracket 2 can swing between described bearing block 102.The rotating shaft of described driven unit 3 and the bearing of described bearing block 102 are in coaxial position, and connect and drive described rocking bracket 2.In the examples of implementation of present patent application, described localizer 103 is laser projecting apparatus, be arranged on the described locator bracket 104 above two described bearing blocks 102, and oliquely downward project linear vertical laser light, shaft core position when swinging through described rocking bracket 2, to show the correct fixed position of transverse plane in described tested joint.Described localizer 103 can be arranged on other positions, and projection linear, cross light or luminous point show shaft core position when described rocking bracket 2 swings, and do not make restriction at this.
As depicted in figs. 1 and 2, described rocking bracket 2 comprises and connects supporting plate 201, gantry column 202, connecting axle 203 and electric magnet 204.Described rocking bracket 2 in the embodiment of the present application is provided with two described gantry columns 202, is fixed on the centre position, the left and right sides of described connection supporting plate 201.The other end of two described gantry columns 202 is equipped with described connecting axle 203 and connects two described bearing blocks 102.Described electric magnet 204 can be set to by one or more device, can be maybe the connecting device replacement that vacuum cup etc. has quick adsorption and release function, not make concrete restriction at this.
As shown in Figures 2 and 3, described driven unit 3 comprises: CD-ROM drive motor 301, gear-box 302, torque limiter 303 and torque sensor 304.Described CD-ROM drive motor 301 and described torque sensor 304 are via the conputer controlled be connected.Wherein, described gear-box 302 reduces the rotating speed of described CD-ROM drive motor 301 output and increases output torque, the described torque limiter 303 and the described torque sensor 304 that pass through connection transmit power, swing the described rocking bracket 2 being connected to the rotating shaft of described torque sensor 304 other end.Because moment of torsion is crossed conference and damaged described torque sensor 304, so described torque sensor 304 is connected by described torque limiter 303 with described gear-box 302.The upper torque limit value of described torque limiter 303 is located at below the peak torque that described torque sensor 304 can bear.When moment of torsion is excessive, described torque limiter 303 just interrupts the connection of described gear-box 302 and described torque sensor 304, described rocking bracket 2 is freely swung, so not only can protect described torque sensor 304, also protect the joint of experimenter.The moment of torsion between described torque limiter 303 and described rocking bracket 2 measured by described torque sensor 304, and data are sent to described computer.
Fig. 4 to Fig. 7 carries out the specific embodiment of ankle joint torque measurement and training for system described in the application.
As shown in Figure 4, in the present embodiment for measuring the limb fixer 4 of ankle joint moment of torsion for plate profile structure.Described limb fixer 4 is pedal 401 with foot contact surface.Preferably, this pedal 401 ahead boundaries is curved, coordinates with the contour line of sole front end, makes described limb fixer 4 can as shown in Figure 9, can be applied to and measure ankle joint and metatarsophalangeal joints moment of torsion and training.Described pedal 401 can also be that other are applicable to the geometric form plate of fixing foot, does not do concrete restriction at this.The bottom of described limb fixer 4 is absorption connection supporting plate 402.In the present embodiment, it is magnetizable metals that described absorption connects supporting plate 402, is the connecting interface of the described electric magnet 204 of correspondence.Described absorption connects position, supporting plate 402 left and right sides and is provided with bolt rail 403, and bolt 404 head is arranged on described bolt rail 403 and cheats in groove, and can move along described bolt rail 403.Described bolt 404 threaded portion is through the strip groove of described pedal 401 left and right sides.Between described pedal 401 and described absorption connection supporting plate 402, backing plate 405 is set, by the height using the described backing plate 405 of different-thickness to regulate described limb fixer 4.Groove described in every bar is provided with the banking stop 406 of two fixing foots, and described banking stop 406 is provided with groove.Described bolt 404 passes the groove of described banking stop 406 and moves along described bolt rail 403, makes described banking stop 406 adjust position according to foot shape and to be close to sole both sides.Two right angle sheets 407 are arranged on the described banking stop 406 in two, rear, then fix four described banking stops 406 and sheet 407 position, two described right angles with bolt 404 described on spiro cap.Banking stop 406 described in other a pair connects the vertical component of described right angle sheet 407, after being close to ankle surface, bolt being passed the groove of described banking stop 406 and described right angle sheet 407 vertical component and uses nut fixed position.The bandage 408 of banking stop 406 described in two sides, left and right is connected and tightens up, foot can be fixed on described limb fixer 4.The combination of described banking stop 406, described right angle sheet 407 and described bandage 408 is fixing only as mode usual in the present embodiment, the multiple fastening structure can fixing tested limbs such as Pneumatic adsorption type can also be adopted to fix, and does not form the restriction to the application.
