CN106112997A - Ectoskeleton takes - Google Patents
Ectoskeleton takes Download PDFInfo
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- CN106112997A CN106112997A CN201610743032.XA CN201610743032A CN106112997A CN 106112997 A CN106112997 A CN 106112997A CN 201610743032 A CN201610743032 A CN 201610743032A CN 106112997 A CN106112997 A CN 106112997A
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- China
- Prior art keywords
- ectoskeleton
- clothes
- parts
- measurement apparatus
- connection module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a kind of ectoskeleton clothes, ectoskeleton clothes include multiple ectoskeleton parts and the multiple attachment devices being arranged on multiple ectoskeleton parts, wherein: multiple attachment devices include at least one expansion connection module and at least one measurement apparatus；Wherein, each expansion connection module all connects for external expanding unit, and when external expanding unit is connected to corresponding expansion connection module, external expanding unit is removably attached on expansion connection module；Wherein, at least one measurement apparatus is for measuring the size of the limbs of the wearer of described ectoskeleton clothes.Expansion connection module makes ectoskeleton clothes can connect different external expanding units, so that ectoskeleton clothes are readily applied to various different field, therefore, greatly extend the purposes of ectoskeleton clothes.By measurement apparatus, take can the limb size of the external wearer of exoskeleton suit measure according to the ectoskeleton of the present invention, and without manual measurement, thus save workload.
Description
Technical field
The present invention relates to ergonomics technical field, particularly relate to ectoskeleton clothes.
Background technology
Ectoskeleton clothes have a wide range of applications in fields such as military affairs, engineering, exploration, medical treatment.Currently, ectoskeleton clothes are
It is specifically manufactured for special-purpose, after having manufactured, is difficult to use in other field.And, when needing more rich function
Time, ectoskeleton clothes can only be made to complicated all the more, and manufacturing cost is high.It addition, existing ectoskeleton clothes function with
And complete and shape, and be difficult to extend.
It addition, the body of people being emulated and during motion capture, it usually needs by bandage or tights etc
Big quantity sensor is close on the body of people by means.In the case, user is difficult for oneself fastening bandage or putting on close-fitting vest
Clothing, can only seek help from other people help, and this obtains body attitude information and causes the biggest obstruction user.Meanwhile, dress greatly
Quantity sensor causes the cost of analogue system, complex operation.And, it is thus achieved that the limb size data of user can only pass through people
Work is measured, the most loaded down with trivial details.
Summary of the invention
In order to solve the relevant issues of prior art, the present invention proposes ectoskeleton clothes.
According to the first aspect of the invention, it is provided that a kind of ectoskeleton clothes, described ectoskeleton clothes include multiple ectoskeleton parts
With the multiple attachment devices being arranged on the plurality of ectoskeleton parts, wherein:
The plurality of attachment device includes at least one expansion connection module and at least one measurement apparatus；
Wherein, each expansion connection module all connects for external expanding unit, when being connected to accordingly by external expanding unit
Expansion connection module time, described external expanding unit is removably attached on described expansion connection module；
Wherein, at least one measurement apparatus described is for measuring the size of the limbs of the wearer of described ectoskeleton clothes.
Alternatively, described ectoskeleton clothes also include that power circuit, described power circuit are connected to be arranged at described ectoskeleton
Clothes power supply interiorly or exteriorly, part or all in the plurality of attachment device is connected to described by described power circuit
Power supply.
Alternatively, described ectoskeleton clothes also include that communication line, described communication line are connected to be arranged at described ectoskeleton
Clothes processing means interiorly or exteriorly, part or all in the plurality of attachment device passes through described communication line with described
Processing means connects.
Alternatively, described ectoskeleton clothes also include that power supply and communication line, described power supply and communication line are connected to arrange
Processing means interiorly or exteriorly is taken with being arranged at described ectoskeleton in described ectoskeleton clothes power supply interiorly or exteriorly, described many
Part or all in individual attachment device is connected to described power supply and described processing means by described power supply and communication line.
Alternatively, when at least one expansion connection module described is multiple expansion connection module, the plurality of extension connects
Mouth die block includes the expansion connection module that two kinds of sizes are different, wherein, the first expansion connection module be smaller in size than the second
The size of expansion connection module.
Alternatively, described measurement apparatus include measure communication module, for send measure described ectoskeleton clothes wear
The size of the limbs of wearer.
Alternatively, each ectoskeleton parts place of being connected with each other is ectoskeleton joint, and wherein, described measurement apparatus is installed on institute
State ectoskeleton joint, and be combined with at least one ectoskeleton parts of described ectoskeleton joint to measure described ectoskeleton clothes
The size of limbs of wearer.
Alternatively, at least one ectoskeleton parts ectoskeleton joint at described measurement apparatus place stretch, with institute
State the size that measurement apparatus combines the limbs of the wearer measuring described ectoskeleton clothes.
Alternatively, described ectoskeleton clothes also include that upper limb ectoskeleton, described upper limb ectoskeleton include following multiple ectoskeleton
Parts: shoulder ectoskeleton parts and two the arm ectoskeleton parts being connected with described shoulder ectoskeleton parts respectively, every hands
Arm ectoskeleton parts all include the upper arm ectoskeleton that forearm ectoskeleton parts and the rear end with described forearm ectoskeleton parts are connected
Parts,
Wherein, each ectoskeleton parts place of being connected with each other in described upper limb ectoskeleton is ectoskeleton joint, at least one
Individual ectoskeleton joint installs described measurement apparatus.
Alternatively, described ectoskeleton clothes also include that lower limb exoskeleton, described lower limb exoskeleton include following multiple ectoskeleton
Parts: hip ectoskeleton parts and two the leg ectoskeleton parts being connected with described hip ectoskeleton parts respectively, each lower limb
Portion's ectoskeleton parts all include the thigh ectoskeleton that shank ectoskeleton parts and the upper end with described shank ectoskeleton parts are connected
Parts,
Wherein, each ectoskeleton parts place of being connected with each other in described lower limb exoskeleton is ectoskeleton joint, at least one
Individual ectoskeleton joint installs described measurement apparatus.
