CN104771175B - Catch the wearable intelligent ring of human limb three-dimensional attitude - Google Patents
Catch the wearable intelligent ring of human limb three-dimensional attitude Download PDFInfo
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- CN104771175B CN104771175B CN201510097135.9A CN201510097135A CN104771175B CN 104771175 B CN104771175 B CN 104771175B CN 201510097135 A CN201510097135 A CN 201510097135A CN 104771175 B CN104771175 B CN 104771175B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Rehabilitation Tools (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a kind of wearable intelligent ring for catching human limb three-dimensional attitude, including joint Wearable fixing device, the joint position of human body is worn on；Wherein, upper connecting rod fixed block and lower link fixed block are individually fixed in the upper connecting rod and lower link of human synovial position；Upper connecting rod axle is connected with upper connecting rod fixed block；Lower link axle is connected with lower link fixed block；Joint encoders are used for the articulation angle for detecting human body, and flange is connected with upper connecting rod axle, and rotating shaft is connected with lower link axle；Upper connecting rod gyroscope is used to detect Space Rotating direction at the upper connecting rod of human body；CAN that arthrodesis device end is wireless is connected with joint encoders and upper connecting rod gyroscope respectively, for transmitting upper connecting rod gyroscope signal and joint encoders signal.The present invention has that measurement joint angles are accurate, angle read it is accurate and in time, strong adaptability, long transmission distance, real-time Transmission the features such as, effectively overcome reading data lag issues.
Description
Technical field
The present invention relates to a kind of wearable intelligent ring in medical rehabilitation instrument field, more particularly to a kind of accurate reading and structure
Build the wearable intelligent ring for the seizure human limb three-dimensional attitude that human limb three-dimensional attitude is transmitted with real-time radio.
Background technology
With the progress of science and technology, the research field of robot flourished, and wherein anthropomorphic robot is ground
It is even more because its apery characteristic receives common concern, and turns into the study hotspot in field in intelligent robotics to study carefully and apply.
In terms of man-machine interaction, how to detect human limb three-dimensional attitude and display in real time is a technical barrier.Prior art is such as
The problems such as six axle sensors, electromyographic signal etc. all have inaccurate, delayed.The present invention proposes the shield for meeting ergonomics
Tool, can be conveniently used for being worn on four limbs, neck and trunk motion real-time capture.
Found by being retrieved for existing technical literature：
Chinese invention patent publication number：CN103027826A, title：Elbow joint movement actuation rehabilitation device, it is impossible to realize people
Body four limbs space three-dimensional attitude information；
Chinese invention patent publication number：CN202537862U, title：Elbow joint instrument for training, is only capable of detecting the angle of elbow joint
Degree；
Chinese invention patent publication number：CN104224495A, title：Portable elbow joint healing robot control method,
Real-time data transmission is carried out using bluetooth, but reading angular can not ensure accurately.
The content of the invention
For above shortcomings in the prior art, the purpose of the present invention is to realize that human limb three-dimensional attitude is believed
The acquisition of breath, and then a kind of wearable intelligent ring for being used to catch human limb three-dimensional attitude is provided.The present invention is using symbol
The structure of ergonomics is closed, upper limbs and/or lower extremity movement posture and/or multi-joint attitude information to wearer are examined
Survey, can conveniently realize that limb motion feeds back；Intelligent ring is customized according to the size of wearer, can be worn on arm, leg
With the position such as trunk.The present invention is realized carries out Biomechanical evaluation on primary, including speed in allowed band, actively and passively movable model
Enclose and upper extremity exercise analysis；Realize that accurately feedback customization level performs control physical treatment campaign in real time；Realize instant limb
Body is dynamically caught, and can apply to challenge the form of sex play.