Fig. 5 a show described limb fixer 4 fix foot after at the rearview being placed on described rocking bracket 2.If described backing plate 405 unqualified thickness is fitted, rocking bracket axle center 501 just can lower than (or higher than) ankle joint axle center 502.Because experimenter's foot size is not identical, so need to use the described backing plate 405 of different-thickness to regulate the height of described limb fixer 4 according to the height of ankle joint, make described rocking bracket axle center 501 be in phase co-altitude with the ankle joint axle center 502 be fixed on described limb fixer 4, realize exactitude position and measure.As shown in Figure 5 b, use thinner described backing plate 405 to lower the height of described limb fixer 4, described rocking bracket axle center 501 just can be made to be in phase co-altitude with ankle joint axle center 502.The method of described adjustment ankle joint axle center 502 height, only as mode usual in the present embodiment, can also change the height in ankle joint axle center 502 described in the various ways adjustment such as described gantry column 202 length, not form the restriction to the application.Fig. 5 c shows the top view being placed on described rocking bracket 2 after described limb fixer 4 fixes foot.The vertical laser light that the described localizer 103 being arranged on the left and right sides projects passes described rocking bracket axle center 501, to show the correct fixed position of ankle joint.Described limb fixer 4 is moved on described connection supporting plate 201 together with the foot be fixed on, until as fig 5d, vertical laser ray cast is in the most protruding parts of ankle joint the right and left, the i.e. position of ankle joint axle center longitudinal section, to determine that ankle joint and described rocking bracket place 2 are in coaxial position.Then start described electric magnet 204, described limb fixer 4 and foot are fixed on described connection supporting plate 201.Described localizer 103 in Fig. 5 a to 5d and described locator bracket 104 are all hidden with position, clear display described rocking bracket axle center 501.
As a kind of optimal way, the described joint torque measurement in the present embodiment and training system can be the structure shown in Fig. 1 and Fig. 6 when being applied to ankle joint, and namely the locating rack 601 of additional two pieces H-shaped, is connected in the described locator bracket 104 of the left and right sides.Described in this, the crossbeam of locating rack 601 is provided with cushion 602, the shank of experimenter can be fixed, and reduces when measuring because shank swings the mistake caused.When measuring can the suitable cushion block of placing height under another foot, make both sides foot be in same level.
Fig. 7 a to Fig. 7 c shows the side view of described system when measuring ankle joint moment of torsion or ankle joint training.As shown in Figure 2, Figure 3 and Figure 4, described driven unit 3 drives described rocking bracket about 2 to repeat to swing and flexing and stretching, extension ankle joint, measures torque T simultaneously
1and data are stored in computer.T
1comprise ankle joint, moment of torsion that described rocking bracket 2 and described limb fixer about 4 repeat when swinging.Because the thickness of described backing plate 405 and described limb fixer 4 are determine according to the height of experimenter's ankle joint and left and right, axle center gradient in the fixed position of described connection supporting plate 201, the moment of torsion that described limb fixer 4 produces when each measurement is not identical.Institute is in the hope of T
1afterwards, keep electric magnet 204 to start and make described limb fixer 4 remain on same position, loosen described bandage 408 and foot is exited from described limb fixer 4.Then described driven unit 3 drives described rocking bracket about 2 to repeat to swing again, measures torque T simultaneously
2and data are stored in computer.T
2comprise the moment of torsion of described rocking bracket 2 and described limb fixer 4.So ankle joint T
0moment of torsion be T
1deduct T
2value, i.e. T
0=T
1-T
2.