The ectoskeleton clothes that the present invention proposes, this ectoskeleton clothes can be by providing at least one to extend in skeletal members outside
Interface module so that ectoskeleton clothes can connect different external expanding units, so that ectoskeleton clothes are readily applied to each
Plant different fields, therefore, greatly extend the purposes of ectoskeleton clothes.It addition, the device that not will be provided with various function is direct
It is arranged on ectoskeleton clothes, but uses expansion connection module to be connected with the external expanding unit of difference in functionality, i.e. will be provided with each
The device planting function takes separately manufactured with ectoskeleton, can effectively reduce the manufacturing cost of ectoskeleton clothes.When need not some merit
During energy, ectoskeleton clothes can be not connected to the external expanding unit with corresponding function, therefore, it can effectively reduce ectoskeleton clothes
Use cost.By measurement apparatus, take can the limb size of the external wearer of exoskeleton suit enter according to the ectoskeleton of the present invention
Row is measured, and without manual measurement, thus save workload.And, the ectoskeleton clothes of the present invention can be to wearer
The function that limb size is abundant by being arranged on the external expanding unit offer of expansion connection module while measuring so that
Ectoskeleton clothes can be applied to various field.The ectoskeleton using the solution of the present invention takes of many uses, when connection has different
During external expanding unit, ectoskeleton clothes go for man-machine interaction, production of film and TV, health care, Entertainment, field are surveyed
The every field such as spy, production activity.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of ectoskeleton clothes according to an embodiment of the invention；
Fig. 2 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 3 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 4 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 5 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 6 is the structured flowchart of measurement apparatus in ectoskeleton clothes according to another embodiment of the present invention；
Fig. 7 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 8 be according to another embodiment of the present invention ectoskeleton clothes in the ectoskeletal structured flowchart of upper limb；
Fig. 9 is the structured flowchart of lower limb exoskeleton in ectoskeleton clothes according to another embodiment of the present invention；
Figure 10 is the structured flowchart of body analogue system according to another embodiment of the present invention.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.Should be appreciated that specific embodiment described herein is only in order to explain this
Bright, it is not intended to limit the present invention.
It should be appreciated by those skilled in the art that the clothes of the ectoskeleton according to the present invention can be various forms of ectoskeleton dress
Put, as long as can be clothed on the body of user, rather than be only limitted to be similar to the ESD of clothing form.And,
Ectoskeleton clothes according to the present invention can only include upper limb ectoskeleton, it is also possible to only includes lower limb exoskeleton.And, according to this
Bright ectoskeleton clothes can include upper limb ectoskeleton and lower limb exoskeleton simultaneously, the two can be one can also be to separate
's.It addition, in other embodiments in accordance with the invention, ectoskeleton clothes can also include wear-type device, such as, Brilliant Eyes
Mirror, intelligent helmet etc..It addition, taking according to the ectoskeleton of the present invention can be power exoskeleton clothes, or unpowered ectoskeleton clothes,
Or local dynamic ectoskeleton clothes.In embodiments of the present invention, the ectoskeleton parts of ectoskeleton clothes can be with of the prior art
Mode realizes, and will omit associated description in the description of the invention.
Fig. 1 is the structured flowchart of ectoskeleton clothes according to an embodiment of the invention.
Include multiple ectoskeleton parts 110 as it is shown in figure 1, ectoskeleton takes 100 and be arranged on multiple ectoskeleton parts 110
Multiple attachment devices.Multiple attachment devices include at least one expansion connection module 1110 and at least one measurement apparatus
1120.Each expansion connection module 1110 all connects for external expanding unit, when being connected to expand accordingly by external expanding unit
During exhibition interface module 1110, external expanding unit is removably attached on expansion connection module 1110.At least one measures dress
Put 1120 for measuring the size of limbs that ectoskeleton takes the wearer of 100.
As it is shown in figure 1, can both be provided with expansion connection module 1110 on ectoskeleton parts 110, survey is installed again
Amount device 1120, it is also possible to only install the one in expansion connection module 1110 and measurement apparatus 1120.Alternatively, a dermoskeleton
One expansion connection module 1110, or uneasy expansion connection module 1110 can be only installed on bone parts 110.Alternatively, one
One measurement apparatus 1120 can be only installed on individual ectoskeleton parts 110, or measurement apparatus 1120 is not installed.
Such as, the external expansion multiple expansion connection modules 1110 of the ectoskeleton parts 110 of exoskeleton suit 100 outside installed
Extending apparatus is measurement apparatus, and the body of the wearer that can be used for external exoskeleton suit measures, and therefore can follow the tracks of the dynamic of wearer
Make.In this case, external measurement apparatus and the measurement apparatus 1120 expansion connection module 1110 installed coordinate so that outer
Exoskeleton suit 100 can provide measurement result accurately.
The most such as, outside multiple expansion connection modules 1110 of the ectoskeleton parts 110 of exoskeleton suit 100 outside being installed
Connect expanding unit when being communicator, outside the size of the limbs of the wearer that measurement apparatus 1120 is recorded by communicator is sent to
Portion so that the limb size of the wearer that ectoskeleton can take 100 without manual operation is sent to relevant apparatus, such as, body
Body analogue system, in order to the body of wearer is emulated.
The most such as, outside multiple expansion connection modules 1110 of the ectoskeleton parts 110 of exoskeleton suit 100 outside being installed
Connect expanding unit be game paddle, game firearms and game racket at least one time, on expansion connection module 1110 install
On external expanding unit coordinate with measurement apparatus 1120 so that when ectoskeleton clothes wearer play time, obtain exactly
Take the limb size that ectoskeleton takes the wearer of 100, i.e. make wearer obtain by the limb size of wearer is measured
Preferably game experiencing.
