CN104552340A - Arm flexion and extension detecting device - Google Patents
Arm flexion and extension detecting device Download PDFInfo
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- CN104552340A CN104552340A CN201310491383.2A CN201310491383A CN104552340A CN 104552340 A CN104552340 A CN 104552340A CN 201310491383 A CN201310491383 A CN 201310491383A CN 104552340 A CN104552340 A CN 104552340A
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- forearm
- retainer ring
- detection
- ring
- arm
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Abstract
The invention relates to a device for detecting flexion and extension of human arms, in particular to an arm flexion and extension detecting device, and aims to overcome the defects of system complexity, clunky structure, large detection error, maintenance difficulty and the like of existing detecting devices. The arm flexion and extension detecting device has the advantages that a detection step for hand elbow joints is designed newly, and a unique connection mode and an ingenious joint measurement point layout are adopted, so that the arm of an operator can be kept flexible to the greatest extent when the operator uses the device, and the motion state during forearm flexion and extension can be detected accurately whether the forearm is rotated inwards or outwards.
Description
Technical field
The present invention relates to a kind of device detecting staff arm flexion-extension motion state.
Background technology
Due to the development of science and technology, robot is used gradually in increasing scope, teleoperation robot as the robot of a kind of dependable performance, technology maturation be widely used in various danger, situation complexity, work in environment that the mankind cannot arrive, what it adopted is very reliable control mode, is directly sent instruction to control by operator.Performing along with teleoperation robot of task becomes increasingly complex, make people while pursuit reliability, also its flexibility is had higher requirement, and remote operating to be implemented to the manipulator of complexity, control the coordinated movement of various economic factors together of the multiple joint of manipulator, to realize specific function, this just needs to use staff arm joint motion detection apparatus, staff arm joint motion detection apparatus controls manipulator by the positional information in each joint on measure operator arm as control instruction and follows the tracks of human hand movement, makes operator produce very strong telepresenc.In addition, virtual reality interaction technique development in recent years, staff arm joint motion detection apparatus can be used as a kind of main interactive device, participate in the structure of virtual reality interactive system, such as at one by the scene of computer virtual, operator controls the virtual staff dismounting of a pair of by staff arm joint motion detection apparatus or puts together machines, and also has remote operation, game, 3D cartoon making etc. all to need to use such device.Staff arm joint motion detection apparatus system complex in the market, difficult in maintenance, price is very expensive, makes it cannot popularize in a large number, promote and use.
Summary of the invention
The object of the invention is for existing arm flexion-extension checkout gear system complex, structure is too fat to move, metrical error is larger, the shortcoming such as difficult in maintenance, propose a kind of external framework type structure, brand-new design has been done to the detection of arm flexion-extension, the connected mode that employing is unique and cleverly joint measurment point layout, greatly simplify complicated detection system, operator's arm when using this device can be kept farthest flexibly, no matter forearm medial rotation or outside revolving, motion state during front bending and stretching of the arms can be accurately detected, make the controlled harmonious action of arm joint that can be corresponding with operator from swivel of hand, strengthen the telepresenc of virtual reality or remote operating.The present invention is for equipment interactive with computer, manipulator etc., and by upper arm retainer ring, forearm fixture, connecting rod, detection of joints parts form.Upper arm retainer ring is fixed on operator's upper arm position, and detection of joints parts are fixed on the platform of upper arm retainer ring, and forearm fixture is fixed on operator's forearm position, and detection of joints parts and forearm fixture are by two-stage rod hinge connection.The movement angle that the present invention detects joint is measured by corresponding mathematical algorithm by being arranged on corresponding angular transducer on device, angle and the state of the ancon joint motions of operator in three dimensions can be detected accurately, delicately, this installation cost is low, use simple, it is convenient to dress, and safeguards easily.
Accompanying drawing explanation
Fig. 1 is overall shaft side figure of the present invention.
Fig. 2 is structural representation of the present invention.
Detailed description of the invention
Main parts size of the present invention:
101. forearm fixture 102. detection of joints parts 1. upper arm retainer rings
3. forearm slip ring bottom, forearm retainer ring 4. forearm slip ring top 6.
Detailed description of the invention one: as shown in Figure 1, described arm flexion-extension checkout gear comprises upper arm retainer ring 1, connecting rod 2-1, connecting rod 2-2, forearm fixture 101, detection of joints parts 102.Described upper arm retainer ring 1 is fixed on operator's upper arm position, described detection of joints parts 102 are fixed on upper arm retainer ring 1, described forearm fixture 101 is fixed on operator's forearm position, described detection of joints parts 102 by two-stage connecting rod 2-1,2-2 and forearm fixture 101 hinged, arm flexion-extension checkout gear is implemented by detection of joints parts 102 detection that operator's arm flexion-extension moves.
