CN109032245A - A kind of smart electronics object wearing device - Google Patents

Abstract

The invention discloses a kind of smart electronics object wearing devices, are equipped with acquisition module, wearer's limbs joint rotational angle can be transformed into electric signal；Stimulus to the sense organ module is installed, different stimulus to the sense organ can be converted electrical signals into；The tightening devices such as zipper facilitate wearer to wear or take off from it.And operation, comparison, transmission etc. are carried out to electric signal.

Description

A kind of smart electronics object wearing device

Technical field

The invention belongs to wearable smart machine fields, mainly data acquisition, analysis, processing and stimulus to the sense organ.

Background technique

The equipment of limb action information collection class needs multiple signal acquisition devices and multiple stimulus to the sense organ devices, This understands some troubles for being worn on wearer, and major design of the present invention zipper, snap-fastener etc. make the present invention as wearing the clothes Equally easily it is worn on wearer.

For there is the limb action device of biggish power output function, under normal circumstances, the electric device of use is stopping There is biggish resistance when only working, it has not been convenient to which wearer removes or put on the present invention, increases clutch in the design thus.

Summary of the invention

The present invention solves the technical problem of easily dress and take off.Joint angles acquisition module closely close to The limbs of wearer could accurately acquire limb rotation angle, and stimulus to the sense organ module closely could clearly close to wearer It is communicated to wearer's stimulus to the sense organ signal.There are also installation power device the present invention, in a non-operative state, power device have compared with Big torsional resistance.It hinders wearing or takes off.

In order to solve the above technical problems, the present invention is using the basic conception of technical solution:

A kind of smart electronics object wearing device includes:

Joint angles acquisition module, for acquiring articulation angle and being converted into electric signal；

Stimulus to the sense organ module, converts electrical signals into stimulus to the sense organ.

Further, the joint angles acquisition module includes:

Rotating member A；

Rotating member B；

Electron displacement measuring appliance, the electronic device of measurement angle；

The rotating member A is rotated relative to the rotating member B, and the electron displacement measuring appliance is mounted on the rotating member A and described On rotating member B, to measure the rotational angle of the relatively described rotating member B of the rotating member A.

Further, the joint angles acquisition module includes:

Torsion conduction rope, rope, rope form, bar, rod-shaped, chain or chain device, for conducting torsion；

Rotating member A；

Rotating member B；

Electron displacement measuring appliance, the electronic device of measurement angle；

The torsion conduction rope, one end is mounted on the rotating member A or rotating member B；The rotating member A and the rotation The electron displacement measuring appliance is installed on part B, to measure the rotational angle of the relatively described rotating member B of the rotating member A, is reversed The torsion conduction rope, torsion are conducted to the rotating member A or rotating member B, make the relatively described rotating member of the rotating member A B rotation.

Further, the joint angles acquisition module includes rotating member A, rotating member B, axis, arc track limiter, arc Shape slide plate and electron displacement measuring appliance；The rotating member A and rotating member B installation is on the shaft；In the rotating member A and The electron displacement measuring appliance is installed, to measure the rotating member A relative to the rotation of the rotating member B on the rotating member B Angle；The arc track limiter or the arc slide plate are mounted on the rotating member A or rotating member B；The arc Shape track limiter covers outside the arc slide plate, and the arc slide plate is under the limitation of the arc track limiter around always Line rotation；It is described to measure that the electron displacement measuring appliance is installed on the arc slide plate and the arc track limiter The rotational angle of the relatively described arc track limiter of arc slide plate.

It further, also include extensible member, the extensible member includes bar and set, and the bar is inserted into can be along insertion side in set To relative to set movement.

Further, the stimulus to the sense organ module includes seismaesthesia stimulation device.

Further, the stimulus to the sense organ module includes and is slidably installed hole, can be penetrated in the hole that is slidably installed band or Rope, and can be moved along band or rope, adjust the position on band or rope.

It further, include also tightening device, to make stimulus to the sense organ module and/or joint angles acquisition module be adjacent to limb Body or the device to get off of loosening from limbs, the tightening device be zipper, snap-fastener, eye-splice, button, magnetic clasp, magic tape or with Upper any combination.

It further, also include stretch conducting wire, the stretch conducting wire can be stretched or be shunk within certain limits.

It further, include also elastic reducing-fixing band, the elastic reducing-fixing band is flexible band-like or rope form device, is used To fix other devices on limbs.

It further, also include several control chips, shared data line between the control chip.

Further, the stimulus to the sense organ module includes electric-powered device.

Further, the electric-powered device includes clutch.