To achieve the above object, the present invention is achieved through the following technical solutions：
A kind of wearable intelligent ring for catching human limb three-dimensional attitude, including joint Wearable fixing device 3, institute
State the joint position that joint Wearable fixing device 3 is worn on human body；Wherein：
There is the joint Wearable fixing device 3 joint to bend and stretch the free degree, including：Upper connecting rod fixed block 31, upper connecting rod
Axle 32, lower link fixed block 33, lower link axle 34, joint encoders 35, upper connecting rod gyroscope 37, arthrodesis device end is wireless
CAN 38；Wherein：
The upper connecting rod fixed block 31 and lower link fixed block 33 are individually fixed in the upper connecting rod of human synovial position with
On connecting rod；
The upper connecting rod axle 32 is connected with upper connecting rod fixed block 31；
The lower link axle 34 is connected with lower link fixed block 33；
The joint encoders 35 are used for the articulation angle for detecting human body, the flange and upper connecting rod of joint encoders 35
Axle 32 is connected, and the rotating shaft of joint encoders 35 is connected with lower link axle 34；
The upper connecting rod gyroscope 37 is installed on the inside of upper connecting rod axle 32, and space is revolved at the upper connecting rod for detecting human body
Turn direction；
The wireless CAN 38 of arthrodesis device end is installed on inside upper connecting rod axle 32, and is encoded respectively with joint
Device 35 and upper connecting rod gyroscope 37 are connected, for transmitting upper connecting rod gyroscope signal and joint encoders signal, the upper connecting rod
Space Rotating direction, the joint encoders signal corresponding joint anglec of rotation at the upper connecting rod of gyroscope signal correspondence human body.
Preferably, the joint Wearable fixing device 3 also includes joint housing 36, the joint housing 36 and upper connecting rod
Axle 32 is connected, for covering joint encoders 35.
Preferably, the wearable intelligent ring for catching human limb three-dimensional attitude also includes host computer 1 and upper
CAN controller 2 that generator terminal is wireless, the joint Wearable fixing device 3 passes through the wireless CAN controller 2 of upper computer end
Communicated to connect with host computer 1.
Preferably, the wireless CAN of arthrodesis device end and upper computer end wireless CAN controller 2 are wireless
Communication connection.
Preferably, the wireless CAN controller 2 of upper computer end is installed on host computer 1.
Preferably, the upper connecting rod gyroscope 37 gathers the upper connecting rod Z-Y-X Eulerian angles of human body, remembers α, β, γ, then human body
Upper connecting rod at Space Rotating direction matrix be：
Wherein, α is nutational angle, and β is angle of precession, and γ is angle of rotation, and c is cosine Cos, and s is sine Sin.
Preferably, the joint encoders 35 detect the articulation angle θ of human body, then space is revolved at the lower link of human body
Turning direction matrix is：
Compared with prior art, the present invention has following beneficial effect：
1st, the wearable intelligent ring for the seizure human limb three-dimensional attitude that the present invention is provided, due to upper connecting rod fixed block
It is connected, can consolidates intelligent ring well with the upper connecting rod and lower link of human body (limbs) joint part respectively with lower link fixed block
It is scheduled on the limbs of wearer, accurately measures joint angles；
2nd, the present invention is by the way of encoder angular is directly read so that joint angles digital independent is accurate, overcomes angle
Degree reads inaccurate and delay sex chromosome mosaicism；
3rd, the present invention can use WiFi Radio Transmission Technologys, with spies such as strong adaptability, long transmission distance, real-time Transmissions
Point, effectively overcomes reading data lag issues.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 is the structural representation of elbow joint Wearable fixing device 3 in Fig. 1；
Fig. 3 is specific communication mode of the invention.
In figure：
1 is host computer
2 be the wireless CAN controller of upper computer end
3 be joint Wearable fixing device
31 be upper connecting rod fixed block
32 be upper connecting rod axle
33 be lower link fixed block
34 be lower link axle
35 be joint encoders
36 be joint housing
37 be upper connecting rod gyroscope
38 be the wireless CAN of arthrodesis device end
I is the upper connecting rod of human body joint position
II is the lower link of human body joint position
Embodiment
Embodiments of the invention are elaborated below：The present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process.It should be pointed out that to one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.
