CN106073790B - Exoskeleton suit and torso simulation system - Google Patents

Exoskeleton suit and torso simulation system Download PDF

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Publication number
CN106073790B
CN106073790B CN201610743042.3A CN201610743042A CN106073790B CN 106073790 B CN106073790 B CN 106073790B CN 201610743042 A CN201610743042 A CN 201610743042A CN 106073790 B CN106073790 B CN 106073790B
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exoskeleton
limb
upper limb
positioning
wearer
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CN106073790A (en
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崔泰
薛兆龙
李芳芳
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Beijing Shenmigu Digi Tech Co ltd
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Beijing Shenmigu Digi Tech Co ltd
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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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
    • 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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
    • 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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1077—Measuring of profiles
    • 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
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
    • 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
    • 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
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • 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
    • A61B5/1116—Determining posture transitions
    • 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
    • A61B5/6804—Garments; Clothes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

Abstract

The invention discloses an exoskeleton suit and a body simulation system. The exoskeleton suit comprises at least one measuring device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measuring device comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit, such that the size of the limb of the wearer of the exoskeleton suit can be obtained without manual measurement, and the measured limb size can be transmitted by the measurement communication module. This avoids the prior art of requiring manual measurements of the user's limb and manual entry of a measurement receipt into the system. In addition, the body simulation system adopts the size of the limbs of the wearer of the exoskeleton suit measured and sent by the exoskeleton suit according to the embodiment of the disclosure, so that the body of the user can be simulated, the limb size of the user is not required to be measured and input manually, and the operation is simplified.

Description

Exoskeleton suit and torso simulation system
Technical Field
The invention relates to the technical field of ergonomics, in particular to an exoskeleton suit and a body simulation system.
Background
With the development of society, the simulation and motion capture of human bodies have been increasingly adopted in the fields of film and television production, medical care, game entertainment and the like by the progress of network and communication technologies, graphic image processing technologies and computer technologies. In simulating the human body and capturing the motion, it is generally necessary to attach a large number of sensors to the human body by means of a strap or a tight suit. In this case, it is difficult for the user to tie up the strap or put on the tights for himself, and only help of other people can be resorted to, which causes a great impediment to the user's acquisition of body posture information. Meanwhile, wearing a large number of sensors leads to cost improvement of the simulation system and complex operation. Moreover, obtaining limb size data of a user can only be performed manually and is very cumbersome in a system where the data is manually input.
Disclosure of Invention
In order to achieve the above object, the present invention proposes an exoskeleton suit and a body simulation system.
According to a first aspect of the present invention there is provided an exoskeleton suit comprising at least one measuring device for measuring a dimension of a limb of a wearer of the exoskeleton suit, wherein the measuring device comprises a measurement communication module for transmitting the measured dimension of the limb of the wearer of the exoskeleton suit.
Optionally, the exoskeleton suit further comprises a plurality of exoskeleton members, each exoskeleton member being connected to each other by an exoskeleton joint, wherein the measuring device is mounted at the exoskeleton joint and is coupled to at least one exoskeleton member at the exoskeleton joint to measure a dimension of a limb of a wearer of the exoskeleton suit.
Optionally, at least one exoskeleton part is telescopic at an exoskeleton joint where the measuring device is located to measure a size of a limb of a wearer of the exoskeleton suit in combination with the measuring device.
Optionally, the exoskeleton suit further comprises an upper limb exoskeleton comprising a plurality of exoskeleton parts: a shoulder exoskeleton part and two arm exoskeleton parts respectively connected with the shoulder exoskeleton part, each arm exoskeleton part comprises a forearm exoskeleton part and an upper arm exoskeleton part connected with the rear end of the forearm exoskeleton part,
wherein each exoskeleton part interconnection in the upper limb exoskeleton is an exoskeleton joint, and the measuring device is arranged at least one exoskeleton joint.
Optionally, the upper limb exoskeleton further comprises a plurality of positioning devices, at least one positioning device is mounted on each exoskeleton part of the upper limb exoskeleton for positioning the movement of the corresponding exoskeleton part, wherein the positioning devices comprise a positioning communication module for transmitting positioning information for positioning the movement of the corresponding exoskeleton part.