After adopting the above technical scheme, the present invention has the advantages that compared with prior art.

The present invention can be easily worn on limbs, and conducting wire is protected not to be pulled off easily.

The present invention uses clutch, can increase power output when work and mitigate the resistance of big power device when inoperative Interference.

The present invention measures articulation angle and is converted into electric signal, and converts electrical signals into stimulus to the sense organ.

A specific embodiment of the invention is described in further detail with reference to the accompanying drawing.

Detailed description of the invention

The a part of attached drawing as the application, for providing further understanding of the invention, of the invention is schematic Examples and descriptions thereof are used to explain the present invention, but does not constitute an undue limitation on the present invention.Obviously, the accompanying drawings in the following description Only some embodiments to those skilled in the art without creative efforts, can be with Other accompanying drawings can also be obtained according to these attached drawings.In the accompanying drawings:

Fig. 1 a, for a kind of fractionation schematic diagram of structure of joint angles acquisition module in the present invention；

Fig. 1 b, for another structural schematic diagram of joint angles acquisition module in the present invention；

Fig. 1 c, for another structural schematic diagram of joint angles acquisition module in the present invention；

Fig. 1 d, for another structural schematic diagram of joint angles acquisition module in the present invention；

Fig. 1 e, for another structural schematic diagram of joint angles acquisition module in the present invention；

Fig. 1 f, for a kind of structural schematic diagram of chain of conduction torsion in the present invention；

Fig. 1 g, for a kind of structural schematic diagram of cross strip of conduction torsion in the present invention；

Fig. 1 h, the schematic diagram installed on axis angle measurement equipment for telescopic rod in the present invention；

Fig. 2 a shakes a kind of structural schematic diagram of part for crank type in the present invention；

Fig. 2 b shakes a kind of structural schematic diagram of part for cam-type in the present invention；

Fig. 2 c shakes a kind of structural schematic diagram of part for electromagnetic type in the present invention；

Fig. 2 d, for the vibration part mounting structure schematic diagram with the hole that is slidably installed in the present invention；

Fig. 3 a is a kind of structural schematic diagram that the mechanical angle measurement device of power device is equipped in the present invention；

Fig. 3 b is another structural schematic diagram that the mechanical angle measurement device of power device is equipped in the present invention；

Fig. 3 c is another structural schematic diagram that the mechanical angle measurement device of power device is equipped in the present invention；

Fig. 3 d is another structural schematic diagram that the mechanical angle measurement device of power device is equipped in the present invention；

Fig. 3 e, to use a kind of structural schematic diagram of mode of gear engagement realization power transmission in the present invention；

Fig. 4 a, for a kind of structural schematic diagram of clutch in the present invention；

Fig. 4 b, for another structural schematic diagram of clutch in the present invention；

Fig. 4 c, for another structural schematic diagram of clutch in the present invention；

Fig. 4 d is the fractionation structural representation that the mechanical angle measurement device of power device is equipped in the present invention；

Fig. 5, for a kind of fractionation structural representation of power type three-dimensional shaft angle measurement equipment in the present invention；

Fig. 6 a, for the schematic diagram of spring wires in the present invention；

Fig. 6 b, for the schematic diagram for bending conducting wire in the present invention；

Fig. 6 c, for the tightening device schematic diagram for using a plurality of zipper in the present invention；

Fig. 7 is the whole wearing front schematic view of the embodiment of the present invention one；

Fig. 8 is the whole wearing schematic rear view of the embodiment of the present invention one；

Fig. 9 is the whole wearing front schematic view of the embodiment of the present invention two；

Figure 10 is the whole wearing schematic rear view of the embodiment of the present invention two；

It should be noted that these attached drawings and verbal description are not intended to the conception range limiting the invention in any way, and It is to illustrate idea of the invention by referring to specific embodiments for those skilled in the art.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, the technical solution in embodiment is clearly and completely described, the following examples are intended to illustrate the invention, but It is not intended to limit the scope of the invention.

In the description of the present invention, it should be noted that term " on ", "front", "rear", "left", "right", " is erected at "lower" Directly ", the orientation or positional relationship of the instructions such as "inner", "outside" is based on shown in attached drawing or the orientation or positional relationship of wearer, only It is that for the convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must have specifically Orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection ", " fixation " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirectly connected through an intermediary. For the ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.

