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CN101357086B - Artificial limb processional moment measuring device - Google Patents

Artificial limb processional moment measuring device Download PDF

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Publication number
CN101357086B
CN101357086B CN2008102002294A CN200810200229A CN101357086B CN 101357086 B CN101357086 B CN 101357086B CN 2008102002294 A CN2008102002294 A CN 2008102002294A CN 200810200229 A CN200810200229 A CN 200810200229A CN 101357086 B CN101357086 B CN 101357086B
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inertia
moment
artificial limb
measuring device
infrared
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CN101357086A (en
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崔海坡
赵改平
顾媛
郭丹
沈力行
唐建光
李萌
徐萌
周瑜
文丽
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University of Shanghai for Science and Technology
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Abstract

本发明涉及一种假肢转动惯量测定装置,包括支座,固定在支座二边上的夹具支撑臂,转动惯量测试系统,旋转夹具,红外测试装置,旋转夹具置于二个夹具支撑臂中间,定位转轴从夹具支撑臂两端同时拧入并与旋转夹具活动连接,使旋转夹具可绕定位转轴旋转,支撑臂左下方设置红外测试装置,红外测试装置位于旋转夹具处于平衡状态的最低平面上,用于测量假肢和假肢固定架的摆动周期,并将测量的参数输入转动惯量测试系统,测得假肢绕任一轴转动的转动惯量,同时将结果实时显示和保存。该装置测量便捷、准确,精度满足使用要求,是一个兼具测试、研发双重功能的实验平台。同样的测量原理,可推广到其它形式复杂物体的转动惯量测定装置中。

Figure 200810200229

The invention relates to a prosthetic moment of inertia measuring device, which comprises a support, a clamp support arm fixed on two sides of the support, a rotational inertia test system, a rotating clamp, an infrared testing device, and the rotating clamp is placed between the two clamp support arms. The positioning shaft is simultaneously screwed in from both ends of the fixture support arm and is flexibly connected with the rotary fixture so that the rotary fixture can rotate around the positioning shaft. An infrared test device is installed on the lower left of the support arm. The infrared test device is located on the lowest plane where the rotary fixture is in a balanced state. It is used to measure the swing cycle of the prosthesis and the prosthetic frame, and input the measured parameters into the moment of inertia test system to measure the moment of inertia of the prosthesis around any axis, and display and save the results in real time. The measurement of the device is convenient and accurate, and the accuracy meets the requirements of use. It is an experimental platform with dual functions of testing and research and development. The same measurement principle can be extended to the moment of inertia measuring device of other forms of complex objects.

Figure 200810200229

Description

假肢转动惯量测定装置Measuring device for moment of inertia of prosthetic limb

技术领域technical field

本发明涉及一种转动惯量测定装置,特别是一种用于假肢转动惯量的测定装置。The invention relates to a measuring device for moment of inertia, in particular to a measuring device for moment of inertia of artificial limb.

背景技术Background technique

现有的关于假肢产品的国家标准主要针对假肢的加工质量。在国内假肢行业中,对假肢转动惯量进行测定的装置还处于空白状态。The existing national standards on prosthetic products mainly focus on the processing quality of prosthetics. In the domestic prosthetics industry, the device for measuring the moment of inertia of prosthetics is still in a blank state.