Optionally, the upper limb exoskeleton further comprises two upper limb front end positioning devices, wherein:
each upper limb front end positioning device is arranged at the front end of the forearm exoskeleton, wherein when a user wears the upper limb exoskeleton, each upper limb front end positioning device is fixed at a position between an elbow joint of one arm of the user and a palm, and positions the position between the elbow joint and the palm in space so as to acquire upper limb front end position information, and each upper limb front end positioning device comprises a communication module and is used for sending corresponding upper limb front end position information.
Optionally, the exoskeleton suit further comprises a lower limb exoskeleton comprising a plurality of exoskeleton parts: a hip exoskeleton member and two leg exoskeleton members respectively connected to the hip exoskeleton member, each leg exoskeleton member including a calf exoskeleton member and a thigh exoskeleton member connected to an upper end of the calf exoskeleton member,
wherein each exoskeleton part interconnection in the lower limb exoskeleton is an exoskeleton joint, and the measuring device is arranged at least one exoskeleton joint.
Optionally, the lower limb exoskeleton further comprises a plurality of positioning devices, at least one positioning device is mounted on each exoskeleton part of the lower limb exoskeleton for positioning the movement of the corresponding exoskeleton part, wherein the positioning devices comprise a positioning communication module for transmitting positioning information for positioning the movement of the corresponding exoskeleton part.
Optionally, the upper limb exoskeleton further comprises two lower limb lower end positioning devices, wherein:
each lower limb lower end positioning device is arranged at the lower end of the lower limb exoskeleton, wherein when a user wears the lower limb exoskeleton, each lower limb lower end positioning device is fixed at a position between a knee joint and an ankle joint of one leg of the user, and positions the position between the knee joint and the ankle joint in space so as to acquire lower limb lower end position information, and each lower limb lower end positioning device comprises a communication module and is used for sending corresponding lower limb lower end position information.
According to a second aspect of the present invention there is provided a body simulation system comprising an exoskeleton suit and a simulation device:
the exoskeleton suit comprises at least one measuring device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measuring device comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit;
the simulation device obtains the size of the limb of the wearer of the exoskeleton suit from the at least one measurement device, wherein the simulation device calculates the overall size of the user by adopting the size of the limb of the wearer of the exoskeleton suit, and further simulates the body of the user.
The exoskeleton suit and the body simulation system provided by the invention can be used for measuring the size of the limb of the wearer of the exoskeleton suit by comprising at least one measuring device, wherein the measuring device comprises a measuring communication module used for sending the measured size of the limb of the wearer of the exoskeleton suit, so that the size of the limb of the wearer of the exoskeleton suit can be obtained without manual measurement, and the measured size of the limb can be sent by the measuring communication module. This avoids the prior art of requiring manual measurements of the user's limb and manual entry of a measurement receipt into the system. In addition, the body simulation system adopts the size of the limbs of the wearer of the exoskeleton suit measured and sent by the exoskeleton suit according to the embodiment of the disclosure, so that the body of the user can be simulated, the limb size of the user is not required to be measured and input manually, and the operation is simplified. The body simulation system according to the invention can be used for realizing accurate and efficient human-machine real-time interaction, and of course, the man-machine interaction can be also in a non-real-time condition as will be clear to a person skilled in the art. The exoskeleton suit and body simulation system provided by the invention is suitable for various fields such as man-machine interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.
Drawings
FIG. 1 is a block diagram of an exoskeleton suit according to an embodiment of the present invention;
FIG. 2 is a block diagram of an exoskeleton suit according to another embodiment of the present invention;
FIG. 3 is a block diagram of an upper extremity exoskeleton of an exoskeleton suit according to another embodiment of the present invention;
FIG. 4 is a block diagram of a lower extremity exoskeleton of an exoskeleton suit according to another embodiment of the present invention;
fig. 5 is a block diagram of a body simulation system according to an embodiment of the present invention.
Detailed Description
The present invention will be further described in detail below with reference to specific embodiments and with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a block diagram of the construction of an exoskeleton suit according to an embodiment of the present invention.
The exoskeleton suit 100 shown in fig. 1 comprises at least one measuring device 110 for measuring the size of a limb of a wearer of the exoskeleton suit 100. Wherein the measurement device 110 comprises a measurement communication module 1110 for transmitting the measured size of the limb of the wearer of the exoskeleton suit 100.
The exoskeleton suit is shown in fig. 1 to include a plurality of measuring devices 110, but may include only one measuring device 110.