According to disclosure embodiment ectoskeleton take in, external expanding unit can include measurement apparatus, positioner,
One or more in sensor device, communicator, game device, detection device, constructing device, calculating device.
It will be understood by those skilled in the art that the expansion connection module 1110 of the ectoskeleton parts 110 that ectoskeleton takes 100 can
To be only used for being removably secured external expanding unit.In another embodiment, ectoskeleton takes the ectoskeleton parts of 100
It is internal or outward that the attachment device (including expansion connection module 1110 and measurement apparatus 1120) of 110 may be also connected to ectoskeleton clothes
The power supply in portion, thus power for external expanding unit.In another embodiment, ectoskeleton takes ectoskeleton parts 110 attached of 100
Feeder apparatus can also be interconnected by communication line between (including expansion connection module 1110 and measurement apparatus 1120) and/or
It is connected to ectoskeleton clothes processing means interiorly or exteriorly so that can communicate between external expanding unit by communication line,
And/or attachment device can be with processing means communication.In another embodiment, ectoskeleton takes the ectoskeleton parts 110 of 100
Attachment device can both be connected to ectoskeleton clothes power supply interiorly or exteriorly, be connected to ectoskeleton clothes place interiorly or exteriorly
Reason device so that attachment device is powered, again with another external controller or processing means communication.
Fig. 2 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention.
As in figure 2 it is shown, take 200 according to the ectoskeleton of another embodiment of the disclosure also include power circuit.Power circuit is even
Receive and be arranged at ectoskeleton and take 200 power supplys 120 interiorly or exteriorly.Part or all in multiple attachment devices passes through power supply
Connection is to power supply 120, thus power supply 120 is powered for attachment device.As in figure 2 it is shown, a part of expansion connection module 1110
It is connected to power supply 120 with a part of measurement apparatus 1120 by power circuit, thus is powered by power supply 120.And, be connected to
The external expanding unit of the expansion connection module 1110 that power circuit connects can also be powered by power supply 120.It addition, show at one
In example, whole expansion connection modules 1110 can not be connected with power supply 120, part or all in simultaneous measuring apparatus 1120
It is connected with power supply 120.It addition, in one example, whole measurement apparatus 1120 can not be connected with power supply 120, extends simultaneously
Part or all in interface module 1110 is connected with power supply 120.
It will be understood by those skilled in the art that power supply 120 can be built in ectoskeleton and take in 200, it is also possible to be positioned at dermoskeleton
Outside bone takes 200.In one example, power supply 120 can be connected to expansion connection module as an external expanding unit
1110, and be that other attachment devices are powered by expansion connection module 1110 and power circuit.Further, Ke Yiwei
The external expanding unit that expansion connection module 1110 is connected is powered.
Fig. 3 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention.
As it is shown on figure 3, take 300 according to the ectoskeleton of another embodiment of the disclosure also include communication line.Communication line is even
Receive and be arranged at ectoskeleton and take 300 processing meanss 130 interiorly or exteriorly.Part or all in multiple attachment devices is passed through
Communication line is connected to communicate with processing means 130 with processing means 130.As it is shown on figure 3, a part of expansion connection module 1110
It is connected to processing means 130 to communicate with processing means 130 by communication line with a part of measurement apparatus 1120.Further
Ground, is connected to the external expanding unit at the expansion connection module 1110 being connected with communication line and is filled with processing by communication line
Put 130 communications.It addition, in one example, whole expansion connection modules 1110 can not be connected with processing means 130, simultaneously
Part or all in measurement apparatus 1120 is connected with processing means 130.It addition, in one example, whole measurement apparatus
1120 can not be connected with processing means 130, simultaneously part or all in expansion connection module 1110 and processing means 130
Connect.
It will be understood by those skilled in the art that processing means 130 can be built in ectoskeleton and take in 300, it is also possible to
It is in outside ectoskeleton takes 300.Such as, processing means 130 can be placed in ectoskeleton and take the processor within 300, also
It can be an ectoskeleton computer taking outside 300.In one example, processing means 130 can be as an external expansion
Extending apparatus is connected to expansion connection module 1110, and by expansion connection module 1110 and communication line and measurement apparatus
1120 and/or be fixed on the external expanding unit communication of other expansion connection modules 1110, and carry out data process.
Fig. 4 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention.
As shown in Figure 4, take 400 according to the ectoskeleton of another embodiment of the disclosure and also include power supply and communication line.Power supply
And communication line be connected to be arranged at ectoskeleton take 400 power supplys 120 interiorly or exteriorly and be arranged at ectoskeleton take 400 internal or
Outside processing means 130.Part or all in multiple attachment devices is connected to power supply 120 by power supply and communication line
With processing means 130, thus accept power supply 120 and power and communicated with processing means 130 by communication line.As shown in Figure 4,
A part of expansion connection module 1110 and a part of measurement apparatus 1120 are connected to power supply 120 and place by power supply and communication line
Reason device 130, thus powered by power supply 120 and communicate with processing means 130.Further, it is connected to and power supply and order wire
The external expanding unit of the expansion connection module 1110 that road connects is accepted power supply 120 and powers and filled with processing by communication line
Put 130 communications.It addition, in one example, whole expansion connection modules 1110 can not be with power supply 120 and processing means 130
Connecting, part or all in simultaneous measuring apparatus 1120 is connected with power supply 120 and processing means 130.It addition, show at one
In example, whole measurement apparatus 1120 can not be connected with power supply 120 and processing means 130, simultaneously in expansion connection module 1110
Part or all be connected with power supply 120 and processing means 130.