Embodiment
A kind of wearable intelligent ring for catching human limb three-dimensional attitude, including joint Wearable fixing device 3, institute
State the joint position that joint Wearable fixing device 3 is worn on human body；Wherein：
There is the joint Wearable fixing device 3 joint to bend and stretch the free degree, including：Upper connecting rod fixed block 31, upper connecting rod
Axle 32, lower link fixed block 33, lower link axle 34, joint encoders 35, joint housing 36, upper connecting rod gyroscope 37, joint are solid
Determine the wireless CAN 38 of device end；Wherein：
The upper connecting rod fixed block 31 and lower link fixed block 33 are individually fixed in the upper connecting rod of human synovial position with
On connecting rod；
The upper connecting rod axle 32 is connected with upper connecting rod fixed block 31；
The lower link axle 34 is connected with lower link fixed block 33；
The joint encoders 35 are used for the articulation angle for detecting human body, the flange and upper connecting rod of joint encoders 35
Axle 32 is connected, and the rotating shaft of joint encoders 35 is connected with lower link axle 34；
The upper connecting rod gyroscope 37 is installed on the inside of upper connecting rod axle 32, and space is revolved at the upper connecting rod for detecting human body
Turn direction；
The wireless CAN 38 of arthrodesis device end is installed on inside upper connecting rod axle 32, and is encoded respectively with joint
Device 35 and upper connecting rod gyroscope 37 are connected, for transmitting upper connecting rod gyroscope signal and joint encoders signal, the upper connecting rod
Space Rotating direction, the joint encoders signal corresponding joint anglec of rotation at the upper connecting rod of gyroscope signal correspondence human body.
Further, the joint Wearable fixing device 3 also includes joint housing 36, the joint housing 36 and upper company
Bar axle 32 is connected, for covering joint encoders 35.
Further, the wearable intelligent ring for catching human limb three-dimensional attitude also includes host computer 1 and upper
The position wireless CAN controller 2 of generator terminal, the joint Wearable fixing device 3 passes through the wireless CAN controller of upper computer end
2 communicate to connect with host computer 1.
Further, the wireless CAN 38 of the arthrodesis device end and the wireless CAN controller 2 of upper computer end
Wireless communication connection.
Further, the wireless CAN controller 2 of upper computer end is installed on host computer 1.
The present embodiment is further described below in conjunction with the accompanying drawings.
As shown in figure 1, what the present embodiment was provided, the wearable intelligent ring of human limb three-dimensional attitude is caught, can
It is accurate to read and real-time Transmission Angle of Elbow Joint, including the wireless CAN controller 2 of host computer 1, upper computer end, joint wearing
Formula fixing device 3.Wherein, there is the joint Wearable fixing device 3 joint to bend and stretch the free degree, be worn on wearer joint position
Upper connecting rod, joint and the lower link put, including：Joint encoders 35, the joint motions data for detecting wearer；Joint is consolidated
Determine the wireless CAN 38 of device end, joint encoders 35 and data that upper connecting rod gyroscope 37 is detected can be sent to upper
CAN controller 2 that generator terminal is wireless；The wireless CAN controller 2 of upper computer end is installed on the host computer 1, will dress
Person's joint motions signal is sent to the host computer 1；The host computer 1 receives the joint motions signal of wearer, carries out related
Post processing.
As shown in Fig. 2 the joint Wearable fixing device 3 is specifically included：Upper connecting rod fixed block 31, upper connecting rod axle 32,
Lower link fixed block 33, lower link axle 34, joint encoders 35, joint housing 36, upper connecting rod gyroscope 37, arthrodesis device
Hold wireless CAN 38.Wherein, the upper connecting rod fixed block 31 is fixed on wearer's upper connecting rod；The upper connecting rod axle 32 and institute
Upper connecting rod fixed block 31 is stated to be connected；The lower link fixed block 33 is fixed on wearer's lower link；The lower link axle 34 and institute
Lower link fixed block 33 is stated to be connected；The flange of joint encoders 35 is connected with the upper connecting rod axle 32, the joint encoders
35 rotating shafts are connected with the lower link axle 34, detect the articulation angle of wearer；The joint housing 36 and upper connecting rod axle
32 are connected, and cover the joint encoders 35；The upper connecting rod gyroscope 37 is installed on inside the upper arm axle 32, is connected in detection
The direction in space of bar；The wireless CAN 38 of arthrodesis device end is installed on inside the upper connecting rod axle 32, is closed with described
Section encoder 35, upper connecting rod gyroscope 37 are connected, and are responsible for transmission gyroscope signal and the sky of joint encoders signal, i.e. upper connecting rod
Between direction and joint rotation angle to the wireless CAN controller 2 of the upper computer end.
