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Title:: Research on measurement of lower limb muscle strength based on angle encoder and torque sensor

作者:: 王彦凤1; 王瑞1△; 蔡玉强1; 赵欣2; 1.华北理工大学机械工程学院，河北唐山 063210；2.唐山市拓又达科技有限公司，河北唐山063000

Author(s):: WANG Yanfeng1; WANG Rui1; CAI Yuqiang1; ZHAO Xin2; 1.Institute of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China；2.Tangshan TOYODA Technology Co., Ltd，Tangshan 063000

Keywords:: Lower limb muscle torque; Rehabilitation robot; MATLAB/Simulink; Active rehabilitation training; Human dynamics; Holistic approach

摘要:: 针对传统肌肉力量测量方法存在的辅助设备多、信号分析复杂、反馈滞后和易受环境变化影响等问题，提出一种利用关节角度编码器与外骨骼扭矩传感器快速、准确计算人体下肢肌肉扭矩的方法。采用整体法对人体-外骨骼系统模型建立动力学方程，搭建MATLAB/Simulink仿真计算平台，快速求解受试者步态训练时的动态实时肌肉扭矩。与传统测量方法进行对比验证，结果表明仿真计算出的扭矩曲线与传统方法获得的扭矩曲线基本一致，验证了该方法的正确性。

Abstract:: In view of the problems of traditional muscle strength measurement,such as many auxilary devices,complex signal analysis,feedback lag and susceptible to envinronmental changes,we proposed a fast and accurate method for caculating the muscle torque of human lower limbs used joint angle encoder and exoskeleton torque sensor.We used a holistic approach to establish a kinetic equation for the human-exoskeleton system model.The MATLAB/Simulink simulation calculation platform was built to fast solve the dynamic real-time muscle moment of the gait training of the subject. Compared with the traditional measurement methods, the results showed that the torque curve calculated by the simulation was basically consistent with which obtained by the traditional method, and proved the correctness of this method.