In order to preferably state and illustrate, in the present description, three-dimensional system of coordinate is quoted to illustrate.Three-dimensional system of coordinate In, wearer's both hands side raise, the palm of the hand downward, exist side by side when standing, using the front of wearer as X-direction, with wearer by biped Left be Y-axis positive direction, be upwards Z axis positive direction with the wearer crown.X/Y plane refers to by X-axis in coordinate system and Y-axis structure At plane, YZ plane refers to that the plane being made of Y-axis in coordinate system and Z axis, XZ plane refer to by X-axis in coordinate system and Z axis The plane of composition.The direction at the place of X, Y, Z axis is also known as dimension, and such as X-dimension, Y dimension, Z-dimension, a dimension is singly to refer to X Dimension or Y dimension or Z-dimension, two dimensions refer to that XY dimension or YZ dimension or XZ dimension, three dimensions refer to XYZ dimension.For It is easy to understand, the center in the joint studied or described is set as the zero point coordinate of coordinate system.

In human synovial, knee joint can only be around one axis rotation of Y-axis, and because of referred to herein as one-dimensional joint, one-dimensional joint includes: elbow Joint, knee joint；Index finger can be around the two axis rotations of X-axis and Z axis, referred to as two-dimentional joint close to the joint of palm；Shoulder joint can Around three X-axis, Y-axis and Z axis axis rotations, referred to as three-dimensional joint.It in order to facilitate understanding and designs, wrist joint and backbone is closed Section also regards three-dimensional joint as.

Invention broadly provides two big functions: first is that acquire the rotational angle of limbs joint and be converted into electric signal, one It is to convert electrical signals into stimulus to the sense organ to feed back to wearer.There are also a conveniences: facilitating wearing and takes off.

There are also fixing belts in the present invention, on immobilising device to wearer's limbs.Fixing belt is generally elastic using having Material.It can be rope, be also possible to band.In some product designs, electronic device directly can be mounted on clothes, gloves On, it can be regarded as fixing belt here and clothes melt together, the cloth on clothes plays the role of fixing belt here.

Angle measurement device, is usually mounted on joint by the rotational angle for acquiring joint, and with articulation, angle is surveyed The collected angle of metering device approximately regards the rotational angle in joint as.

There are many acquisition modes of joint angles, and one is the angles that articulation is measured by mechanical angle measurement device Degree, one is the angles that articulation is measured by rope type angle measurement device, and one is pass through ultrasonic wave, light wave, electromagnetic wave Ranging calculates the rotational angle in joint.

Electron displacement measuring appliance is the important component of joint angles acquisition module.Electron displacement measuring appliance is measurement object The amount of movement or rotational angle of body.Electron displacement measuring appliance includes two elements: one is measuring probe, and one is measurement band, Measuring probe is moved along measurement band, realizes the measurement function of displacement or angle by obtaining the position of measuring probe relative measurement band Energy.

Common electron displacement measuring appliance has resistance-type, condenser type, inductance type and photo-electric.

Resistance-type electron displacement measuring appliance is made of resistor stripe and conductive column, and resistor stripe is measurement band, and conductive column is measurement Probe.Voltage is added at the both ends of resistor stripe, conductive column is moved along resistor stripe, and conductive column contact resistance item simultaneously obtains current contact The voltage of position can calculate position of the conductive column on resistor stripe according to the voltage ratio of voltage and resistor stripe both ends.

The direct contact resistance item of measuring probe, Rubbing number will cause the change of resistor stripe resistance value, influence measurement data It is inaccurate.Currently used design scheme is to connect the different location in resistor stripe using several copper bars, is taken out from resistor stripe different Voltage.Measuring probe contacts copper bar, moves along copper bar arragement direction, contacts different copper bars in movement, has also just got not With voltage value, achieved the purpose that measurement, while copper bar and measuring probe frequently rub will not change the resistance value of resistor stripe.

Measuring probe relative resistance item is movable.If, can be because of measuring probe frequency to conducting wire on measuring probe It is numerous activity and damage.For this purpose, a conductive bar, conductive bar and resistor stripe insulation can be placed along resistor stripe.Bullet is connect on measuring probe Property conductive sheet is simultaneously crimped on conductive bar, and the voltage value on measuring probe is passed on conductive bar by elastic conducting strip.

Capacity-type electronic deviation meter, two conductors that are insulated from each other and being spaced closely together, is mutually shifted, capacitor is also followed Variation.The relative position of two conductors can be measured according to capacitance size.

Inductance type electron displacement measuring appliance, working principle are electromagnetic induction.It is to be converted to inductance displacement is measured A kind of device of variation.

Photo-electric electron displacement measuring appliance, luminescent device is moved along the route for installing several photosensitive elements, according to photosensitive member Part light generates the position that electric signal judges luminescent device.