In this embodiment, the "limb of the wearer" refers to a portion on the body of the user, for example, the forearm or upper arm of a certain arm, the calf or thigh of a certain leg, the shoulder, etc. For example, when measuring the forearm of the wearer's left arm, the measurement device 110 may measure the length of the forearm of the left arm. For another example, the measuring device 110 may measure the width of the shoulder when measuring the shoulder of the wearer.
In this embodiment, when the measurement communication module 1110 transmits the size of the limb of the wearer of the exoskeleton suit 100 measured by the measurement device 110 to a mannequin device, the mannequin device can calculate corresponding body simulation data according to the size of the limb of the wearer transmitted by the measurement communication module 1110, so as to estimate the information of the size, the overall body shape, and the like of each part of the body of the user. It will be appreciated that with multiple measurement devices 110, exoskeleton suit 100 can provide more comprehensive limb data for simulating a wearer of the suit.
Those skilled in the art will appreciate that the measuring means may be of various types. Also, when a plurality of measuring devices are employed, various types of measuring devices may be incorporated in the exoskeleton suit according to an embodiment of the present invention.
For example, when the measuring device is a mechanical measuring device, the measuring device may comprise a tape measure, in which case the measuring device may be mounted at any location on the exoskeleton suit, for example at a joint such as an elbow or on an exoskeleton part such as a forearm, and the corresponding limb length is measured by withdrawing the tape measure.
For example, when the measuring device is a mechanical measuring device, the measuring device may include a gear mechanism for use with an exoskeleton component, such as a forearm exoskeleton component. In this case, the forearm exoskeleton stretches and contracts in the gear mechanism so that the gear mechanism rotates, the measuring device further comprises a counting mechanism, and the length of the forearm exoskeleton part after stretching can be read according to the rotation of the gear mechanism, so that the length of the forearm exoskeleton part can be determined.
For example, the measuring device may also be a laser ranging device, an ultrasonic ranging device, an infrared ranging device, a radio ranging device, etc., which may be mounted to any location of the exoskeleton suit.
Preferably, each measuring device comprises a measurement communication module. The measurement communication module may be a wired communication module or a wireless communication module. The measurement communication module may transmit the limb information measured by the measurement device to any other information processing apparatus capable of communicating with the positioning communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or may be a complex information processing device such as a tablet computer, a PAD, a mobile phone, a computer, or the like, and the user may select an appropriate information processing device according to the actual information processing requirement.
The exoskeleton suit may be configured to measure a size of a limb of a wearer of the exoskeleton suit by including at least one measurement device, wherein the measurement device includes a measurement communication module configured to transmit the measured size of the limb of the wearer of the exoskeleton suit, such that the size of the limb of the wearer of the exoskeleton suit is obtained without manual measurement, and the measured size of the limb may be transmitted by the measurement communication module. This avoids the prior art of requiring manual measurements of the user's limb and manual entry of a measurement receipt into the system. For example, when the exoskeleton suit is used for simulating a human body, a simulation system for manually measuring the human body size and inputting the measured size may not be required, but at least one measurement device on the exoskeleton suit may measure the limb size of the user and send the limb size to the simulation system after the user wears the exoskeleton suit, which simplifies the operation of the simulation system. The exoskeleton suit disclosed by the invention is suitable for various fields such as man-machine interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.
Fig. 2 is a block diagram of an exoskeleton suit according to another embodiment of the present invention.
As shown in FIG. 2, exoskeleton suit 200 according to an embodiment of the present invention further comprises a plurality of exoskeleton members (not shown), each of which is connected to each other at an exoskeleton joint 210. Wherein measurement device 110 is mounted at exoskeleton joint 210 and is coupled to at least one exoskeleton component at exoskeleton joint 210 to measure a size of a limb of a wearer of exoskeleton suit 200.
It will be appreciated by those skilled in the art that in exoskeleton wear in accordance with embodiments of the present invention, the exoskeleton joints can be manufactured as separate exoskeleton components, for example, with an elbow joint exoskeleton component disposed between the forearm exoskeleton component and the upper arm exoskeleton component to connect the two. In exoskeleton wear according to an embodiment of the present invention, it is also possible not to manufacture a separate exoskeleton joint, but to refer to the junction of two adjacent exoskeleton parts as an exoskeleton joint. For example, the junction of the forearm and upper arm exoskeleton components is referred to as an exoskeleton joint.
