An experimental platform and measurement system for measuring the stiffness of elbow joint flexion and extension

Abstract

The invention belongs to the related technical field of joint stiffness measurement, and discloses an experimental platform and a measurement system for measuring the flexion-extension stiffness of an elbow joint. The experimental platform includes a bottom plate and a big arm fixing unit, a small arm fixing unit and a driving force unit arranged on the bottom plate, wherein: the big arm fixing unit fixes the big arm, the small arm fixing unit fixes the small arm, the big arm fixing unit and the small The arm fixing unit is set at an included angle so that the upper arm and the forearm are fixed at a corresponding included angle, and the driving force unit provides pulling force to the forearm to change the angle between the forearm and the upper arm; the driving force unit includes The fixed pulleys on both sides of the unit, the load is suspended on the fixed pulley, the load is connected with the fixed unit of the forearm through a traction rope, and the bottom of the fixed unit of the forearm is equipped with rollers to realize the bending of the forearm in both forward and reverse directions . The present invention solves the problem that the stiffness measurement includes the self-weight of the forearm and that it cannot be bent in two directions.

Description

technical field [0001] The invention belongs to the related technical field of joint stiffness measurement, and more specifically relates to an experimental platform and a measurement system for measuring the flexion-extension stiffness of an elbow joint. Background technique [0002] With the continuous improvement of the international level of science and technology, in the field of humanoid robots or prosthetic arms, flexible joints are a research hotspot. It has the advantages of mitigating collisions and avoiding damage, accumulating energy, and changing force output characteristics at any time. The current solutions are as follows: insert elastic elements in series, but the stiffness of the elastic elements remains unchanged, that is, only serve as an elastic driver; introduce magneto-rheological or electro-rheological media for control, but the liquid characteristics need to be fully studied; Using pneumatic muscle models, but the volume of the device is too large; us...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the above defects or improvement needs of the prior art, the present invention provides an experimental platform and a measurement system for measuring the bending and extension stiffness of the elbow joint, which solves the problems of the forearm's own weight and the inability to bend in two directions in the stiffness measurement

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