设计和验证一个无对齐的自适应性联合扭矩测量系统的设计和验证
Lei Li1,2, Jingcheng Chen3, Shaoming Sun4,5
1Hefei Institutes of Physical Science, Chinese Academy of Sciences, 350 Shushan Lake Road, Hefei, 230031, China.
Biomedical engineering online
|February 25, 2025
概括
本研究介绍了一种无对齐的自适应式联合扭矩测量 (AFAJTM) 系统,即使轴不对齐,也能准确测量联合扭矩. 这一创新系统提高了扭矩评估的可靠性和精度.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 测量科学 测量科学 测量科学
背景情况:
- 传统的关节扭矩测量器件经常因动力计和关节旋转轴之间的不对齐导致不准确.
- 这种 misalignment 引入错误,损害了在各种应用中收集的数据的可靠性.
研究的目的:
- 引入一个可转移的无对齐的自适应联合扭矩测量系统 (AFAJTM).
- 为了解决扭矩测量的不一致性,由轴不对齐引起.
- 提高联合扭矩评估的准确性和可靠性.
主要方法:
- 该研究详细介绍了AFAJTM系统的设计和控制方法.
- 一个肘部关节扭矩测量装置 (EJTMD) 被开发并使用一个关节模拟模型进行评估.
- 临床实验比较EJTMD与传统的动力计在最大自愿收缩 (MVC) 测试在各种 misalignment 条件下.
主要成果:
- 模拟结果显示,AFAJTM系统实现了高精度扭矩测量,在不同不对齐的情况下,误差在0.5Nm以内.
- 与传统设备相比,临床实验证明了EJTMD的高一致性,可重复性和可靠性.
- 尽管轴不整齐程度各不相同,但EJTMD仍然保持了测量准确度.
结论:
- AFAJTM系统为联合扭矩测量提供了一个新的解决方案,消除了精确轴对齐的需要.
- 该系统有效地克服了传统测量设备在人机轴不对齐场景中的局限性.
- AFAJTM系统展示了各种联合扭矩测量需求的广泛适用性和高精度测量能力.
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