In this embodiment, at least one exoskeleton member (not shown) can be telescoping at the exoskeleton joint 210 where the measurement device 110 is located to measure the size of the limb of the wearer of the exoskeleton suit 200 in combination with the measurement device 110. For example, when the measuring device is a mechanical measuring device, the measuring device at the exoskeleton joint may comprise a gear mechanism for use in connection with an exoskeleton part, such as a forearm exoskeleton part. In this case, the forearm exoskeleton stretches and contracts in the gear mechanism so that the gear mechanism rotates, the measuring device further comprises a counting mechanism, and the length of the forearm exoskeleton part after stretching can be read according to the rotation of the gear mechanism, so that the length of the forearm exoskeleton part can be determined. It will be appreciated by those skilled in the art that the measuring device in the present embodiment is not limited to the mechanical processing device, but may be a laser ranging device, an ultrasonic ranging device, an infrared ranging device, a radio ranging device, or the like.
In an exoskeleton suit according to an embodiment of the present invention, the exoskeleton suit may further comprise an upper limb exoskeleton. The upper limb exoskeleton may comprise a plurality of exoskeleton components including: a shoulder exoskeleton part and two arm exoskeleton parts respectively connected with the shoulder exoskeleton part, each arm exoskeleton part comprises a forearm exoskeleton part and an upper arm exoskeleton part connected with the rear end of the forearm exoskeleton part. Wherein, each exoskeleton part interconnection in the upper limb exoskeleton is an exoskeleton joint, and a measuring device is arranged at least one exoskeleton joint.
Fig. 3 is a block diagram of an upper extremity exoskeleton of an exoskeleton suit according to another embodiment of the present invention.
In an exoskeleton suit according to an embodiment of the present invention, the upper limb exoskeleton 300 can further comprise a plurality of positioning means 3110, at least one positioning means 3110 being mounted on each exoskeleton part 310 of the upper limb exoskeleton 300 for positioning the movement of the respective exoskeleton part 310. Wherein the positioning device 3110 may include a positioning communication module (not shown) for transmitting positioning information for positioning the movement of the respective exoskeleton members 310.
In exoskeleton suit according to an embodiment of the present invention, the positioning device may be any positioning device that can be used for positioning. The positioning device includes one or more of various sensors, positioning devices, and image acquisition devices. The sensor includes, but is not limited to, an acceleration sensor for sensing acceleration data, an angular velocity sensor for sensing angular velocity data, a direction sensor for sensing movement direction data, and the like; a magneto-resistive sensor for sensing geomagnetic field data, an air pressure sensor for sensing air pressure data, an environmental data sensor such as a temperature sensor for sensing temperature data, etc.; a proximity sensor for sensing proximity blocking data; a physical sign data sensor for sensing blood pressure, heart beat, pulse, body surface temperature and other body sign data of the motion capture target. The positioning device may be one or more of a GPS positioning device, a WIFI positioning device, a beacon positioning device, a sensor positioning device, a beidou positioning device, a GLONASS (GLONASS) positioning device, a galileo positioning device, and the like. The image acquisition device can be an image acquisition device such as a camera. It should be specifically noted that the positioning device is only exemplary, and is not intended to limit the present invention, and any component capable of implementing the desired positioning function falls within the scope of the present invention.
Preferably, the positioning device is wearable, and may include a plurality of inertial sensors placed at positions between the elbow joint and the palm of one arm of the user to obtain inertial sensing data thereat. The inertial sensor is a multi-axis sensor, such as a nine-axis sensor comprising a gyroscope XYZ axis, an accelerometer XYZ axis and a magnetometer XYZ axis, so that multi-dimensional inertial sensing data can be obtained, and the human body posture can be accurately determined.
Preferably, each positioning device comprises a positioning communication module. The positioning communication module may be a wired communication module or a wireless communication module. The positioning communication module may transmit the positioning information acquired by the positioning device to any other information processing apparatus capable of communicating with the positioning communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or may be a complex information processing device such as a tablet computer, a PAD, a mobile phone, a computer, or the like, and the user may select an appropriate information processing device according to the actual information processing requirement.