每个下肢残疾的患者都希望能够有真正适合自己的假肢,个性化生产是今后假肢发展的必然趋势。下肢假肢主要是围绕保证稳定性、改善步态和减少体力消耗研究发展的,使用者在路面行走是人机环境一体化的动态过程,对该系统的动力学研究是改善步态和提高假肢对环境适应性的基础。人体惯性是人体保持自身原有运动状态的性质。人体下肢惯性的特征量是指人体下肢整体及环节的质量、质心位置、转动惯量及转距等在人体正常运动过程中对人体起到改变行走的步态的基本变量。转动惯量作为其中一项重要的假肢惯性特征量参数,对其进行测量并结合其它参数在下肢假肢的生物力学简化模型下开展动力学分析,对于有效地对下肢假肢作出一个合理的功能评价具有重要意义。因此研发一种假肢转动惯量的测量工具,对假肢的整个性能评价系统起着举足轻重的作用,同时也为个性化假肢的研制和开发提供了参考价值。Every patient with a lower limb disability hopes to have a prosthesis that is truly suitable for him. Personalized production is an inevitable trend in the development of prostheses in the future. Lower limb prostheses are mainly developed around ensuring stability, improving gait and reducing physical exertion. Walking on the road is a dynamic process of human-machine-environment integration. The basis of environmental adaptability. The inertia of the human body is the nature of the human body to maintain its original state of motion. The characteristic quantity of the inertia of the lower limbs of the human body refers to the basic variables that change the walking gait of the human body during the normal movement of the human body, such as the mass, center of mass position, moment of inertia and torque of the lower limbs as a whole and links. The moment of inertia is one of the important parameters of the inertial characteristic of the prosthesis. It is important to make a reasonable functional evaluation of the lower limb prosthesis by measuring it and performing dynamic analysis in combination with other parameters under the biomechanical simplified model of the lower limb prosthesis. significance. Therefore, the development of a measurement tool for the moment of inertia of prosthetics plays a pivotal role in the entire performance evaluation system of prostheses, and also provides reference value for the research and development of personalized prostheses.

发明内容Contents of the invention

本发明是要提供一种测量便捷、准确,精度满足使用要求,以揭示各型假肢惯性特征的假肢转动惯量测定装置。The present invention aims to provide a device for measuring the moment of inertia of prostheses that is convenient and accurate in measurement and whose precision meets the requirements of use to reveal the inertia characteristics of various types of prostheses.

为了达到上述目的,本发明所采用的技术方案是:一种假肢转动惯量测定装置,包括支座,固定在支座二边上的夹具支撑臂,转动惯量测试系统,其特点是:还包括旋转夹具,红外测试装置,旋转夹具置于二个夹具支撑臂中间,定位转轴从夹具支撑臂两端同时拧入并与旋转夹具活动连接,使旋转夹具可绕定位转轴旋转,支撑臂左下方设置红外测试装置,红外测试装置位于旋转夹具处于平衡状态的最低平面上,用于测量假肢和假肢固定架的摆动周期,并将测量的参数输入转动惯量测试系统,然后利用该转动惯量测试系统测得假肢绕任一轴转动的转动惯量,最后通过该转动惯量测试系统将结果实时显示和保存。In order to achieve the above object, the technical solution adopted in the present invention is: a device for measuring the moment of inertia of a prosthetic limb, including a support, a clamp support arm fixed on two sides of the support, and a moment of inertia testing system, which is characterized in that it also includes a rotating Fixture, infrared test device, the rotating fixture is placed in the middle of the two fixture support arms, the positioning shaft is screwed in from both ends of the fixture support arm at the same time and connected with the rotating fixture, so that the rotating fixture can rotate around the positioning shaft, and the infrared light is set on the lower left of the support arm The test device, the infrared test device is located on the lowest plane of the rotating fixture in a balanced state, used to measure the swing period of the prosthesis and the prosthesis fixing frame, and input the measured parameters into the moment of inertia test system, and then use the moment of inertia test system to measure the prosthesis The moment of inertia of rotating around any axis, and finally the result is displayed and saved in real time through the moment of inertia test system.

红外测试装置由时间测定器、计算分析软件、红外光发射器和光反射器组成,红外光发射器和光反射器探测到当假肢转动进行一个周期,最终返回平衡位置最低平面时的信号数据,并反馈至计算分析软件,记数一次;N个周期的运动后,利用总时间及转动次数得出平均周期。The infrared test device consists of a time measuring device, calculation and analysis software, an infrared light emitter and a light reflector. The infrared light emitter and light reflector detect the signal data when the prosthesis rotates for a cycle and finally returns to the lowest plane of the equilibrium position, and feeds back Go to the calculation and analysis software, and count once; after N cycles of movement, use the total time and the number of rotations to obtain the average cycle.

本发明的装置测量精度为0.0001秒。The measurement accuracy of the device of the present invention is 0.0001 second.