Mechanical angle measurement device is broadly divided into axis angle measurement equipment, curved angle measuring appliance and combined type angle measurement Device three classes.

Axis angle measurement equipment has an axis and two rotating members: rotating member A and rotating member B.Rotating member A and rotating member B peace It on axis and relatively rotates, electron displacement measuring appliance, the measurement of electron displacement measuring appliance is installed on rotating member A and rotating member B Obtain the angle between two rotating members.Electron displacement measuring appliance can be an arc resistor disc and conductive column composition, arc electricity Resistance piece be mounted on rotating member A, conductive column is mounted on rotating member B, rotating member A and rotating member B relative axle rotation, conductive column with It rotates with rotating member B, and is moved on arc resistor disc, the both ends of arc resistance add voltage, the electricity obtained according to conductive column Pressure can calculate conductive column in the ohmically position of arc.

As shown in Figure 1a, the dismantling schematic diagram of axis angle measurement equipment is illustrated in this diagram, and axis angle measurement equipment is disassembled Its structure and principle are described out.1 is axis in figure, and 2 be rotating member A, and 3 be rotating member B.Rotating member A2 and rotating member B3 are covered in axis It can be relatively rotated on 1, measuring probe 4 is mounted on rotating member A2, and arc resistor disc 5 is mounted on rotating member B3, and measurement is visited First 4 and arc resistor disc 5 constitute electron displacement measuring appliance, to measure rotating member A2 relatively rotate part B3 rotational angle. Other kinds of electron displacement measuring appliance can also be installed on rotating member A2 and rotating member B3.

If the rotational angle maximum of elbow joint is no more than 180 degree, the limbs joint of the mankind is largely no more than 180 degree, So being sector in the cross section of the actually rotating member of manufacture axis angle measurement equipment, it is also possible to circle.

Wrist joint measurement is more special, in order to measure angle design wrist angle measuring appliance of the wrist around forearm rotation Part, wrist angle measurement device can be regarded as special axis angle measurement equipment, also include rotating member A, rotating member B and electronic bits Measurer.Rotating member A, which is mounted at wrist, follows wrist to rotate around forearm rotation, and rotating member B is mounted on close on forearm At elbow.Wrist can approximatively regard that rotating member A relatively rotates part B rotation, the measurement of electron displacement measuring appliance as around forearm rotation Probe and measurement band are separately mounted on rotating member A and rotating member B, to measure the relative rotation angle of rotating member A and rotating member B Degree, and then obtain angle of the wrist around forearm rotation.

As shown in Figure 1 b, semi-ring 1 and semi-ring 2 form a circular rotating member A, semi-ring 1 and semi-ring 2 can separate and Closure, the rotating member A for facilitating the two to form are worn at wrist, and rotating member A has the function of elastic tightening, is worn at wrist simultaneously It is securely fixed at wrist.Semi-ring 1 or semi-ring 2 are made of the material of spring function, that is, are had tightening function, facilitated fixation. Semi-ring 3 and semi-ring 4 form a circular rotating member B, and rotating member B is also to have the function of elastic tightening as rotating member A With the function of easy donning.Measuring probe 6 and circular ring shape measurement band 5 form electron displacement measuring appliance, and measuring probe 6 passes through stock 7 It is mounted on rotating member A, measurement band 5 is mounted on rotating member B by annulus 8.Before rotating member A and rotating member B is worn on respectively Wrist joint and elbow joint on arm.Rotating member A is worn on wrist joint, then rotating member B is worn on elbow joint；If turned Moving part B is worn on wrist joint, then rotating member A is worn on elbow joint.Rotating member A and rotating member B constitute a kind of wrist Angle measurement device.

As illustrated in figure 1 c, rotating member A1 is mounted with several straight line light wave radiated elements 3, is mounted with several light on rotating member B2 Wave receiving element 4,3 emitting linear light of straight line light wave radiated element and to pumped FIR laser, illumination is mapped in light wave receiving element 4, instead Curent change should be gone out, it therefore follows that light wave radiated element 3 has impinged upon in which light wave receiving element 4, and then calculate and turn The rotational angle of moving part A1 relative rotation part B2.This figure show another wrist angle measurement device.

The wrist angle measurement device as shown in Fig. 1 b, 1c, electron displacement measuring appliance is exposed outside, and the measurement of data is held Protective case can be installed in wrist angle measurement device vulnerable to interference to avoid such problem from occurring.Other devices in the present invention Protective case can also be installed to play a protective role on part, protect device not disturbed, when wearer's person being protected not worked by device Injury.