It will be understood by those skilled in the art that in the embodiment shown in Fig. 2 to Fig. 4, it is shown that not with other additional dresses
Put, independent attachment device that power supply 120 or processing means 130 connect, including, independent expansion connection module 1110 and independent
Measurement apparatus 1120.In the case, independent measurement apparatus 1120 can be without electricity consumption or self-powered, to complete
Measure.In the case of not being connected with power supply 120 or processing means 130, independent expansion connection module 1110 only plays outward
Connect expanding unit and be detachably fixed to the effect of ectoskeleton clothes.Ectoskeleton clothes according to embodiment of the disclosure can have solely
Vertical attachment device, it is also possible to not there is independent attachment device.
The ectoskeleton clothes that the present invention proposes, this ectoskeleton clothes can be by providing at least one to extend in skeletal members outside
Interface module so that ectoskeleton clothes can connect different external expanding units, so that ectoskeleton clothes are readily applied to each
Plant different fields, therefore, greatly extend the purposes of ectoskeleton clothes.It addition, the device that not will be provided with various function is direct
It is arranged on ectoskeleton clothes, but uses expansion connection module to be connected with the external expanding unit of difference in functionality, i.e. will be provided with each
The device planting function takes separately manufactured with ectoskeleton, can effectively reduce the manufacturing cost of ectoskeleton clothes.When need not some merit
During energy, ectoskeleton clothes can be not connected to the external expanding unit with corresponding function, therefore, it can effectively reduce ectoskeleton clothes
Use cost.By measurement apparatus, take can the limb size of the external wearer of exoskeleton suit enter according to the ectoskeleton of the present invention
Row is measured, and without manual measurement, thus save workload.And, the ectoskeleton clothes of the present invention can be to wearer
The function that limb size is abundant by being arranged on the external expanding unit offer of expansion connection module while measuring so that
Ectoskeleton clothes can be applied to various field.The ectoskeleton using the solution of the present invention takes of many uses, when connection has different
During external expanding unit, ectoskeleton clothes go for man-machine interaction, production of film and TV, health care, Entertainment, field are surveyed
The every field such as spy, production activity.
In the ectoskeleton of the disclosure takes, owing to external expanding unit can be any device, therefore, if only carried
For a kind of expansion connection module, then expansion connection module may be caused to be unsuitable for for some external expanding unit.Such as, when outward
Connecing expanding unit is only a midget plant, such as, during measurement apparatus, the expansion connection module only providing small-sized just can be expired
The needs of foot fixation measuring device.In the case, when external expanding unit is only a relatively large device, such as, all
During such as the constructing device of electric drill etc, it is suitable for the expansion connection module of fixation measuring device due to its size and weight capacity
Little, it is unsuitable for fixing constructing device.Therefore, in certain situations it is desirable to arrange various sizes of extension on exoskeleton suit outside and connect
Mouth die block.
Fig. 5 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention.
In one embodiment, multiple expansion connection modules 1110 can include the expansion interface mould that two kinds of sizes are different
Block.Wherein, the size being smaller in size than the second expansion connection module 1112 of the first expansion connection module 1111.Preferably,
The load-bearing property of the first expansion connection module 1111 can be less than the load-bearing property of the second expansion connection module 1112.Ability
Field technique personnel are appreciated that the second expansion connection module 1112 that size is bigger has higher load-bearing property and enables to
Ectoskeleton takes can fix heavier external expanding unit on 500.Such as, it is provided with outside the first expansion connection module 1111
Skeletal members 110 can be upper limb ectoskeleton, such as forearm ectoskeleton, the first expansion connection module on forearm ectoskeleton
1111 can with fixed dimension little and lightweight external expanding unit.The most such as, the second expansion connection module 1112 it is provided with
Ectoskeleton parts 110 can be lower limb exoskeleton, such as thigh ectoskeleton, the second expansion interface mould on thigh ectoskeleton
Block 1112 can with fixed dimension the big and external expanding unit of Heavy Weight.
Preferably, when ectoskeleton clothes include back ectoskeleton and thigh ectoskeleton, the second expansion connection module is set
Be placed in back ectoskeleton and thigh ectoskeleton at least one on.Preferably, be arranged at the ectoskeletal the second of back expand
The external expanding unit that exhibition interface module connects is bogey, has the receiving sky accommodating article inside described bogey
Between.It will be understood by those skilled in the art that outside in exoskeleton suit, compared to other ectoskeleton parts, back ectoskeleton and thigh
Ectoskeleton is relatively more suitable for fixing large-size or the external expanding unit of greater weight, therefore, it can connect the second extension
On at least one what mouth die block was arranged in back ectoskeleton and thigh ectoskeleton.Additionally, back ectoskeleton is suitable for placing one
The bogey of individual backpack.For example, it is possible to the back ectoskeleton of exoskeleton suit places the bogey of backpack to accommodate outside
One computer, the second expansion connection module that this computer is fixed to by bogey and ectoskeleton take other
The external expanding unit that expansion connection module is connected, such as, measurement apparatus and sensor etc., communication.This have and can hold
Receive computer bogey ectoskeleton clothes be applicable to various sight, such as, virtual reality, exploration etc..
Fig. 6 is the structured flowchart of measurement apparatus in ectoskeleton clothes according to another embodiment of the present invention.
As shown in Figure 6, measurement apparatus 6120 includes measuring communication module 6121, for sending what the ectoskeleton measured took
The size of the limbs of wearer.
In the present embodiment, when the wearer measuring the ectoskeleton clothes that measurement apparatus 6120 is measured by communication module 6121
The size of limbs when being sent to a human body emulator, this human emulation equipment can be according to measuring communication module 6121
The Size calculation of the limbs of the wearer sent goes out corresponding body emulation data, thus estimates the chi of the body each several part of user
The information such as very little, overall build.Being appreciated that in the case of having multiple measurement apparatus 6120, ectoskeleton clothes can provide more
Comprehensively limbs data, the wearer for external exoskeleton suit emulates.