本发明的有益效果是:结构简单,操作方便,能便捷、准确地测定假肢的转动惯量,且精度满足使用要求,是一台兼具测试、研发双重功能的测定装置。同样的测量原理,可推广到其它形式复杂物体的转动惯量测定装置中。The beneficial effects of the invention are: simple structure, convenient operation, convenient and accurate measurement of the moment of inertia of the prosthesis, and the accuracy meets the requirements of use, and it is a measuring device with dual functions of testing and research and development. The same measurement principle can be extended to the moment of inertia measuring device of other forms of complex objects.

附图说明Description of drawings

图1是夹具夹入假肢后的转动过程示意图;Fig. 1 is a schematic diagram of the rotation process after the clamp is clamped into the prosthesis;

图2是夹具空载时的过程示意图;Fig. 2 is the schematic diagram of the process when the fixture is unloaded;

图3是本发明的结构主视图;Fig. 3 is a structural front view of the present invention;

图4是图3的左视图;Fig. 4 is the left view of Fig. 3;

图5是图3的俯视图;Fig. 5 is the top view of Fig. 3;

图6是本发明的立体示意图。Fig. 6 is a schematic perspective view of the present invention.

具体实施方式Detailed ways

下面结合附图与实施例对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

如图3至图6所示,本发明的假肢转动惯量测定装置,包括旋转夹具(可旋转夹具与夹具座)1、夹具支撑臂2、支座3,红外测试装置4,转动惯量测试系统。As shown in Figures 3 to 6, the prosthetic moment of inertia measuring device of the present invention includes a rotating fixture (rotatable fixture and fixture seat) 1, a fixture support arm 2, a support 3, an infrared testing device 4, and a moment of inertia testing system.

旋转夹具1靠支撑臂2定位于支座3上,通过支撑臂2上两边转动定位轴5的同时拧入、并拧出支撑臂2后顶住旋转夹具1,使旋转夹具1可以绕转动定位轴5旋转,夹具支撑臂2左下方设置红外测试装置4,它位于旋转夹具处于平衡状态的最低平面上,利用其测量假肢和假肢固定架的摆动周期,并将测量的参数输入转动惯量测试系统来测得假肢绕任一轴转动的转动惯量,同时将结果实时显示和保存。The rotating fixture 1 is positioned on the support 3 by the supporting arm 2, and the rotating fixture 1 can be rotated and positioned by rotating the positioning shaft 5 on both sides of the supporting arm 2 while screwing in and unscrewing the supporting arm 2 to withstand the rotating fixture 1. The axis 5 rotates, and the infrared test device 4 is installed at the lower left of the fixture support arm 2. It is located on the lowest plane where the rotary fixture is in a balanced state, and is used to measure the swing cycle of the prosthesis and the prosthetic frame, and input the measured parameters into the moment of inertia test system To measure the moment of inertia of the prosthesis around any axis, and display and save the results in real time.

红外测试装置4由时间测定器、计算分析软件、红外光发射器和光反射器组成,红外光发射器和光反射器探测到当假肢转动进行一个周期,最终返回平衡位置最低平面时的信号数据,并反馈至计算分析软件,记数一次;N个周期的运动后,利用总时间及转动次数得出平均周期。本发明的装置测量精度为0.0001秒。The infrared test device 4 is composed of a time measuring device, calculation and analysis software, an infrared light emitter and a light reflector. The infrared light emitter and the light reflector detect the signal data when the prosthesis rotates for a cycle and finally returns to the lowest plane of the equilibrium position, and Feedback to the calculation and analysis software, and count once; after N cycles of movement, use the total time and the number of rotations to obtain the average cycle. The measurement accuracy of the device of the present invention is 0.0001 second.

本发明是基于刚体绕定轴转动力学原理,通过建立复摆转动力学模型,建立相关的数学模型,从而确定假肢的转动惯量。The invention is based on the dynamics principle of a rigid body rotating around a fixed axis, and establishes a complex swing dynamics model and a related mathematical model to determine the moment of inertia of the artificial limb.