Detailed description of the invention two: as depicted in figs. 1 and 2, described forearm fixture 101 comprises forearm retainer ring 3, forearm slip ring top 4, forearm slip ring bottom 6.The outer surface of described forearm retainer ring 3 has ring-shaped guide rail C, the axis of described ring-shaped guide rail C and the dead in line of forearm retainer ring 3, described forearm slip ring top 4 is arranged on the outer surface of forearm retainer ring 3, the described annulus axis on forearm slip ring top 4 and the dead in line of forearm retainer ring 3, the ring-shaped guide rail C of described forearm retainer ring 3 is placed in the annulus groove on forearm slip ring top 4, described forearm slip ring bottom 6 is arranged on the outer surface of forearm retainer ring 3, the described annulus axis of forearm slip ring bottom 6 and the dead in line of forearm retainer ring 3, the ring-shaped guide rail C of described forearm retainer ring 3 is placed in the annulus groove of forearm slip ring bottom 6, the complete annulus of the affixed formation of screw one is passed through with the two ends of forearm slip ring bottom 6 in described forearm slip ring top 4, described forearm slip ring top 4 and between forearm slip ring bottom 6 and forearm retainer ring 3 for slidingly contacting, can around the axis of forearm retainer ring 3, on the surface of forearm retainer ring 3, annularly guide rail C rotates.Action implementation process: forearm retainer ring 3 is fixed on operator's forearm, when operator forearm around ancon to wrist axis rotate time, forearm retainer ring 3 is followed and is rotated together, forearm slip ring top 4 and forearm slip ring bottom 6 keep static under the obstruction of connecting rod 2-1 and connecting rod 2-2, position and attitude do not change, and avoid arm flexion-extension checkout gear to cause because forearm rotates measuring losing efficacy or occurring comparatively big error.
Detailed description of the invention three: as depicted in figs. 1 and 2, described detection of joints parts 102 are fixed on the platform A of upper arm retainer ring 1 by screw, the axis of the power transmission shaft 12 of described detection of joints parts 102 and the annulus axes normal of upper arm retainer ring 1, the two ends of the power transmission shaft 12 of described detection of joints parts 102 are affixed with one end of two first order connecting rod 2-1 respectively, the other end of described two first order connecting rod 2-1 is hinged by screw with one end of two second level connecting rod 2-2 respectively, described first order connecting rod 2-1 and connecting rod 2-2 hinged place, the second level are provided with connecting rod insulated column 5, the other end of described two second level connecting rod 2-2 is articulated with by screw in the hole B of forearm slip ring bottom 6, the axis of hinged place and the annulus axes normal of forearm retainer ring 3 and be parallel to the axis of the power transmission shaft 12 of detection of joints parts 102.Action implementation process: described upper arm retainer ring 1 is fixed on operator's upper arm position, described forearm fixture 101 is fixed on operator's forearm position, when the ancon joint motions of operator, the forearm of operator is that initial point does flexion and extension with ancon, the forearm fixture 101 be fixed on operator's forearm is followed forearm and is moved together, forearm fixture 101 drives the connecting rod 2-2 hinged with it to rotate, the direction that connecting rod 2-2 rotates is consistent with the direction of forearm rotation, connecting rod 2-2 drives the connecting rod 2-1 hinged with it to rotate, the connecting rod 2-1 rotated drives the power transmission shaft 12 of the detection of joints parts 102 affixed with it, the angular transducer of power transmission shaft 12 driving joint detection part 102 inside also measures angle and the state of bending and stretching of the arms before operator by corresponding mathematical algorithm.
As another example of the present invention, also can replace angular transducer with other sensors, the angle and state that detect and move in three dimensions in staff ancon joint can be played equally, realize object of the present invention.
When not making principle of the present invention suffer damage, the details of above-mentioned formation and detailed description of the invention are only that it can not depart from the scope of the present invention and extensively change, and these all belong within protection of the present invention as example and illustrated thing.
Claims (3)
1. an arm flexion-extension checkout gear, for with computer, the interactive device of manipulator, by upper arm retainer ring (1), connecting rod (2-1,2-2), detection of joints parts (102), forearm fixture (101) forms;
It is characterized in that:
This device is fixed on operator's arm;
Upper arm retainer ring (1) is fixed on operator's upper arm position, detection of joints parts (102) are fixed on upper arm retainer ring (1), forearm fixture (101) is fixed on operator's forearm position, and detection of joints parts (102) are hinged by two-stage connecting rod (2-1,2-2) and forearm fixture (101);
Arm flexion-extension checkout gear is implemented by detection of joints parts (102) the detection of operator's arm ancon joint motions, and detection of joints parts (102) inside is provided with the joint motions of operator's ancon measured by the angular transducer detecting joint action angle and state by corresponding mathematical algorithm.
