KR880001185B1 - Inspection apparatus on the knee laxity evaluator - Google Patents

Abstract

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Description

Power checker for knee relaxation tester

1 is a stereoscopic view of a patient with a knee relaxation assessor diagnosed by a doctor.

2 is a side view of the patient.

3 is a detailed side view of the patient.

4 is a front view of the legs showing the exercise moduls / digitizers attached.

5 is a rear view of the leg showing the attachment of the electric goniometer.

6 is a front view of the electronic motion modulus / digitizer combination according to the present invention.

7 is a side view of the assembly.

8 is an illustration of the digitizer tips to insert into the receiving tube instead of the protrusion of the present invention.

9 is a sequence table of software for investigating and analyzing the electrical output of a conjugate to obtain the desired result.

10 is a perspective view of a strainer according to another aspect of the present invention.

11 is a plan view of FIG.

Figure 12 shows the beam and bearing arrangement of the strainer.

* Explanation of symbols for main parts of the drawings

19: checker 203: beam and bearing device

205: second beam and bearing device 201: flame

207: third beam and bearing device 209: platform

215: linear bushing 217: spherical bearing

222: deflection beam and support for suppression 223, 225, 227: detector support frame

241, 243: support block 245: side wall

The present invention relates to a checker for use with exercise modulus, digitizer combinations in knee relaxation evaluators. The knee relaxation evaluator related to the present invention includes a motor modulus, ie, a modulus in which stereoscopic space is measured for a point or a body related exercise.

This type of modulus is known in the art, for example, in US Patent No. 3, 944, 798, March 16, 1976 to EATON, November 1977 other than FURNADJIEV et al. US Pat. No. 4, 057, 806, dated 8, and US Pat. No. 4, 205, 308, May 27, 1980 to HALEY et al. Electrical and electronic digitizers are also known in the art.

For example, one planar digitizer is described in US Patent No. 3, 956, 588, issued May 11, 1976 to WHETSTINE. However, the position of the first point or body and the third, fourth, fifth,... Of the second body. The art of combining such devices, usually called motion modules and digitizers, to measure the position or motion of a second point or body in relation to a point or position or a combination of points or positions, none.

It is yet another object of the present invention to provide a novel dynamometer that can be used independently or in a knee relaxation evaluator.

According to a unique embodiment of the present invention, the knee relaxation evaluator measures a part of the patient in a seat equipped with an instrument for measuring the force applied to the patient in a non-tight part with a seat equipped with an instrument for seating the patient. It consists of a tightening means for tightening.

The exercise modulus measure measures the movement of the patient's non-thickness part with the tightened part, and the processor means analyzes the output of the instrumented seat and the exercise modul means, It provides an indication of the applied force and motion of the unmarked part.

From another aspect, according to the present invention there is provided a detector for determining the magnitude and direction of the force applied. The detector is provided with three spaced beams and a means for checking whether they are on each beam. The platform is disposed on and supported by the support means in order to receive the applied force and to deflect it. Deflection of the platform is transmitted to the beam and causes the beam to deflect. Means are provided for measuring in the direction of the beam deflection.

According to the invention, the beams are arranged so that the deflection of the beams does not become excessive in both directions.

The invention will be better understood in the following description with reference to the accompanying drawings.

First, FIG. 1 to FIG. 5 show that the patient 1 and the physician 3 with a knee relaxation evaluator are diagnosed.

The knee relaxation evaluator includes a femoral confinement means 7, an instrument seat 9, and an exercise modulus 11.

As can be seen below, the exercise modulus 11 has one end 13 connected to an instrument seat constituting a fixed point or body. The other end 15 is connected to the second point or the body. The purpose of the device 5 is to determine the movement of the second point or body relative to the first point or body in the three-dimensional plane. The instrument seat can be mounted on the examination table 17 and consists of a DYNANOMETER 19 that measures the force exerted. Instruments for measuring forces are described in Measurement Systems: Applications and Design, McGraw-Hill, E. O Doeverin, pp. 333-350.