The exoskeleton suit according to the embodiment of the present invention can locate the upper limb movements of the wearer of the exoskeleton suit by the locating devices located on the respective exoskeleton parts of the upper limb exoskeleton and can transmit the locating information to the outside. With the wearer's movements positioned and the user's limb dimensions known, the user's body shape and movements can be better simulated. The exoskeleton suit disclosed by the invention is suitable for various fields such as man-machine interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.
In one embodiment, the upper extremity exoskeleton may comprise two upper extremity front positioning devices, wherein: each upper limb front end positioning device is arranged at the front end of the forearm exoskeleton. When a user wears the upper limb exoskeleton, each upper limb front end positioning device is fixed at a position between an elbow joint and a palm of one arm of the user, and positions the position between the elbow joint and the palm in space so as to acquire upper limb front end position information. Each upper limb front end positioning device comprises a communication module and is used for sending corresponding upper limb front end position information. When the state of the user is simulated by utilizing the upper limb front end position information, a reverse dynamics algorithm can be adopted, and the movement gesture of the upper limb of the wearer is calculated based on the upper limb front end position information and the limb size of the exoskeleton suit wearer measured by the measuring device, so that the upper limb gesture of the user is simulated. It will be apparent to those skilled in the art that the inverse kinematics algorithm is a method of determining the entire bone chain by first determining the position of the child bone and then inversely deriving the n-level parent bone position on the bone chain in which it is located. One skilled in the art can apply the inverse kinetic algorithm of the prior art to the present invention in light of the teachings of the present invention.
In an exoskeleton suit according to an embodiment of the present invention, the exoskeleton suit may further comprise a lower limb exoskeleton comprising a plurality of exoskeleton parts: a hip exoskeleton member and two leg exoskeleton members respectively connected to the hip exoskeleton member, each leg exoskeleton member including a lower leg exoskeleton member and an upper leg exoskeleton member connected to an upper end of the lower leg exoskeleton member. Wherein, each exoskeleton part interconnection in the lower limb exoskeleton is an exoskeleton joint, and a measuring device is arranged at least one exoskeleton joint.
Fig. 4 is a block diagram of a lower extremity exoskeleton of an exoskeleton suit according to another embodiment of the present invention.
In an exoskeleton suit according to an embodiment of the present invention, the lower limb exoskeleton 400 can further comprise a plurality of positioning devices 4110. At least one positioning device 4110 is mounted to each exoskeleton member 410 of the lower limb exoskeleton 400 for positioning the movement of the corresponding exoskeleton member 410. Wherein the positioning device 4110 may comprise a positioning communication module (not shown) for transmitting positioning information for positioning the movement of the respective exoskeleton members 410.
In exoskeleton wear according to embodiments of the present invention, the positioning devices on the lower extremity exoskeleton can be identical to the positioning devices on the upper extremity exoskeleton.
In exoskeleton suit according to an embodiment of the present invention, the positioning device is wearable, and may include a plurality of inertial sensors placed at positions between the elbow joint and the palm of one arm of the user to obtain inertial sensing data thereat. The inertial sensor is a multi-axis sensor, such as a nine-axis sensor comprising a gyroscope XYZ axis, an accelerometer XYZ axis and a magnetometer XYZ axis, so that multi-dimensional inertial sensing data can be obtained, and the human body posture can be accurately determined.
In an exoskeleton suit according to an embodiment of the present invention, a positioning communication module is included in each positioning device. The positioning communication module may be a wired communication module or a wireless communication module. The positioning communication module may transmit the positioning information acquired by the positioning device to any other information processing apparatus capable of communicating with the positioning communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or may be a complex information processing device such as a tablet computer, a PAD, a mobile phone, a computer, or the like, and the user may select an appropriate information processing device according to the actual information processing requirement.
The exoskeleton suit according to the embodiment of the present invention can locate the lower limb movements of the wearer of the exoskeleton suit by the locating means located on the respective exoskeleton parts of the lower limb exoskeleton and can transmit the locating information to the outside. With the wearer's movements positioned and the user's limb dimensions known, the user's body shape and movements can be better simulated. The exoskeleton suit disclosed by the invention is suitable for various fields such as man-machine interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.