When carrying out ankle moving training, experimenter's active flexion or stretching, extension, by training ankle joint, make foot press to or dilatory described rocking bracket 2.The moment of torsion that ankle joint produces measured by described torque sensor 304, and data are sent to described computer.After described computer carries out real-time analysis, instant amplitude of fluctuation and the speed being controlled described rocking bracket 2 by described CD-ROM drive motor 301, gives the suitable power-assisted of ankle joint or resistance, to provide training.
When the moment of torsion that rocking bracket described in subject perception 2 is bestowed is excessive, experimenter not only can close described driven unit 3 by controller and stop described rocking bracket 2 to swing, electric magnet 204 can also be closed from being about to described limb fixer 4 with the foot be fixed on from measuring base-separation, extra safety measure is provided.
Fig. 8 to Figure 13 carries out the specific embodiment of metatarsophalangeal joints torque measurement and training for system described in the application.
As shown in Fig. 4, Fig. 8 and Fig. 9, the limb fixer 9 in the present embodiment is identical with described limb fixer 4 structure of above-described embodiment.Foot is placed on the comparatively front position of described pedal 401, make toe force part cross described pedal 401 front arc-shaped side along outward, and sole side is stepped on described pedal 401, then uses described banking stop 406 and described bandage 408 fixing foot position.Use the described backing plate 405 of suitable thickness, when making described limb fixer 9 be placed in electric magnet 802 with the foot be fixed on, metatarsophalangeal joints axle center is in phase co-altitude with the rotating shaft of described rocking bracket 2.
As shown in Fig. 2, Fig. 4 and 10, the toe supporting plate 10 in the present embodiment comprises toe holder pedal 1001, toe pad plate 1002 is connected supporting plate 1003 with toe holder.The shape of described toe holder pedal 1001 and the arcuate shape in described pedal 401 front match, and make described toe holder pedal 1001 can connect described holder pedal 401 and carry toe.Use the described toe pad plate 1002 of different-thickness, make described toe holder pedal 1001 be in same level with described pedal 401.It is magnetizable metals that described toe holder connects supporting plate 1003, is the connecting interface of the described electric magnet 204 of correspondence.Be connected behind supporting plate 1003 centre when the described toe pad plate 1002 of suitable thickness is arranged at described toe holder pedal 1001 with described toe holder, the instruments such as use nut connect the lead screw on described toe holder connection supporting plate 1003, to fix the position of described toe holder pedal 1001 and described toe pad plate 1002.
Described measurement pedestal 1 in the present embodiment is identical with above-described embodiment Fig. 1.Because As is when toe is driven by described rocking bracket 2 and makes flexing action, sole needs static.So as shown in Fig. 2, Fig. 8, Fig. 9 and Figure 10, the additional supporting plate 801 that connects is needed to be fixed on described supporting seat 101, described additional connection supporting plate 801 is provided with described electric magnet 802, the described limb fixer 9 be fixedly placed in, makes described limb fixer 9 not follow described rocking bracket 2 with the sole be fixed on and swings.Preferably, described electric magnet 802 is identical with the described electric magnet 204 on described rocking bracket 2.Described electric magnet 802 can be set to by one or more device, can be maybe the connecting device replacement that vacuum cup etc. has quick adsorption and release function, not make concrete restriction at this.And described toe supporting plate 10 side is fixed on described rocking bracket 2, described rocking bracket 2 carries described toe supporting plate 10 and makes described toe supporting plate 10 follow described rocking bracket 2 and swings, thus flexing toe is to measure moment of torsion.
As shown in Figure 1, Figure 2, shown in Fig. 8, Fig. 9, Figure 10, Figure 11 a and Figure 11 b, the described limb fixer 9 and described toe supporting plate 10 of fixing foot are placed on described additional connection supporting plate 801 and described connection supporting plate 201 respectively.The described localizer 103 that the present embodiment uses is the same with above-described embodiment is laser locator, is fixed in described locator bracket 104, and the vertical laser light of projection passes the swinging center of described rocking bracket 2, to show the correct fixed position of metatarsophalangeal joints.Described limb fixer 9 is moved on described additional connection supporting plate 801 together with the foot be fixed on, make vertical laser ray cast in the most protruding parts of Metatarsophalangeal joint and the 5th metatarsophalangeal joints the right and left, the i.e. position of metatarsophalangeal joints axle center longitudinal section, to determine that metatarsophalangeal joints and described rocking bracket 2 are in coaxial position.Then move described toe supporting plate 10, described holder pedal 401 is connected, to carry toe with the arc-shaped frame of described toe holder pedal 1001.Start the described electric magnet 204 on described connection supporting plate 201 and the described electric magnet 802 on described additional connection supporting plate 801, respectively described toe supporting plate 10 and described limb fixer 9 are fixed.