The instrument seat 9 may also have an adjustable seat back 2 device 18 that is well known in the art.

The femoral confinement means 7 are secured to each other by means of a fastening strap 8, which converts into soft tissue and allows two or more paired offset belts to rotate around the femur to minimize movement of the femur in the seat. It consists of.

The lower leg attachment consists of a band of annulus 21, eg Velcro, wherein the other end 15 of the exercise module is connected to a connection 15A provided on the annulus 21.

The attachment of the lower leg acts by placing the motor modulus on the three bone-like projections of the lower leg, i.e., the tibial function 23 and the medial astratum 25 and the lateral astragalus 27, respectively.

The roller 29 matches itself with the outer circumferential surface of the tibial crest 23, and the bowl 31 ′ formed in the astragalus cup 31 flows in the astragalus cup 31 while moving the astragalus cup 31 to the astragalus. Match the outer circumference of the

The bowl 31 'and the roller 29 allow the skin to move between the joints of the bones so that the joints 15A can only move together with the bones, which is important for measuring the exact position of the bones. The device also includes a monitor 33 with a microprocessor that receives output from the strainer 19 and the exercise module 11. Thus, the knee relaxation evaluator can detect and measure the burden of displacement present when using all standard knee evaluation techniques.

In addition, this knee relaxation evaluator is a normal procedure while the knee relaxation evaluator accurately records the forces exerted on the displayed and printed forms and the tibial-femoral movements. It is designed to minimize the effect of soft thin fabrics.

The checker plate of the gyroscope measures the force and rotational force in the basic direction and allows the physician 3 to know exactly at what stage the knee is being pressed.

This is important when measuring relaxation because the bone momentum involved depends on the pressure exerted.

Knowing the degree of force is of paramount importance in objectively determining joint relaxation.

The exact three-dimensional position of the tibia with respect to the seat of the exercise modulus 11 is measured, and thus the position with respect to the femur when the thigh is tightened.

The motion modulus 11 is an electromechanical device which works on the principle that at least six measurements are required to fully position the body in space, as will be explained in more detail below.

The movement modulus consists of a means for measuring six times the free stereoscopic motion about one point or another point or body of the body, and a unique electronic component is provided which can measure the possible rotational or translational displacement. The special modulus is described next in relation to FIGS. 6 to 8.

Generally speaking, the two points or bodies for which the relative motion is to be measured are connected by an arm of one rigid telescopic material or by an articulated arm between its two ends.

The force measurement on the strainer 19 is made by the principle of force which reacts against and evenly. The force exerted on the knee of the patient 1 is reacted by the tibia and the femur and is sequentially transmitted to the force detector 19. Since the forces at the gland 19 are different arrangements as compared to the knee, knowledge of the relative positions of the knees and the gland provided by the exercise modulus 12 provides a theoretical interpretation of the force in the coordinate system of the knee and its expression. To make it possible.

In actual operation, the patient 1 is seated in the instrument seat 9 and the leg thigh in question is pressed as shown in FIG. The connecting portion 15A of the lower leg is then placed on the same leg as shown and the exercise module 11 is connected between the seat 9 and the connecting portion 15A of the lower leg. The physician 3 can then twist the lower leg and receive an output indicating the force applied and the associated displacement.

In Figures 6-8, a special motor module / digitizer combination is shown that can be used with the knee relaxation evaluator.

However, as already mentioned, this combination may be used in other systems or may be used independently.

For example, it can be used in connection with machinery and other mechanisms that require measuring the displacement of the first point or body in relation to the second point or body.

In order to measure the motion of a body in three-dimensional space, six unique measurements are required in relation to the six degrees of freedom of movement in three-dimensional space. This measurement can be formed of six unique rotational measurements or six unique translational measurements or their combined measurements, namely four improvement measurements, two translational motion measurements, and the like.

The combination of the present invention makes five measurements of rotational motion and one measurement of translational motion.