As shown in figure 3, the joint encoders 35, upper connecting rod gyroscope 37 are wireless with the arthrodesis device end respectively
CAN 38 is connected, and the direction in space of the articulation angle of the wearer detected, upper connecting rod is sent into the joint and consolidated
Determine the wireless CAN 38 of device end；The wireless CAN 38 of arthrodesis device end be connected send a signal to it is described upper
CAN controller 2 that generator terminal is wireless；The wireless CAN controller 2 of upper computer end and the host computer 1, the host computer
1 obtains the direction in space of the upper connecting rod of wearer and lower link by calculating.
In the present embodiment,
There is joint wearable intelligent loop device 3 joint to bend and stretch the free degree, be worn on the upper connecting rod of wearer, joint with
Connecting rod position, joint encoders 35 detect the joint motions data of wearer；Upper connecting rod gyroscope 37, detects the sky of upper connecting rod
Between direction.
Joint encoders 35 and upper connecting rod gyroscope 37 can be detected number by CAN 38 that arthrodesis device end is wireless
According to transmission to the wireless CAN controller 2 of upper computer end.
Upper computer end is wireless, and CAN controller 2 is installed on host computer 1, and wearer's joint motions signal is sent to
Position machine 1.
Host computer 1 receives the joint motions signal of wearer, carries out processing after correlation..
Upper connecting rod fixed block 31 is fixed on wearer's upper connecting rod；Upper connecting rod axle 32 is connected with upper connecting rod fixed block 31；Lower company
Bar fixed block 33 is fixed on wearer's lower link.
Lower link axle 34 is connected with lower link fixed block 33；The flange of joint encoders 35 is connected with upper connecting rod axle 32, closes
The rotating shaft of section encoder 35 is connected with lower link axle 34, detects the articulation angle of wearer.
Joint housing is connected with upper connecting rod axle 32, covers the joint encoders 35.
Upper connecting rod gyroscope 37 is installed on inside the upper connecting rod axle 32, detects the direction in space of upper connecting rod.
CAN 38 that arthrodesis device end is wireless is installed on inside the upper connecting rod axle 32, with the joint encoders
35th, upper connecting rod gyroscope 37 is connected, be responsible for the direction in space of transmission gyroscope signal and joint encoders signal, i.e. upper connecting rod with
Joint rotation angle is to the wireless CAN controller 2 of the upper computer end.
The computational methods of the body-sensing direction in space of wearer are：
Upper connecting rod gyroscope 37 can obtain the Z-Y-X Eulerian angles of wearer's upper connecting rod, be α, and beta, gamma then connects on wearer
The Space Rotating matrix of bar is：
Joint encoders 35 detect the articulation angle θ of wearer, then the Space Rotating matrix of wearer's lower link is：
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (6)
1. a kind of wearable intelligent ring for catching human limb three-dimensional attitude, it is characterised in that solid including joint Wearable
Determine device (3), the joint Wearable fixing device (3) is worn on the joint position of human body；Wherein：
There is the joint Wearable fixing device (3) joint to bend and stretch the free degree, including：Upper connecting rod fixed block (31), upper connecting rod
Axle (32), lower link fixed block (33), lower link axle (34), joint encoders (35), upper connecting rod gyroscope (37), arthrodesis
CAN that device end is wireless (38)；Wherein：
The upper connecting rod fixed block (31) and lower link fixed block (33) are individually fixed in the upper connecting rod of human synovial position with
On connecting rod；
The upper connecting rod axle (32) is connected with upper connecting rod fixed block (31)；
The lower link axle (34) is connected with lower link fixed block (33)；
The joint encoders (35) are used for the articulation angle for detecting human body, the flange and upper connecting rod of joint encoders (35)
Axle (32) is connected, and the rotating shaft of joint encoders (35) is connected with lower link axle (34)；
The upper connecting rod gyroscope (37) is installed on the inside of upper connecting rod axle (32), and space is revolved at the upper connecting rod for detecting human body
Turn direction；
The wireless CAN of arthrodesis device end (38) is installed on upper connecting rod axle (32) inside, and is encoded respectively with joint
Device (35) and upper connecting rod gyroscope (37) connection, for transmitting upper connecting rod gyroscope signal and joint encoders signal, it is described on
Space Rotating direction, the joint encoders signal corresponding joint anglec of rotation at the upper connecting rod of connecting rod gyroscope signal correspondence human body
Degree.