As shown in figure 12, when measuring can the suitable cushion block of placing height under another foot, make both sides foot be in same level.
Figure 13 a and Figure 13 b shows the side view of described system when measuring metatarsophalangeal joints moment of torsion or metatarsophalangeal joints training.As shown in Fig. 2, Fig. 3, Fig. 9, Figure 10, Figure 13 a and Figure 13 b, described driven unit 3 drives described rocking bracket about 2 to repeat to swing and flexing metatarsophalangeal joints, measures moment of torsion t simultaneously
1and data are stored in computer.Because the thickness of described toe pad plate 1002 and described toe supporting plate 10 are determine, so the moment of torsion that described toe supporting plate 10 produces when each measurement is not identical according to the height of experimenter's metatarsophalangeal joints and left and right, axle center gradient at the putting position of described rocking bracket 2.Therefore t is tried to achieve
1afterwards, keep described electric magnet 204 to start and make described toe supporting plate 10 remain on same position, loosen described bandage 408 and foot is exited from described limb fixer 9.Then described driven unit 3 drives described rocking bracket about 2 to repeat to swing again, measures moment of torsion t simultaneously
2and data are stored in computer.T
2comprise the moment of torsion that described rocking bracket 2 and described toe supporting plate about 10 repeat when swinging.So the moment of torsion t of metatarsophalangeal joints
0for t
1deduct t
2value, i.e. t
0=t
1-t
2.
When carrying out metatarsophalangeal joints activity or strength training, experimenter initiatively stretches by training metatarsophalangeal joints, makes toe press to described rocking bracket 2.The moment of torsion that metatarsophalangeal joints produces measured by described torque sensor 304, and data are sent to described computer.Instant amplitude of fluctuation and the speed being controlled described rocking bracket 2 by described CD-ROM drive motor 301 after described computer carries out real-time analysis, gives by the suitable power-assisted of toe or resistance, to provide training.
When the moment of torsion that rocking bracket described in subject perception 2 is bestowed is excessive, experimenter not only can close described driven unit 3 by controller and stop described rocking bracket 2 to swing, electric magnet 802 can also be closed from being about to described limb fixer 9 with the foot be fixed on from measuring base-separation, extra safety measure is provided.
Described localizer 103 in Fig. 8, Figure 11 a, Figure 11 b, Figure 13 a and Figure 13 b and described locator bracket 104 are all hidden with position, clear display described rocking bracket axle center 501.
Above-mentioned explanation illustrate and describes some preferred embodiments of the application, but as previously mentioned, be to be understood that the application is not limited to the form disclosed by this paper, should not regard the eliminating to other embodiments as, and can be used for other combinations various, amendment and environment, and can in invention contemplated scope described herein, changed by the technology of above-mentioned instruction or association area or knowledge.And the change that those skilled in the art carry out and change do not depart from the spirit and scope of the application, then all should in the protection domain of the application's claims.
Claims (6)
1. joint torque measurement and a training system, is characterized in that, comprising: be applied to the limb fixer in described joint and measure pedestal, wherein,
Described limb fixer, for fixing tested limbs;
Described measurement pedestal comprises: supporting seat, rocking bracket, localizer and driven unit, wherein,
Described rocking bracket, localizer and driven unit are separately fixed on described supporting seat;
Described rocking bracket comprises and connects supporting plate and gantry column, and described connection supporting plate can connect or be separated with described limb fixer, and described gantry column connects the rotating shaft of described connection supporting plate and described driven unit;
The location light of described localizer projection shows the tangent plane position of the swinging center of described rocking bracket, aligns in the axle center when limbs joint axle center be arranged on described limb fixer can be swung with described rocking bracket;
Described driven unit is by conputer controlled, the described tested limbs swinging described rocking bracket and be fixed on, and obtain the torque data of limbs joint, or make feedback according to the torque data of obtained limbs joint, change the amplitude of fluctuation of described rocking bracket and speed and change auxiliary power to limbs joint or drag.