Referring now to FIGS. 6 and 7, the assembly includes an extension 101 connecting the first end 103 and the second end 105. The extension 101 is composed of a first link arm 107 and a second link arm 109.

The link arms 107, 109 make associated translational movements, such as the ends 103, 105, between the ends 103, 105, and are joined at the connection 111 to measure this translational movement. In the illustrated embodiment, the translational motion is connected to the axis to allow the associated translational motion of the first end 103 and the second end 105, and the rotary thansducer measures this translational motion as described below. To be used.

As should be clear, other means may be used to connect the link arms 107 and 109 to each other.

For example, a sleeve may be included in one of the link arms to cover the other arm and allow the other arm to move in and out of the sleeve.

Translation transducers may be included in the sleeve to facilitate translational motion.

Examples of rotary converters that can be used include resistive voltage dividers, variable inductance transformers, synchro resolvers, inductance voltage dividers and variable magnetoresistive converters.

Examples of translational converters that may be used include dial indicators, resistive voltage dividers, variable inductance transformers, capacitance transducers, piezoelectric transducers, ionization transducers and optical transducers. In describing the illustrated embodiment, rotary and translational potentiometers were used respectively.

Therefore, these are cited from now on. However, it should be appreciated that the translational and rotational voltage dividers can be replaced by any of the transducers described above. Arranged at the first end 103 is a first rotary voltage divider 113, which is disposed in line with the first link arm 107 and around the axis at right angles to the first link arm 107. Can be rotated. The second rotary voltage divider 115 may be disposed at a right angle to the first rotary voltage divider 113 and may rotate around the axis at a right angle to the axis of the first rotary voltage divider 113. The second rotary voltage divider 115 is mounted on the base 117. Placed at the second end 105 is a third rotary voltage divider 119, which is aligned with the second link arm 109 and rotates about an axis perpendicular to the second link arm 109. The fourth rotary voltage divider 121 may be disposed at a right angle to the third rotary voltage divider 119 to rotate around the axis at a right angle to the axis of the third rotary voltage divider 119. The fifth rotation voltage divider 123 may also be disposed at a right angle to the third rotation voltage divider 119, and may rotate around the axis at a right angle to the axis of the third rotation voltage divider 119. The fifth rotary voltage divider 123 is also perpendicular to the fourth rotary voltage divider 121, and the rotation axis thereof is also perpendicular to the axis of the fourth rotary voltage divider 121. The fifth rotary voltage divider 123 is connected to the base 125 to secure the device at the second point.

In the illustrated embodiment, the link arms 107, 109 are in line with the arms 107, 109, and are connected 111 by a sixth rotary voltage divider 127 whose axis of rotation is perpendicular to the arms 107, 109. Is connected).

The device described so far is a motion in the three-dimensional plane of the second end 105 in relation to the first end 103 and vice versa in the three-dimensional plane of the first end 103 in relation to the second end 105. This can be called the exercise modulus.

According to the present invention, the third, fourth, fifth,... Points or bodies (hereafter referred to as points or bodies are used to refer to points or bodies, and thus should be understood) provide the potential for digitizing the position or combination of them, and thus the points 103, 105 One of the motions or positions in relation to the other point or in the third, fourth, fifth,... The possibility of measuring in relation to a point or in relation to points of a second body or a combination thereof is provided.

This possibility can be achieved by detaching one of the link arms from its base 117 and 125 and allowing it to be connected to it again.

In the embodiment shown, the link arm 109 can be separated from the base 125. In particular, the protrusion 129 removed from the third rotary voltage divider 119 can be inserted into the housing tube 131.

The protruding portion 129 can also be removed from the housing tube 131 and counts the positions of other points in the space where other inserts as shown in Figs. 8 (a), 8 (b) and the like are shown. It can be inserted into the housing tube 131 to make the.

In order to understand how the assembly works, the point of intersection of the axes of the first rotary potentiometer 113 and the second rotary potentiometer 115 is the global starting point (0).