It will be understood by those skilled in the art that measurement apparatus can be all kinds.And, when using multiple measurement apparatus
Time, various types of measurement apparatus can be combined in ectoskeleton according to embodiments of the present invention takes.
Such as, when measurement apparatus is Mechanical measurement device, measurement apparatus can include a tape measure, now measures dress
Put the optional position that may be mounted at ectoskeleton clothes, such as, on the joint of such as ancon or the ectoskeleton parts of such as forearm,
Corresponding limbs length is measured by extracting tape measure out.
Such as, when measurement apparatus is Mechanical measurement device, measurement apparatus can include a gear mechanism, in conjunction with one
Individual ectoskeleton parts, such as, forearm ectoskeleton parts use.In the case, forearm ectoskeleton is flexible in this gear mechanism
Gear mechanism is rotated, and measurement apparatus also has counting mechanism, can read this forearm dermoskeleton according to the rotation of gear mechanism
Length after bone parts are flexible, thereby determines that the length of these forearm ectoskeleton parts.
Such as, measurement apparatus can be with laser ranging system, supersonic range finder, infrared distance measurement device or wireless electrical measurement
Away from device etc., these measurement apparatus can be installed to the optional position of ectoskeleton clothes.
Preferably, each measurement apparatus all includes measuring communication module.Measuring communication module can be wire communication module
Or wireless communication module.The limbs information that measurement apparatus can be recorded by measurement communication module is sent to any other can be with survey
The messaging device of amount communication module communication.Such as, messaging device can be simple messaging device, such as believes
Breath processes chip, it is also possible to be the messaging device of the complexity such as panel computer, PAD, mobile phone, computer, user Ke Gen
The requirement of border information processing selects suitable messaging device factually.
This ectoskeleton clothes can be by including at least one measurement apparatus, for measuring the wearer of described ectoskeleton clothes
The size of limbs, wherein, described measurement apparatus include measure communication module, for send measure described ectoskeleton clothes wear
The size of the limbs of wearer so that without manual measurement, the size of the limbs of the wearer of ectoskeleton clothes, Er Qieke can be obtained
The limb size recorded by measuring communication module to send.This avoids needs in prior art manually to survey user's limbs
Amount, and it is input manually into the loaded down with trivial details of system by measuring receipt.Such as, ectoskeleton is being taken when to human emulation, Ke Yiwu
Need manual measurement body dimension the analogue system size recorded inputted, but ectoskeleton can have been dressed user and take it
After, at least one measurement apparatus on ectoskeleton clothes can have been measured the limb size of user and limb size has been sent to emulation
System, this simplify the work of analogue system.It addition, when measurement apparatus combines the external extension dress installed on expansion connection module
Putting when being used together, taking according to the ectoskeleton of the present invention to provide more function.The ectoskeleton clothes of the present invention are applicable to people
The every field such as machine is mutual, production of film and TV, health care, Entertainment, ground observation, production activity.
Fig. 7 is the structured flowchart of ectoskeleton clothes according to another embodiment of the present invention.
As it is shown in fig. 7, take in 700 at ectoskeleton according to embodiments of the present invention, each ectoskeleton parts are connected with each other place
For ectoskeleton joint 710.Wherein, measurement apparatus 7110 is installed at ectoskeleton joint 710, and with ectoskeleton joint 710 at
At least one ectoskeleton parts combines the size of the limbs of the wearer taking 700 with measurement ectoskeleton.
It will be understood by those skilled in the art that in ectoskeleton according to embodiments of the present invention takes, ectoskeleton can be closed
Joint is fabricated to single ectoskeleton parts, such as, arranges an elbow between forearm ectoskeleton parts and upper arm ectoskeleton parts
The two is coupled together by joint ectoskeleton parts.In ectoskeleton according to embodiments of the present invention takes, it is also possible to do not manufacture individually
Ectoskeleton joint, but the junction of two adjacent ectoskeleton parts is referred to as ectoskeleton joint.Such as, by forearm dermoskeleton
The junction of bone parts and upper arm ectoskeleton parts is referred to as ectoskeleton joint.
In this embodiment, at least one ectoskeleton parts (not shown) can be at the ectoskeleton at measurement apparatus 7110 place
Stretch at joint 710, to be combined the size of the limbs measuring the wearer that ectoskeleton takes 700 with measurement apparatus 7110.Such as,
When measurement apparatus is Mechanical measurement device, the measurement apparatus of ectoskeleton joint can include a gear mechanism, in conjunction with
One ectoskeleton parts, such as, forearm ectoskeleton parts use.In the case, forearm ectoskeleton is stretched in this gear mechanism
Contracting makes gear mechanism rotate, and measurement apparatus also has counting mechanism, can read outside this forearm according to the rotation of gear mechanism
Length after skeletal members is flexible, thereby determines that the length of these forearm ectoskeleton parts.It will be understood by those skilled in the art that this reality
Execute the measurement apparatus in example and be not limited to mechanical type processing means, but can be laser ranging system, supersonic range finder, red
Outer range unit or radio distance-measuring device etc..
In ectoskeleton according to embodiments of the present invention takes, ectoskeleton clothes can also include upper limb ectoskeleton.Upper limb dermoskeleton
Bone can include following multiple ectoskeleton parts: shoulder ectoskeleton parts and two handss being connected with shoulder ectoskeleton parts respectively
Arm ectoskeleton parts, every arm ectoskeleton parts all include that forearm ectoskeleton parts and the rear end with forearm ectoskeleton parts connect
The upper arm ectoskeleton parts connect.Wherein, each ectoskeleton parts place of being connected with each other in upper limb ectoskeleton is ectoskeleton joint,
At least one ectoskeleton joint installs measurement apparatus.