In the exoskeleton suit according to an embodiment of the present invention, the upper limb exoskeleton may further comprise two lower limb lower end positioning devices, wherein: each lower limb lower end positioning device is arranged at the lower end of the lower leg exoskeleton. When a user wears the upper and lower limb exoskeleton, each lower limb lower end positioning device is fixed at a position between a knee joint and an ankle joint of one leg of the user, and positions the position between the knee joint and the ankle joint in space to obtain lower limb lower end position information, wherein each lower limb lower end positioning device comprises a communication module and is used for sending corresponding lower limb lower end position information. When the lower limb lower end position information is utilized to simulate the state of a user, a reverse dynamics algorithm can be adopted, and the movement gesture of the lower limb of the wearer is calculated based on the lower limb lower end position information and the limb size of the exoskeleton suit wearer measured by the measuring device, so that the lower limb gesture of the user is simulated. It will be apparent to those skilled in the art that the inverse kinematics algorithm is a method of determining the entire bone chain by first determining the position of the child bone and then inversely deriving the n-level parent bone position on the bone chain in which it is located. One skilled in the art can apply the inverse kinetic algorithm of the prior art to the present invention in light of the teachings of the present invention.
Fig. 5 is a block diagram of a body simulation system according to an embodiment of the present invention.
As shown in fig. 5, a body simulation system 500 according to an embodiment of the present invention includes an exoskeleton suit 10 and a simulation device 30. Exoskeleton suit 10 comprises at least one measurement device for measuring the size of a limb of a wearer of exoskeleton suit 10. Wherein the measuring means comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit. Simulation device 30 obtains the dimensions of the limb of the wearer of exoskeleton suit 10 from at least one measurement device. The simulation device 30 calculates the overall size of the user by using the size of the limb of the wearer of the exosuit 10, and simulates the torso of the user.
Those skilled in the art will appreciate that the exoskeleton suit in the simulation system of fig. 5 may include the exoskeleton suit described above with reference to fig. 1-4. It will be appreciated by those skilled in the art that the simulation device in the simulation system in fig. 5 may be a simulation device in the prior art, that is, in the case where the limb size transmitted by the measurement communication module in the measurement device on the exoskeleton suit is obtained, the simulation device may simulate the body of the user based on the existing program, algorithm, or the like.
The body simulation system according to an embodiment of the present invention may be implemented by a simulation system including an exoskeleton suit and a simulation device: the exoskeleton suit comprises at least one measuring device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measuring device comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit; the simulation device obtains the size of the limb of the wearer of the exoskeleton suit from at least one measurement device, wherein the simulation device adopts the size of the limb of the wearer of the exoskeleton suit, calculates the overall size of the user, and then simulates the body of the user, so that the size of the limb of the wearer of the exoskeleton suit can be obtained without manual measurement, and the measured limb size can be sent through the measurement communication module, so that the overall simulation of the user is realized. This avoids the prior art of requiring manual measurements of the user's limb and manual entry of a measurement receipt into the system. In addition, the body simulation system adopts the size of the limbs of the wearer of the exoskeleton suit measured and sent by the exoskeleton suit according to the embodiment of the disclosure, so that the body of the user can be simulated, the limb size of the user is not required to be measured and input manually, and the operation is simplified. The body simulation system according to the invention can be used for realizing accurate and efficient human-machine real-time interaction, and of course, the man-machine interaction can be also in a non-real-time condition as will be clear to a person skilled in the art. The exoskeleton suit and body simulation system provided by the invention is suitable for various fields such as man-machine interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.
While the foregoing is directed to embodiments of the present invention, other and further details of the invention may be had by the present invention, it should be understood that the foregoing description is merely illustrative of the present invention and that no limitations are intended to the scope of the invention, except insofar as modifications, equivalents, improvements or modifications are within the spirit and principles of the invention.

Claims (9)

1. An exoskeleton suit comprising at least one measurement device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measurement device comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit to a mannequin device so that the mannequin device calculates the size of each part of the body of the wearer from the size of the limb of the wearer;
the exoskeleton suit comprises an upper limb exoskeleton, the upper limb exoskeleton further comprises two upper limb front end positioning devices, wherein:
each upper limb front end positioning device is arranged at the front end of the forearm exoskeleton, wherein when a user wears the upper limb exoskeleton, each upper limb front end positioning device is fixed at a position between an elbow joint and a palm of one arm of the user, positions the position between the elbow joint and the palm in space to obtain upper limb front end position information, each upper limb front end positioning device comprises a communication module and is used for sending corresponding upper limb front end position information to the human body simulation equipment, so that the human body simulation equipment calculates the movement posture of the upper limb of the wearer based on the upper limb front end position information and the limb size of the exoskeleton wearer measured by the measuring device, and further simulates the upper limb posture of the user.