Thus, the voltage dividers 113, 115, and 127 of the first, second, and sixth rotations form a spherical coordinate system around the global starting point (0). In particular, the first and second rotary voltage dividers 113 and 115 each provide a weak tooth angle θ (ψ), and the sixth rotary voltage divider 127 is the first and second link arms 107 and 109. The length of the longitude R is very easy to determine since the length of the link arms 107 and 109 is known and the angle between them is known. .]

The point B is formed at the intersection of each of the voltage dividers 119, 121 and 123 axes of the third, fourth and fifth rotations and is considered as the starting point of the "moving body" coordinate system.

To distinguish from it, (0) is regarded as the origin of a "fixed" body or coordinate system.

In particular, the base 125 will be mounted on the moving body. The base 117 will be mounted on a fixed body or coordinate system and will measure the movement of the second end 105 relative to the first end 103 to clarify the movement of the moving body relative to the fixed body or coordinate system. . The final angle of the moving body motion falls within three finite rotations provided by each voltage divider 119, 121, 123.

In order to explain how the combination (which combines the protrusion 129 and the receiving tube 131) is used as a digitizer, the protrusion 129 is removed from the receiving tube 131, and the digitizer tip shown in FIG. One of the TIPs is inserted into the storage chamber of the housing tube 131 instead of the protrusion 129. Thus, this tip is associated with several points of interest, namely the third, fourth, fifth,... The position in the three-dimensional space of these points is recorded.

As can be appreciated, the conducting lead from the voltage divider can be wired on the base 117 so that the electrical signal from the voltage divider is transmitted to the processing means outlined in the processing apparatus 133 of FIG. Leads to the connecting plate. Of course, as is well known in the art, it would be necessary to provide a direct current in the voltage divider to measure the changing resistance, which can also be provided from the processing device 133.

The voltage divider will provide data to determine the range and direction of motion of point 105. Data should be processed to determine direction and degree. If possible, the data is processed by a computer device. A sequence list for controlling such a computer is shown in FIG. Three basic subroutines are used for digitization, two of which are shown in the sequence table.

A digmat (digital transformation model) and a digit (digital digitization) are shown in the sequence table, while a new tip (support routine for user defined tip) must be provided by the user and supplied by the user. Consider the size and shape of the tip.

The user must write a program that uses the subroutine in a suitable way to apply it specially, but in all cases the following procedure should be used.

The protrusion 129 is removed from the receiving tube 131 and one of the various tips is inserted into the receiving tube.

The base 117 is easily accessible to most relevant points and should be firmly placed in a position suitable for measuring any movement that follows using the upper and lower parts of the exercise module.

Relationship points are then dotted with tips.

Physical properties are entered into the computer memory, and then a sign is provided to the computer so as to know which of the digitizer tips was used.

After spotting with a tip, the program must be activated via a remote switch or keyboard input. Thus, the control program scans the signal of the voltage divider, which in turn calls the sub-routine digmat (DIGMAT) which uses, as input, the voltage of the power supply as well as the voltage of each voltage divider 113, 115, 127.

Digmet outputs the transformation model used in the subroutine digit, which is called and then the subroutine. Digit actually calculates the position of the digits in the global coordinate system using the outputs of Digmet and DITIP coordinates as inputs in the sixth rotary voltage divider 127 coordinate system. Thereafter an output of several points in the global coordinate system, i.e. the output associated with point 0, is provided.

This procedure is repeated until all relevant points have been counted. Thus, the tip is removed from the receiving tube 131 and the protrusion 129 is inserted into the receiving tube again. Next, a subroutine LOCTRN is called that calculates the coordinates of the various points digitized in the interval coordinate system (i.e., point (B)).

These points are then output to the GROTRN subroutine, described below.

On the other hand, the base 125 would have been attached to the point concerned. The displacement of this point is made, and the voltage divider signal is scanned once again.

This data is transferred to the computer and the subroutine dismet is called. Dismet calculates the contents of a deformed model that depicts the body in a solid plane.

Subroutine Groutrn) is then called and the photometer outputs the new position of previously digitized or analytically generated points on the body. This procedure continues as the point of interest moves to a different location.