Fig. 8 is the ectoskeletal structured flowchart of upper limb of ectoskeleton clothes according to another embodiment of the present invention.
In ectoskeleton according to embodiments of the present invention takes, upper limb ectoskeleton 800 can also include multiple positioner
8110, each ectoskeleton parts 810 of upper limb ectoskeleton 800 are mounted at least one positioner 8110, for right
The motion of corresponding ectoskeleton parts 810 positions.Wherein, positioner 8110 can include that positioning and communicating module (is not shown
Go out), for sending the location information that the motion to corresponding ectoskeleton parts 310 positions.
It will be understood by those skilled in the art that positioner 8110 can be directly installed on the upper limb ectoskeleton of ectoskeleton clothes
On 800, it is also possible to each expansion connection module being releasably attached on upper limb ectoskeleton 800 as external expanding unit
On.
In ectoskeleton according to embodiments of the present invention takes, positioner can be the location that any one can be used for location
Device.Described positioner includes one or more in various sensor, location equipment and image capture device.Described sensing
Device includes but not limited to the acceleration transducer for sensing acceleration information, for sensing the angular velocity sensing of angular velocity data
Device, for sensing the exercise data sensor of direction sensor etc. of direction of motion data；For sensing the magnetic of earth's magnetic field data
Resistive sensor, for sensing the baroceptor of barometric information, for the environment of temperature sensor etc. of sensing temperature degrees of data
Data pick-up；For sensing the proximity transducer close to block data；For sensor operation catch the blood pressure of target, heart beating,
The sign data sensor of the sign data such as pulse, shell temperature.Described location equipment can be that GPS location equipment, WIFI are fixed
Position equipment, beacon location equipment, sensor location device, Big Dipper location equipment, GLONASS (GLONASS) location equipment, gal
One or more in the profit slightly location equipment such as location equipment.Described image capture device can be that the image acquisition such as photographic head set
Standby.It should be strongly noted that above-mentioned positioner is exemplary explanation, be not limited to the present invention, any can be real
The assembly of existing required positioning function each falls within protection scope of the present invention.
Preferably, described positioner is wearable, and it can include multiple inertial sensor, the plurality of inertia
Sensor is placed on the elbow joint of an arm of user to the position between palm, to obtain the inertia sensing data at this.
Wherein, described inertial sensor is multi-axial sensor, such as includes gyroscope XYZ axle, accelerometer XYZ axle and magnetometer XYZ
Nine axle sensors of axle, are so obtained in that the inertia sensing data of various dimensions such that it is able to determine human body attitude more accurately.
Preferably, each positioner all includes positioning and communicating module.Positioning and communicating module can be wire communication module
Or wireless communication module.The location information that positioner obtains can be sent to any other by positioning and communicating module can be with fixed
The messaging device of bit walk module communication.Such as, messaging device can be simple messaging device, such as believes
Breath processes chip, it is also possible to be the messaging device of the complexity such as panel computer, PAD, mobile phone, computer, user Ke Gen
The requirement of border information processing selects suitable messaging device factually.
Ectoskeleton clothes according to embodiments of the present invention can be by being positioned on upper limb each ectoskeleton parts ectoskeletal
The upper extremity exercise of the wearer of the external exoskeleton suit of positioner positions, and location information can be sent to outside.When to wearing
In the case of the motion of wearer has carried out location and has had learned that the limb size of user, can preferably build to user
Emulate with action.The ectoskeleton clothes of the present invention are applicable to man-machine interaction, production of film and TV, health care, Entertainment, field
The every field such as exploration, production activity.
In one embodiment, upper limb ectoskeleton can include two upper limb front laies, wherein: before each upper limb
End positioning device is arranged at the ectoskeletal front end of forearm.Wherein, when user is worn by upper limb ectoskeleton, each upper limb front end
Positioner is each attached to the elbow joint of an arm of user to the position between palm, and this upper limb front lay is at sky
In between, the position between elbow joint to palm is positioned, to obtain upper limb front position information.Wherein, each upper limb front end
Positioner all includes communication module, is used for sending corresponding upper limb front position information.When utilizing upper limb front position information
When the state of user is emulated, IK Solvers algorithm can be used, based on upper limb front position information and measurement apparatus
The ectoskeleton recorded takes the limb size of wearer, calculates the athletic posture of described wearer upper limb, and then to described user's
Upper limb attitude emulates.Those skilled in the art are it is understood that IK Solvers algorithm is a kind of by first determining sub-skeleton
Position, then reverse derives n level father's bone site on its place skeletal chain, so that it is determined that the method for whole piece skeletal chain.Root
According to the teachings of the present invention, IK Solvers algorithm of the prior art can be applied in the present invention by those skilled in the art.
In ectoskeleton according to embodiments of the present invention takes, ectoskeleton clothes can also include lower limb exoskeleton, lower limb dermoskeleton
Bone includes following multiple ectoskeleton parts: outside hip ectoskeleton parts and two legs being connected with hip ectoskeleton parts respectively
Skeletal members, each leg ectoskeleton parts all include what shank ectoskeleton parts and the upper end with shank ectoskeleton parts were connected
Thigh ectoskeleton parts.Wherein, each ectoskeleton parts place of being connected with each other in lower limb exoskeleton is ectoskeleton joint, at least
One ectoskeleton joint installs measurement apparatus.
Fig. 9 is the structured flowchart of the lower limb exoskeleton of ectoskeleton clothes according to another embodiment of the present invention.
In ectoskeleton according to embodiments of the present invention takes, lower limb exoskeleton 900 may also include multiple positioner 9110.
Each ectoskeleton parts 910 of lower limb exoskeleton 900 are mounted at least one positioner 9110, for accordingly
The motion of ectoskeleton parts 910 positions.Wherein, positioner 9110 can include positioning and communicating module (not shown), uses
In sending the location information that the motion to corresponding ectoskeleton parts 910 positions.