2. the wearable intelligent ring according to claim 1 for catching human limb three-dimensional attitude, it is characterised in that institute
Stating joint Wearable fixing device (3) also includes joint housing (36), and the joint housing (36) is connected with upper connecting rod axle (32),
For covering joint encoders (35).
3. the wearable intelligent ring according to claim 1 for catching human limb three-dimensional attitude, it is characterised in that institute
The wearable intelligent ring for catching human limb three-dimensional attitude is stated also including host computer (1) and the wireless CAN of upper computer end
Controller (2), the joint Wearable fixing device (3) passes through the wireless CAN controller of upper computer end (2) and host computer
(1) communicate to connect；Wherein, the wireless CAN of arthrodesis device end (38) and the wireless CAN controller of upper computer end
(2) wireless communication connection.
4. the wearable intelligent ring according to claim 3 for catching human limb three-dimensional attitude, it is characterised in that on
The position wireless CAN controller of generator terminal (2) is installed on host computer (1).
5. the wearable intelligent ring according to any one of claim 1 to 4 for catching human limb three-dimensional attitude, its
It is characterised by, the upper connecting rod gyroscope (37) gathers the upper connecting rod Z-Y-X Eulerian angles of human body, remembers α, β, γ, then human body is upper
Space Rotating direction matrix is at connecting rod：
Wherein, α is nutational angle, and β is angle of precession, and γ is angle of rotation, and c is cosine Cos, and s is sine Sin.
6. the wearable intelligent ring according to claim 5 for catching human limb three-dimensional attitude, it is characterised in that institute
The articulation angle θ that joint encoders (35) detect human body is stated, then Space Rotating direction matrix is at the lower link of human body：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510097135.9A CN104771175B (en) | 2015-03-04 | 2015-03-04 | Catch the wearable intelligent ring of human limb three-dimensional attitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510097135.9A CN104771175B (en) | 2015-03-04 | 2015-03-04 | Catch the wearable intelligent ring of human limb three-dimensional attitude |
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| CN104771175A CN104771175A (en) | 2015-07-15 |
| CN104771175B true CN104771175B (en) | 2017-08-01 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106123896B (en) * | 2016-06-14 | 2019-03-01 | 上海锡月科技有限公司 | A kind of motion capture system |
| CN107639620A (en) * | 2017-09-29 | 2018-01-30 | 西安交通大学 | A kind of control method of robot, body feeling interaction device and robot |
| CN108478222B (en) * | 2017-12-21 | 2021-04-13 | 北京精密机电控制设备研究所 | Neural network-based joint angle error compensation experimental device and method |
| CN108956003B (en) * | 2018-07-17 | 2020-10-20 | 崧智智能科技(苏州)有限公司 | Method and device for calibrating six-dimensional sensor posture in real time and terminal equipment |
| CN109737865A (en) * | 2019-01-25 | 2019-05-10 | 百年旭康医疗器械有限公司 | A kind of universal single dof mobility brace angle measurement unit and its application method |
| US20200268319A1 (en) * | 2019-02-27 | 2020-08-27 | Conzian Ltd. | Joint function monitoring system |
| CN113425290A (en) * | 2021-06-15 | 2021-09-24 | 燕山大学 | Joint coupling time sequence calculation method for human body rhythm movement |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5283401B2 (en) * | 2007-03-22 | 2013-09-04 | 国立大学法人 筑波大学 | Rehabilitation support device |
| CN101393007B (en) * | 2008-10-17 | 2011-01-26 | 华中科技大学 | Data acquisition system for flexible articulated arm measuring set |
| ES2396372B1 (en) * | 2010-04-15 | 2013-12-27 | Universidad De Zaragoza | POSTURAL ASSESSMENT DEVICE. |
| CN103190912B (en) * | 2012-01-09 | 2014-12-10 | 上海理工大学 | Knee joint movement parameter testing device |
| KR102191477B1 (en) * | 2012-09-07 | 2020-12-16 | 더 리전츠 오브 더 유니버시티 오브 캘리포니아 | Controllable Passive Artificial Knee |
| CN102824176B (en) * | 2012-09-24 | 2014-06-04 | 南通大学 | Upper limb joint movement degree measuring method based on Kinect sensor |
| CN103722550B (en) * | 2014-01-17 | 2015-08-19 | 上海交通大学 | The embedded system of exoskeleton robot |
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