2. The exosuit of claim 1, further comprising a plurality of exoskeleton members, each exoskeleton member being connected to each other to form an exoskeleton joint, wherein the measurement device is mounted at the exoskeleton joint and is coupled to at least one exoskeleton member at the exoskeleton joint to measure a dimension of a limb of a wearer of the exosuit.
3. The exosuit of claim 2, wherein at least one exoskeletal component is telescoping at an exoskeletal joint where the measuring device is located to measure, in combination with the measuring device, a size of a limb of a wearer of the exosuit.
4. The exosuit of claim 1, wherein the upper limb exoskeleton comprises a plurality of exoskeleton parts: a shoulder exoskeleton part and two arm exoskeleton parts respectively connected with the shoulder exoskeleton part, each arm exoskeleton part comprises a forearm exoskeleton part and an upper arm exoskeleton part connected with the rear end of the forearm exoskeleton part,
wherein each exoskeleton part interconnection in the upper limb exoskeleton is an exoskeleton joint, and the measuring device is arranged at least one exoskeleton joint.
5. The exosuit of claim 4, wherein the upper limb exoskeleton further comprises a plurality of positioning means, at least one of the positioning means being mounted on each exoskeleton part of the upper limb exoskeleton for positioning the movement of the corresponding exoskeleton part, wherein the positioning means comprises a positioning communication module for transmitting positioning information for positioning the movement of the corresponding exoskeleton part.
6. The exosuit of claim 1, further comprising a lower extremity exoskeleton comprising a plurality of exoskeleton parts: a hip exoskeleton member and two leg exoskeleton members respectively connected to the hip exoskeleton member, each leg exoskeleton member including a calf exoskeleton member and a thigh exoskeleton member connected to an upper end of the calf exoskeleton member,
wherein each exoskeleton part interconnection in the lower limb exoskeleton is an exoskeleton joint, and the measuring device is arranged at least one exoskeleton joint.
7. The exosuit of claim 6, wherein the lower extremity exoskeleton further comprises a plurality of positioning means, at least one of the positioning means being mounted on each exoskeleton part of the lower extremity exoskeleton for positioning the movement of the corresponding exoskeleton part, wherein the positioning means comprises a positioning communication module for transmitting positioning information for positioning the movement of the corresponding exoskeleton part.
8. The exosuit according to claim 6, wherein the upper limb exoskeleton further comprises two lower limb lower end positioning devices, wherein:
each lower limb lower end positioning device is arranged at the lower end of the lower limb exoskeleton, wherein when a user wears the lower limb exoskeleton, each lower limb lower end positioning device is fixed at a position between a knee joint and an ankle joint of one leg of the user, and positions the position between the knee joint and the ankle joint in space so as to acquire lower limb lower end position information, and each lower limb lower end positioning device comprises a communication module and is used for sending corresponding lower limb lower end position information.
9. A body simulation system comprising an exoskeleton suit and a simulation device:
the exoskeleton suit comprises at least one measuring device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measuring device comprises a measurement communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit;
the simulation device obtains the size of the limb of the wearer of the exoskeleton suit from the at least one measurement device, wherein the simulation device calculates the overall size of the user by adopting the size of the limb of the wearer of the exoskeleton suit, and further simulates the body of the user;
the exoskeleton suit comprises an upper limb exoskeleton, the upper limb exoskeleton further comprises two upper limb front end positioning devices, each upper limb front end positioning device is arranged at the front end of the forearm exoskeleton, wherein when a user wears the upper limb exoskeleton, each upper limb front end positioning device is fixed at a position between an elbow joint and a palm of one arm of the user, the upper limb front end positioning devices position the position between the elbow joint and the palm in space to obtain upper limb front end position information, and each upper limb front end positioning device comprises a communication module and is used for sending the corresponding upper limb front end position information to human body simulation equipment;
the simulation device acquires corresponding upper limb front end position information from the communication module, calculates the movement gesture of the upper limb of the wearer based on the upper limb front end position information and the limb size of the wearer of the exoskeleton suit measured by the measurement device, and further simulates the upper limb gesture of the user.
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