2. joint torque measurement as claimed in claim 1 and training system, it is characterized in that, described limb fixer, comprises further: plate shaped or coordinate the bearing device of limbs shapes, and for the fastening structure of fixing described tested limbs at described bearing device.
3. joint torque measurement as claimed in claim 2 and training system, it is characterized in that, described limb fixer, also comprises connecting interface, for connecting described connection supporting plate.
4. joint torque measurement as claimed in claim 1 and training system, it is characterized in that, the described connection supporting plate of described rocking bracket can connect or be separated with described limb fixer, is further:
The described connection supporting plate of described rocking bracket is provided with the adsorption-type equipment of corresponding described limb fixer connecting interface;
After described limb fixer and the tested limbs be fixed on are according to the light location, location of described localizer, described limb fixer is fixed on described rocking bracket by described adsorption-type device start; Or experimenter closes described adsorption-type equipment voluntarily by controller, by described limb fixer and the tested limbs be fixed on and described measurement base-separation.
5. joint torque measurement as claimed in claim 4 and training system, is characterized in that, described adsorption-type equipment, further for having the equipment of connection or separation function fast, comprising: electromagnetic adsorption equipment or vacuum adsorption equipment.
6. joint torque measurement as claimed in claim 1 and training system, it is characterized in that, described driven unit comprises CD-ROM drive motor, gear-box and torque sensor, wherein,
Described CD-ROM drive motor and described torque sensor are via the conputer controlled be connected;
Described gear-box, the rotating speed exported for reducing described CD-ROM drive motor also increases output torque, transmits power, and swing described rocking bracket through the described torque sensor connected, and flexing and stretch tested limbs joint;
Described torque sensor, for measuring the torque data between described gear-box and described rocking bracket, and is sent to described computer by described torque data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299533.4A CN104013408B (en) | 2014-06-26 | 2014-06-26 | For joint torque measurement and training system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299533.4A CN104013408B (en) | 2014-06-26 | 2014-06-26 | For joint torque measurement and training system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104013408A CN104013408A (en) | 2014-09-03 |
| CN104013408B true CN104013408B (en) | 2015-10-14 |
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| CN201410299533.4A Active CN104013408B (en) | 2014-06-26 | 2014-06-26 | For joint torque measurement and training system |
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| CN104887452A (en) * | 2015-07-03 | 2015-09-09 | 南通美嘉机器人科技有限公司 | Parallel ankle joint rehabilitation robot |
| CN105362034A (en) * | 2015-07-26 | 2016-03-02 | 广东铭凯医疗机器人有限公司 | Training and motion state detection integrated device for rehabilitation training of dorsiflexion and plantarflexion of ankle joints |
| CN105749494A (en) * | 2016-04-25 | 2016-07-13 | 陈娟 | Heel raising ankle pump exercising shoe and using method thereof |
| CN109394219B (en) * | 2018-09-28 | 2024-02-23 | 汪毅 | Foot function measuring instrument and use method thereof |
| CN109431745B (en) * | 2018-11-12 | 2020-07-28 | 上海市东方医院 | Ankle joint rehabilitation device and training method thereof |
| CN109771897A (en) * | 2019-01-23 | 2019-05-21 | 渤海大学 | An ankle three-dimensional strength training device |
| KR102250112B1 (en) * | 2019-06-11 | 2021-05-10 | 한국과학기술원 | Foot stretching and diagnosys device, and method for calculating stiffness of foot |
| CN112748741B (en) * | 2020-12-25 | 2022-03-29 | 华南理工大学 | A joint torque determination method for a quadruped wall-climbing robot with different attitudes |
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| US8430796B1 (en) * | 2012-05-29 | 2013-04-30 | Mary Anne Tarkington | Exercise devices and methods for exercising an ankle, foot, and/or leg |
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| CN101461754A (en) * | 2007-12-17 | 2009-06-24 | 刘丽元 | Rehabilitation training device for lower limb arthrosis |
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