2. arm flexion-extension checkout gear according to claim 1, it is characterized in that: described forearm fixture (101) comprises forearm retainer ring (3), forearm slip ring top (4), forearm slip ring bottom (6), the outer surface of described forearm retainer ring (3) has ring-shaped guide rail (C), the axis of described ring-shaped guide rail (C) and the dead in line of forearm retainer ring (3), described forearm slip ring top (4) is arranged on the outer surface of forearm retainer ring (3), the annulus axis of described forearm slip ring top (4) and the dead in line of forearm retainer ring (3), the ring-shaped guide rail (C) of described forearm retainer ring (3) is placed in the annulus groove on forearm slip ring top (4), described forearm slip ring bottom (6) is arranged on the outer surface of forearm retainer ring (3), the annulus axis of described forearm slip ring bottom (6) and the dead in line of forearm retainer ring (3), the ring-shaped guide rail (C) of described forearm retainer ring (3) is placed in the annulus groove of forearm slip ring bottom (6), described forearm slip ring top (4) passes through the complete annulus of the affixed formation of screw one with the two ends of forearm slip ring bottom (6), described forearm slip ring top (4) and between forearm slip ring bottom (6) and forearm retainer ring (3) for slidingly contacting.
3. arm flexion-extension checkout gear according to claim 1, it is characterized in that: described arm flexion-extension checkout gear comprises upper arm retainer ring (1), connecting rod (2-1, 2-2), detection of joints parts (102), forearm fixture (101), connecting rod insulated column (5), described detection of joints parts (102) are fixed on the platform (A) of upper arm retainer ring (1) by screw, the axis of the power transmission shaft (12) of described detection of joints parts (102) and the annulus axes normal of upper arm retainer ring (1), the two ends of the power transmission shaft (12) of described detection of joints parts (102) are affixed with one end of two first order connecting rods (2-1) respectively, the other end of described two first order connecting rods (2-1) is hinged with one end of two second level connecting rods (2-2) respectively, described first order connecting rod (2-1) and second level connecting rod (2-2) hinged place are provided with connecting rod insulated column (5), the other end of described two second level connecting rods (2-2) is articulated with in the hole (B) of forearm slip ring bottom (6) by screw, the axis of hinged place and the annulus axes normal of forearm retainer ring (3) and be parallel to the axis of the power transmission shaft (12) of detection of joints parts (102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491383.2A CN104552340A (en) | 2013-10-18 | 2013-10-18 | Arm flexion and extension detecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491383.2A CN104552340A (en) | 2013-10-18 | 2013-10-18 | Arm flexion and extension detecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104552340A true CN104552340A (en) | 2015-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491383.2A Pending CN104552340A (en) | 2013-10-18 | 2013-10-18 | Arm flexion and extension detecting device |
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| Country | Link |
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| CN (1) | CN104552340A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595547A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CN112370309A (en) * | 2020-11-27 | 2021-02-19 | 杭州华移技术有限公司 | Hand joint rehabilitation device |
| CN107595547B (en) * | 2017-09-18 | 2024-04-16 | 华南理工大学 | Double-arm robot for upper limb rehabilitation training |
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| US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
| CN101450484A (en) * | 2008-12-30 | 2009-06-10 | 哈尔滨工业大学 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN203117889U (en) * | 2012-12-25 | 2013-08-07 | 苏茂 | Data glove shoulder joint detection device |
| CN203241433U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Data glove elbow joint detection device |
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2013
- 2013-10-18 CN CN201310491383.2A patent/CN104552340A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5143505A (en) * | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
| CN101450484A (en) * | 2008-12-30 | 2009-06-10 | 哈尔滨工业大学 | Exoskeleton finger with fingertip location following and fingertip bidirectional force feedback function |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202895235U (en) * | 2012-11-26 | 2013-04-24 | 苏茂 | Subordinate hand arm control device with bi-directional force feedback |
| CN203117889U (en) * | 2012-12-25 | 2013-08-07 | 苏茂 | Data glove shoulder joint detection device |
| CN203241433U (en) * | 2012-12-25 | 2013-10-16 | 苏茂 | Data glove elbow joint detection device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595547A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CN107595547B (en) * | 2017-09-18 | 2024-04-16 | 华南理工大学 | Double-arm robot for upper limb rehabilitation training |
| CN112370309A (en) * | 2020-11-27 | 2021-02-19 | 杭州华移技术有限公司 | Hand joint rehabilitation device |
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Application publication date: 20150429 |