The technical specification of the subroutine is as follows.

Subroutine Digmet (DVOL, DT12, DT3)

Explanation

This subroutine calculates the models DT12 and DT3 which locate the coordinate system of the 1st rotary voltage divider 113 and the 6th rotary voltage divider 127, respectively.

These two models are entered correctly in the subroutine digits and nu-tips, and are of no importance to the user.

input

The voltage of the sub-routine (-DVOL) 4, each voltage divider, that is, the second rotary voltage divider 115, the first rotary voltage divider 113, and the sixth rotary voltage divider 127 and the power supply voltage (Note; 註 1) .

Print

Digmet (-DT12 (3, 3)) and Digmet (DT (3 (3, 3)) are models described above (Note 1).

State

Variable names beginning with "D" in each 1-routine subroutine are doubled in precision.

Subroutine Digiv (DT12, DT3, DTIP, DPNTRF)

Explanation

This subroutine calculates the coordinates of the digitizer tip relative to the global coordinate system.

input

Digmet DT12 (3, 3) and Digmet DT3 (3, 3) locate the position of each voltage divider, that is, the first rotary voltage divider 113 and the sixth rotary voltage divider 127.

(See Subroutine Digmet) (Note 3)

DTIP 3 is the coordinate of the tip used in connection with the coordinate system of the sixth rotating potentiometer 127 (Notes 1, 2, 3).

Print

DPNTRF (3) is the coordinate of the tip relative to the global coordinate system (Notes 2 and 3).

State

The coordinates of the 1-digitizer tip are provided as part of the digitizer unit. Use the subroutine new tip (see subroutine NEWTIP) for the coordinates of the user tip.

2- In all coordinate arrays, 1, 2, and 3 are X, Y and Z coordinates respectively (eg DTIP (1) = X coordinate).

All variable names that start with 3-D are doubled.

Subroutine New Tip (NEWTIP) (DT12, DT3, DPNTRF, DTIP)

Explanation

The main purpose of this subroutine is to define the coordinates of the user-specified tip in the sixth rotary potentiometer 127 coordinate system without measuring the tip size independently.

Install the first tip 1 (see 8b) and touch the dot to find the tip term. Thus, set a new tip and touch the same point. Throughout the software the coordinates of the point are calculated by the first tip number 1 and used to calculate the nostalgia for the new tip. (Refer to the control program sequence table)

State

For best results, use a dot within 6-8 inches from the base of the digitizer.

input

Digmet DT12 (3, 3) and Digmet DT3 (3, 3) locate the coordinate systems of the first rotary voltage divider 113 and the sixth rotary voltage divider 127, respectively (Note 1).

DPNTRF (3): Coordinates of the point digitized by tip # 1 in the global coordinate system (Notes 1 and 2).

Print

DTIP (3): more widely known as the coordinates of the tip relative to the sixth rotary potentiometer 127 coordinate system, or as a new tip perfume (Notes 1 and 2).

State

All variable names beginning with 1-D are doubled.

In the one-coordinate system, 1, 2, and 3 are X, Y, and Z coordinates, respectively.

Subroutine Digmet (DVOL, DMAT 2)

Explanation

Digmet calculates the position of the relevant interval coordinate system in the global coordinate system. The interval coordinate system coincides with the indicated edges of the upper expectation.

input

-DVOL 7 voltage divider coefficients of each voltage divider 113, 127, 115, 119, 121, 123 and power line (Note 1).

Print

-DDMA2 (4, 3) consists of DMAT2 (4, 1) and DMAT2 (4, 2), and DMAT2 (4, 3) is the coordinate of point B in the global coordinate system.

DMAT2 (3, 3) determines the position of the relevant section coordinate system in the wide coordinate system (Note 1).

DMAT2 (4, 3) is only input to the subroutine LOCTRN and GLOTRN, and is of no significance to the user.

State

All variable names that begin with 1-D are doubled.