It will be understood by those skilled in the art that positioner 9110 can be directly installed on the lower limb exoskeleton of ectoskeleton clothes
On 900, it is also possible to each expansion connection module being releasably attached on lower limb exoskeleton 900 as external expanding unit
On.
In ectoskeleton according to embodiments of the present invention takes, the positioner on lower limb exoskeleton can be with upper limb ectoskeleton
On positioner system identical.
In ectoskeleton according to embodiments of the present invention takes, positioner is wearable, and it can include multiple used
Property sensor, the plurality of inertial sensor is placed on the elbow joint of an arm of user to the position between palm, to obtain
Obtain inertia sensing data at this.Wherein, described inertial sensor is multi-axial sensor, such as includes gyroscope XYZ axle, acceleration
Degree meter XYZ axle and nine axle sensors of magnetometer XYZ axle, be so obtained in that the inertia sensing data of various dimensions such that it is able to
Determine human body attitude more accurately.
In ectoskeleton according to embodiments of the present invention takes, all include positioning and communicating module at each positioner.Location
Communication module can be wire communication module or wireless communication module.The location that positioner can be obtained by positioning and communicating module
Information is sent to any other messaging device that can communicate with positioning and communicating module.Such as, messaging device is permissible
For simple messaging device, such as information processing chip, it is also possible to be panel computer, PAD, mobile phone, computer etc.
Complicated messaging device, user can select suitable messaging device according to the requirement that actual information processes.
Ectoskeleton clothes according to embodiments of the present invention can be by being positioned on each ectoskeleton parts of lower limb exoskeleton
The lower extremity movement of the wearer of the external exoskeleton suit of positioner positions, and location information can be sent to outside.When to wearing
In the case of the motion of wearer has carried out location and has had learned that the limb size of user, can preferably build to user
Emulate with action.The ectoskeleton clothes of the present invention are applicable to man-machine interaction, production of film and TV, health care, Entertainment, field
The every field such as exploration, production activity.
In ectoskeleton according to embodiments of the present invention takes, upper limb ectoskeleton can also include location, two lower limb lower ends dress
Put, wherein: under each lower limb, end positioning device is arranged at the ectoskeletal lower end of shank.Wherein, outside user is worn by lower limb
During skeleton, under each lower limb, end positioning device is each attached to the knee joint of the one leg of user to the position between ankle joint, should
Under lower limb, the position between knee joint to ankle joint is positioned by end positioning device in space, to obtain lower limb lower end position
Information, wherein, under each lower limb, end positioning device all includes communication module, is used for sending corresponding lower limb lower end position information.
When utilizing lower limb lower end position information that the state of user is emulated, IK Solvers algorithm can be used, based on lower limb
The ectoskeleton that lower end position information and measurement apparatus record takes the limb size of wearer, calculates the motion of described wearer lower limb
Attitude, and then the lower limb attitude of described user is emulated.Those skilled in the art are it is understood that IK Solvers algorithm is
A kind of position by first determining sub-skeleton, then reverse derives n level father's bone site on its place skeletal chain, so that it is determined that
The method of whole piece skeletal chain.According to the teachings of the present invention, those skilled in the art can be by IK Solvers of the prior art
Algorithm is applied in the present invention.
Figure 10 is the structured flowchart of body analogue system according to another embodiment of the present invention.
As shown in Figure 10, body analogue system 10 includes that ectoskeleton takes 11 and emulates dress according to another embodiment of the present invention
Put 12.Ectoskeleton takes 11 can include multiple ectoskeleton parts and the multiple attachment devices being arranged on multiple ectoskeleton parts,
Wherein: multiple attachment devices include at least one expansion connection module and at least one measurement apparatus.Wherein, each expansion interface
Module all connects for external expanding unit, when external expanding unit is connected to corresponding expansion connection module, and external extension
Device is removably attached on expansion connection module.Wherein, at least one measurement apparatus is for measuring described ectoskeleton clothes
The size of the limbs of wearer, measurement apparatus include measure communication module, for send measure described ectoskeleton clothes wear
The size of the limbs of wearer.Simulator 12 takes the chi of the limbs of the wearer of 10 from least one measurement apparatus acquisition ectoskeleton
Very little.Wherein, simulator 12 uses ectoskeleton to take the size of limbs of wearer of 10, calculates the size that user is overall, and then
The body of user is emulated.
It will be understood by those skilled in the art that the clothes of the ectoskeleton in the analogue system in Figure 10 can include above by reference to figure
The ectoskeleton clothes that 1 to Fig. 9 describes.It will be understood by those skilled in the art that the simulator in the analogue system in Figure 10 is permissible
It is simulator of the prior art, i.e. in the case of the limb size that the measurement apparatus obtained on ectoskeleton clothes records,
The body etc. of user can be emulated by simulator based on existing program, algorithm etc..Further, obtain when simulator
During the location information of each ectoskeleton parts of the positioner external exoskeleton suit on ectoskeleton clothes, can external exoskeleton suit
The state of wearer emulates.
In an application scenarios of body analogue system according to embodiments of the present invention, what ectoskeleton took has measurement
The size of the user's limbs recorded is sent to simulator by the measurement apparatus of communication module, wearing of the external exoskeleton suit of simulator
The health of wearer emulates.Now, an expansion connection module of ectoskeleton clothes is provided with game paddle, such as net game
Racket, other expansion interfaces are mounted with the external expanding units such as positioner.Positioner moving external exoskeleton suit wearer
The location information made is sent to simulator, and the ectoskeleton having been carried out health emulation is taken by simulator based on unit information
Wearer carries out Attitude Simulation.In the case of having been carried out health emulation and Attitude Simulation, when the wearer of ectoskeleton clothes
When using the tennis tournament that net game racket carries out virtual reality, the health of user and movement posture can fictionalize truly
Come, therefore, it is possible to realize the High Precision Simulation to user's body, and improve the sense of reality of the tennis tournament of this virtual reality.