质量为m的假肢,将它夹装于一个可选装的随行旋转夹具中,整个夹具两边的支撑臂连同夹具置于支座上面,夹具可在支座上绕固定轴旋转。支座左右两边的支撑臂与夹具夹紧,保证其只能围绕固定轴做旋转运动,若忽略空气阻力,当转角较小时(如小于5°),可以比较精确地把固定架的运动视为简谐运动,求出转动周期。此时,转动周期TO与振幅θ0无关,这一重要近似性质,称为摆的等时性。旋转夹具往返摆动一次所需要的时间就是它的摆动周期,可以证明,当转角很小的时候,转动周期与转动惯量之间的关系有:A prosthesis with a mass of m is clamped in an optional accompanying rotating fixture. The support arms on both sides of the fixture together with the fixture are placed on the support, and the fixture can rotate around a fixed axis on the support. The support arms on the left and right sides of the support are clamped with the fixture to ensure that it can only rotate around the fixed axis. If the air resistance is ignored, when the rotation angle is small (such as less than 5°), the movement of the fixed frame can be regarded as more accurately Simple harmonic motion, find the period of rotation. At this time, the rotation period T O has nothing to do with the amplitude θ 0 , this important approximate property is called the isochronism of the pendulum. The time required for the rotary fixture to swing back and forth once is its swing cycle. It can be proved that when the rotation angle is small, the relationship between the rotation cycle and the moment of inertia is:

TT == 22 ππ II mgLmgL -- -- -- (( 11 ))

其中:T:转动周期,I:绕固定轴转动的转动惯量,L:质心到转轴的距离,m:质量Where: T: period of rotation, I: moment of inertia rotating around a fixed axis, L: distance from the center of mass to the axis of rotation, m: mass

如果测出周期,那么就可以依据公式可得转动惯量为:If the period is measured, then the moment of inertia can be obtained according to the formula:

II == mgLTmgLT 22 44 ππ 22 -- -- -- (( 22 ))

图1中夹入假肢后,假肢和固定架整体的质心距离转动轴的距离为L,转动周期从由红外测试装置测得为T,则依据公式(2)可先求出假肢与固定架整体的转动惯量I。After the prosthesis is clamped in Figure 1, the distance between the center of mass of the prosthesis and the fixed frame is L from the rotation axis, and the rotation cycle is T measured by the infrared test device. Then, according to the formula (2), the overall prosthesis and the fixed frame can be calculated first. moment of inertia I.

由图2可知,此时夹具转动时,由于其本身形状规则,质心位置就在固定架自身的几何中心C0,固定架质心距离转动轴的距离是L0,转动周期也依靠红外测试装置测的,同理可以再求出装置空载的时候转动惯量I0,由此,就可以求出假肢的转动惯量,具体的公式如下:It can be seen from Figure 2 that when the fixture rotates at this time, due to its regular shape, the position of the center of mass is at the geometric center C 0 of the fixed frame itself. In the same way, the moment of inertia I 0 when the device is unloaded can be obtained, and thus the moment of inertia of the prosthesis can be obtained. The specific formula is as follows:

Figure GA20189524200810200229401D00051
Figure GA20189524200810200229401D00051

Figure GA20189524200810200229401D00052
Figure GA20189524200810200229401D00052

IC=I-Io                                        (3)I C = II o (3)

II xx == IcIC ++ mm LL xx 22 -- -- -- (( 44 ))

T0:夹具架的转动周期T 0 : Rotation period of the fixture frame

I0:夹具架绕固定轴转动的转动惯量I 0 : Moment of inertia of the fixture frame rotating around the fixed axis

L0:夹具架的质心到转轴的距离L 0 : the distance from the center of mass of the fixture frame to the axis of rotation

m0:夹具架的质量m 0 : Mass of the fixture frame

T:夹具架和假肢整体的转动周期T: The rotation period of the jig frame and the prosthesis as a whole

I:夹具架和假肢整体绕固定轴转动的转动惯量I: Moment of inertia of the overall rotation of the fixture frame and the prosthesis around a fixed axis