Subroutine Locktron (DMAT2, DPOINT, DPNTLC, N)

Explanation

LOCKRN calculates the coordinates of the digitized points in the interval coordinate system.

These coordinates do not change as long as the upper base is fixed to the bone or other selected device base.

If the upper expectations are shifted, these coordinates must be recalculated by calling the subroutine locktron (see control program sequence table).

input

-DMAT2 (4, 3), from subroutine dismet (see subroutine dismet) (Note 1)

-N is the number of points: integer

-DPOINT (3, N): Coordinates of digitized and analytical points in the global coordinate system (Notes 1 and 2).

Print

DPNTLC (3, N): Coordinates of points related to the interval coordinate system (Notes 1 and 2).

State

All variable names beginning with 1-D are doubled.

In a two-coordinate array, 1, 2, and 3 are the X, Y, and Z coordinates, respectively.

Subroutine Groutn (DMAT2, DPNTLC, DPNGL, N)

Explanation

Groutn calculates the new coordinates of the points in the global coordinate system.

input

-DMAT2 (4, 3), from subroutine dismet (see subroutine dismet) (Note 1)

-N is the number of points: integer

-DPNTLC (3, N) coordinates of the points in the interval coordinate system (notes 1 and 2).

Print

-DPNTGL (3, N) coordinates of the points in the interval coordinate system (notes 1 and 2).

State

All variable names that begin with 1-D are doubled.

In a two-coordinate array, 1, 2, and 3 are the X, Y, and Z coordinates, respectively.

Although the detector is referred to, in another aspect of the present invention there is provided a novel detector consisting of a triple beam and a bearing arrangement, as shown in FIGS. 10 to 12.

As can be seen in the figure, the detector has an auxiliary frame 201, which is composed of four walls in the illustrated embodiment.

One beam and bearing arrangement 203 is disposed in the center of one wall, and the second and third beam and bearing arrangement 205 and 207 are disposed in the corner opposite the wall of the beam and bearing arrangement 203.

The upper surface of the first to third beams and the bearing devices 203, 205, 207 is shown only a portion in FIG. 10, the platform 209 being fixed to the devices 203, 205, 207. There is).

As can be seen in FIG. 12, each deflection beam 211 and bearing arrangement 217 consist of one deflection beam 211.

The deflection beam 211 is shown circumferentially in FIG. 12. However, as can be appreciated, the deflection beam 211 can be of other shapes, for example rectangular in cross section.

Each beam and bearing arrangement 203, 205, 207 is also generally linear with a spherical bearing 217 exemplified in 213 and constituting one sphere 219 and one casing 221. One spherical / linear bearing device comprising a line bushing 215.

Referring now to the effect of the force on the support in FIG. 12, the force is transmitted through the support to the beam and the bearing device so that the force in the X direction of the force (perpendicular to the longitudinal axis of the deflection beam 211) Force causes the deflection beam 211 to be bent in the X direction, and the deflection beam 211 is bent in the Y direction by the component force in the Y direction (perpendicular to the X direction) of this force. However, the component force applied to the force Z causes the spherical bearing 217 to move along the deflection beam 211 while receiving only negligible resistance. And the components of the forces causing the rotation around the X, Y, and Z axes only cause the spherical bearing 217 to rotate about its own axis so that these components do not deflect the deflection beam 211 or cause the components to be absorbed. Do not.

Instead, the latter components are slowed only in their respective X and Y directions for measurement by other beam and bearing devices.

The deflection beams of each beam and bearing devices 203 (205) 207 are arranged such that the longitudinal (Z) axes of each deflection beam are angular displacement vertical bisectors of an equilateral triangle. The platform illustrated in FIGS. 10 and 11 is rectangular, but need not necessarily be rectangular. The platform 209 is supported by three spherical bearings and the distance between the bearing centers is an equilateral triangle (e.g., the platform may be triangular with corners at the positions of the bolts 204, 206, 208). Any form can be used as long as it can be attached to the bearings to retain it. And each deflection beam is perpendicular to the side of the triangle opposite its edge. All of the external forces that are desired to be measured are applied to the platform 209. This force results in the deflection of the deflection beams as described above. Deflection is measured as an indication of force as discussed below.