Body analogue system according to embodiments of the present invention, can be by including that ectoskeleton takes and simulator: ectoskeleton
Clothes include at least one measurement apparatus, and for measuring the size of the limbs of the wearer of ectoskeleton clothes, wherein, measurement apparatus includes
Measure communication module, for sending the size of the limbs of the wearer of the ectoskeleton clothes measured；Simulator is from least one
Measurement apparatus obtains the size of the limbs of the wearer of ectoskeleton clothes, and wherein, simulator uses the wearer of ectoskeleton clothes
The size of limbs, calculates the size that user is overall, and then emulates the body of described user so that without manual measurement,
The size of the limbs of the wearer of ectoskeleton clothes can be obtained, and can be by measuring the limbs chi that communication module transmission record
Very little, and then realize the emulation overall to user.This avoids needs to carry out user's limbs manual measurement in prior art, and will
Measure receipt and be input manually into the loaded down with trivial details of system.Additionally, described body analogue system uses the dermoskeleton according to disclosure embodiment
Bone clothes measure the size of the limbs of the wearer of the ectoskeleton clothes concurrently sent here, can emulate the health of user, it is not necessary to
Manual measurement and the limb size of input user, simplify operation.Body analogue system according to the present invention can be used for realizing standard
True efficient man-machine real-time, interactive, certain those skilled in the art are it is understood that described man-machine interaction can also be non real-time
Situation.The present invention ectoskeleton clothes and body analogue system be applicable to man-machine interaction, production of film and TV, health care, Entertainment,
The every field such as ground observation, production activity.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (10)
1. ectoskeleton clothes, it is characterised in that described ectoskeleton clothes include multiple ectoskeleton parts and are arranged at the plurality of
Multiple attachment devices on ectoskeleton parts, wherein:
The plurality of attachment device includes at least one expansion connection module and at least one measurement apparatus；
Wherein, each expansion connection module all connects for external expanding unit, when being connected to expand accordingly by external expanding unit
During exhibition interface module, described external expanding unit is removably attached on described expansion connection module；
Wherein, at least one measurement apparatus described is for measuring the size of the limbs of the wearer of described ectoskeleton clothes.
Ectoskeleton the most according to claim 1 takes, it is characterised in that described ectoskeleton clothes also include power circuit, described
Power circuit is connected to be arranged at described ectoskeleton clothes power supply interiorly or exteriorly, a part in the plurality of attachment device or
All it is connected to described power supply by described power circuit.
Ectoskeleton the most according to claim 1 and 2 takes, it is characterised in that described ectoskeleton clothes also include communication line, institute
State communication line to be connected to be arranged at described ectoskeleton clothes processing means interiorly or exteriorly, in the plurality of attachment device
It is connected with described processing means partially or completely through described communication line.
Ectoskeleton the most according to claim 1 takes, it is characterised in that described ectoskeleton clothes also include power supply and order wire
Road, described power supply and communication line are connected to be arranged at described ectoskeleton clothes power supply interiorly or exteriorly and be arranged at described dermoskeleton
Bone clothes processing means interiorly or exteriorly, part or all in the plurality of attachment device passes through described power supply and order wire
Road is connected to described power supply and described processing means.
Ectoskeleton the most according to claim 1 takes, it is characterised in that when at least one expansion connection module described is multiple
During expansion connection module, the plurality of expansion connection module includes the expansion connection module that two kinds of sizes are different, wherein, and the first
The size being smaller in size than the second expansion connection module of expansion connection module.
Ectoskeleton the most according to claim 1 takes, it is characterised in that described measurement apparatus includes measuring communication module, uses
Size in the limbs of the wearer sending the described ectoskeleton clothes measured.
Ectoskeleton the most according to claim 1 takes, it is characterised in that each ectoskeleton parts place of being connected with each other is ectoskeleton
Joint, wherein, described measurement apparatus is installed on described ectoskeleton joint, and with described ectoskeleton joint at least one outside
Skeletal members combines the size of the limbs of the wearer to measure described ectoskeleton clothes.
Ectoskeleton the most according to claim 7 takes, it is characterised in that at least one ectoskeleton parts is in described measurement apparatus
The ectoskeleton joint at place stretches, to be combined the limbs of the wearer measuring described ectoskeleton clothes with described measurement apparatus
Size.
Ectoskeleton the most according to claim 7 takes, it is characterised in that described ectoskeleton clothes also include upper limb ectoskeleton, institute
State upper limb ectoskeleton and include following multiple ectoskeleton parts: shoulder ectoskeleton parts and respectively with described shoulder ectoskeleton parts even
Two the arm ectoskeleton parts connect, every arm ectoskeleton parts all include forearm ectoskeleton parts and with described forearm dermoskeleton
The upper arm ectoskeleton parts that the rear end of bone parts connects,
Wherein, each ectoskeleton parts place of being connected with each other in described upper limb ectoskeleton is ectoskeleton joint, outside at least one
Skeletal joint installs described measurement apparatus.
Ectoskeleton the most according to claim 7 takes, it is characterised in that described ectoskeleton clothes also include lower limb exoskeleton, institute
State lower limb exoskeleton and include following multiple ectoskeleton parts: hip ectoskeleton parts and respectively with described hip ectoskeleton parts even
Two the leg ectoskeleton parts connect, each leg ectoskeleton parts all include shank ectoskeleton parts and with described shank dermoskeleton
The thigh ectoskeleton parts that the upper end of bone parts connects,
Wherein, each ectoskeleton parts place of being connected with each other in described lower limb exoskeleton is ectoskeleton joint, outside at least one
Skeletal joint installs described measurement apparatus.
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| CN106112997B (en) | 2019-05-31 |
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