L:夹具架和假肢整体的质心到转轴的距离L: the distance from the center of mass of the fixture frame and the prosthesis to the axis of rotation

m:夹具架和假肢整体的质量m: mass of jig frame and prosthesis as a whole

IC:假肢质心绕固定轴的转动惯量I C : Moment of inertia of the center of mass of the prosthesis around a fixed axis

IX:假肢绕任一转轴转动的转动惯量I X : Moment of inertia of the prosthesis around any axis of rotation

LX:转轴到通过夹具架和假肢整体质心且与转轴平行的轴线之间的距离。L X : the distance between the axis of rotation and the axis passing through the center of mass of the fixture frame and the prosthesis as a whole and parallel to the axis of rotation.

Claims (3)

1. artificial limb processional moment measuring device, comprise bearing (3), be fixed on the fixture support arm (2) on bearing two limits, the rotary inertia test macro, it is characterized in that, also comprise rolling clamp (1), infrared test device (4), described rolling clamp (1) places in the middle of two fixture support arms (2), positioning rotating shaft (5) is screwed into simultaneously from fixture support arm (2) two ends and flexibly connects with rolling clamp (1), rolling clamp (1) can be rotated around positioning rotating shaft (5), fixture support arm (2) lower left is provided with infrared test device (4), infrared test device (4) is positioned at rolling clamp (1) and is on the k level of poised state, be used to measure the hunting period of artificial limb and artificial limb fixed mount, and, utilize this rotary inertia test macro to record the rotary inertia of artificial limb then around arbitrary rotation with the parameter input rotary inertia test macro of measuring, show when passing through this rotary inertia test macro with fructufy at last and preservation.
2. artificial limb processional moment measuring device according to claim 1, it is characterized in that, described infrared test device (4) is made up of time indicator, calculating analysis software, infrared transmitter and reflective optical system, infrared transmitter and reflective optical system detect when artificial limb rotates and carry out one-period, signal data when finally returning the equilbrium position k level, and feeding back to calculating analysis software, numeration is once; After the motion in N cycle, utilize total time and number of revolutions to draw average period.
3. artificial limb processional moment measuring device according to claim 1 is characterized in that, the certainty of measurement of described artificial limb processional moment measuring device is 0.0001 second.
CN2008102002294A 2008-09-23 2008-09-23 Artificial limb processional moment measuring device Expired - Fee Related CN101357086B (en)

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CN102419238A (en) * 2011-08-15 2012-04-18 中国航空工业集团公司西安飞机设计研究所 Measuring device for mass moment of inertia of flutter model

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CN106768630A (en) * 2016-11-25 2017-05-31 中国航空工业集团公司哈尔滨空气动力研究所 Mono-pendulum type guided missile model rotation inerttia mechanism and its measuring method
CN110706577A (en) * 2019-10-23 2020-01-17 北京环境特性研究所 Swinging device for simulating ship swinging

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CN1056411A (en) * 1990-02-28 1991-11-27 奥托帕克整形外科行业资产管理合股公司 The assay method of artifucial limb operating characteristic and device
CN1546971A (en) * 2003-12-09 2004-11-17 西北工业大学 Method and device for measuring moment of inertia and product of inertia
CN201260710Y (en) * 2008-09-23 2009-06-24 上海理工大学 Apparatus for determining the moment of inertia of prosthetic limbs

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CN1056411A (en) * 1990-02-28 1991-11-27 奥托帕克整形外科行业资产管理合股公司 The assay method of artifucial limb operating characteristic and device
CN1546971A (en) * 2003-12-09 2004-11-17 西北工业大学 Method and device for measuring moment of inertia and product of inertia
CN201260710Y (en) * 2008-09-23 2009-06-24 上海理工大学 Apparatus for determining the moment of inertia of prosthetic limbs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102419238A (en) * 2011-08-15 2012-04-18 中国航空工业集团公司西安飞机设计研究所 Measuring device for mass moment of inertia of flutter model
CN102419238B (en) * 2011-08-15 2013-12-18 中国航空工业集团公司西安飞机设计研究所 Device for measuring mass moment of inertia of flutter model

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