In the embodiment shown, the beam and bearing devices are at the corners of the equilateral triangle, but any arrangement for the three beam and bearing devices may be acceptable for two reasons as long as they do not result in two excessive deflection directions.

A) such an arrangement would provide a rigid mechanism,

B) At least six via forces required for the solution of the balance equation are measured.

In FIG. 12, each deflection beam is fixed in a cantilever fashion in the deflection beam suppression support 222.

In FIGS. 10 and 11, detector support frames 223, 225, 227 associated with the respective devices 203, 205, 207 to the respective beam and bearing devices 203, 205, 207, respectively. A detector system consisting of

The detection methods 229 and 231 extend in the bending direction of the deflection beam from the deflection beam of the third beam and bearing device 207 to the support frame 227. Similarly, the detectors 233 and 235 are related to the deflection beam of the beam and bearing arrangement 203 and their deflection directions, and the detectors 237 and 239 are the deflection beam of the second beam and bearing arrangement 205 and their deflection beams. Related in the deflection direction. The support blocks 241, 243 are in conformity with the deflection beam suppression support 222 of FIG. 12, and the deflection beam of the beam and bearing device 203 is retained in the sidewall 245 which acts like the support of FIG. 12. do.

Conventional displacement transducers, which may constitute from the spherical bearing 217 to the detector support frame 227,

Capacitance Gauge

Linear Variable Differential Transformer (LVDT)

Hool Effect Detector

-Linear potentiometer.

When a force is applied to the platform 209, the beams and bearing devices 203, 205, 207 are deflected in different amounts, depending on the strength and direction of the force applied.

The magnitude of the deflection for each deflection beam is determined in only two directions as described above and the magnitude in each direction is determined by the detection methods 229, 231 and detectors 233, 235, 237 and 239. Is measured.

This provides a measure of six unique components of the applied force.

This technique and well-known mathematical vector transformations can be used to calculate the force exerted on the platform 209. Although specific embodiments have been described, this is for the purpose of illustrating the present invention, but not for limiting it.

Various modifications which are readily conceived by those skilled in the art are also within the scope of the invention as defined in the appended claims.

Claims (6)

Three spaced beams 203, 205 and 207, bearing arrangements and deflections of the support frames 223, 225 and 227 on each beam bed, and platform 209 are transmitted to the beam The platform 209, which is deflected, is placed on and supported on the support frames 223, 225 and 227, which is subjected to the applied force and is deflected by the force, and the beam so that the two free deflection directions are not allowed. A detector for determining the magnitude and direction of the applied force, which is constituted by means for measuring the deflection in two directions of the beam arranged. The beam of claim 1, wherein each beam is perpendicular to a vertical support 241, 243, a horizontal deflector 222, a spherical 217 linear bearing 215 inserted between a vertical bark and a horizontal deflector. A pressure detector comprising a platform (209) disposed on an upper end of a support (241) (243) and a means for measuring the deflection of the horizontal body. The method of claim 2, wherein the means for measuring the deflection comprises first measuring means for measuring the horizontal deflection of each beam for each beam and second measuring means for measuring the vertical deflection for each beam. Sergeant. The detector according to claim 3, wherein the front and rear axes of each horizontal deflector are arranged so that the beams are vertical bisectors of each side of the equilateral triangle. 5. A claim 4 comprising a square support frame 201 of four walls, one of which is mounted adjacent to the center of one wall 245 of the walls of the support frame 201 and the other two. Beams 205 and 207 are respectively mounted adjacent to corners supported by the support frames 241 and 243 opposite the wall 245. The detector according to claim 5, wherein said measuring means is selected from a conventional displacement transducer consisting of a capacitance gauge, a linear variable differential transformer, a horn effect detector, a reflected / interrupted light intensity or a linear potentiometer.

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