The wrist angle measurement device as shown in Fig. 1 b, 1c is also applied for the angle of measurement waist twisting.

Curved angle measuring appliance contains arc track limiter and arc slide plate, and arc slide plate is partly or entirely inserted in arc In shape track limiter, under the restriction effect of arc track limiter, arc slide plate is made equidistant (or approximate around a straight line It is equidistant) mobile --- this straight line is known as the axis of curved angle measuring appliance.Pacify on arc slide plate and arc track limiter Fill the radian of the movement of the measurable arc slide plate opposing arcuate track limiter of electron displacement measuring appliance of measurement angle.It can be Conductive column is installed on arc track limiter, resistor disc is installed on arc slide plate.Arc slide plate opposing arcuate track limiter moves Dynamic, also relative resistance piece is mobile for conductive column, adds voltage at the both ends of resistor disc, conductive column obtains and resistor disc contact position electricity Pressure, therefore voltage can measure the mobile radian of arc slide plate opposing arcuate track limiter indirectly on measurement conductive column.

Can be combined into an angle measurement device with two axis angle measurement equipments, the rotating member B of axis angle measurement equipment A and The rotating member A of axis angle measurement equipment B is installed together, and the axis of the two is mutually perpendicular to.The angle measurement device combined in this way claims For twin shaft angle measurement equipment.Twin shaft angle measurement equipment can measure the angle change in two dimensions.

One angle measurement device of composition can be combined with an axis angle measurement equipment and a curved angle measuring appliance, claimed For arc axis angle measurement equipment.One rotating member B(of axis angle measurement equipment is also possible to rotating member A) and curved angle measuring appliance Arc track limiter (being also possible to arc slide plate) is installed together.The axis of curved angle measuring appliance and axis angle measurement equipment Axis is vertical.Arc axis angle measurement equipment can measure the angle change in two dimensions.

As shown in Figure 1 d, arc track limiter 1 and arc slide plate 2 form curved angle measuring appliance, rotating member A3 and turn Moving part B4 forms axis angle measurement equipment, and wherein arc track limiter 1 is mounted on rotating member A3, and fixinig plate 5 with holes is mounted on On rotating member B4, fixinig plate 6 with holes is mounted on arc slide plate 2.

When measuring wrist around forearm rotation, two basic points of measurement are wrist and elbow；When turning round, ridge is measured Two basic points of the windup-degree of column, measurement are neck and waist.Transmission rope type shaft angle degree measuring appliance is devised thus.Transmission rope Formula axis angle measurement equipment includes axis angle measurement equipment and torsion conduction rope.Torsion conduction rope can be rope, be also possible to ropy Body is also possible to bar, is also possible to rod-like articles, is also possible to chain, is also possible to chain object, mainly realizes that conduction is turned round Power.

Torsion conduction rope one end is mounted on a rotating member of axis angle measurement equipment, and the other end is known as force side.

As shown in fig. le, one end of torsion conduction rope 1 is mounted on rotating member A2, rotating member A2 and rotating member B3 composition one A axis angle measurement equipment, plate 4 and plate 5 are mounted on rotating member B3, and plate 6 is mounted on the other end that torsion passes rope 1.Plate 4, plate 5, plate There is hole conveniently to install and use on 6.Plate 6 is reversed, torsion is conducted to rotating member A2 by torsion conduction rope 1, and rotating member A2 is relatively rotated Part B3 rotation.Electron displacement measuring appliance is installed on axis angle measurement equipment, electron displacement measuring appliance can measure rotating member A2 Relatively rotate the angle of part B3 rotation.

When measuring wrist around forearm rotation angle, plate 6 can be mounted at wrist, plate 4 and plate 5 are mounted on elbow Place；

The windup-degree of backbone when measuring turns due, can be mounted on plate 6 neck shoulder position, and plate 4 and plate 5 install waist Portion.

It is driven rope type shaft angle degree measuring appliance, rope can be conducted by torsion and curved angle measuring appliance forms.Torsion conduction rope One end be mounted on the arc track limiter or arc slide plate of curved angle measuring appliance, torsion torsion conduction rope, torsion pass It leads, the rotation of arc track limiter opposing arcuate slide plate, therefore achievees the purpose that measure windup-degree.

Chain object can be used to conduct torsion in torsion conduction rope.

As shown in Figure 1 f, by axis connection, cuff link 2 and cuff link 3 pass through axis connection for cuff link 1 and cuff link 2.Cuff link 1, cuff link 2 Form a chain with cuff link 3, chain can conduct torsion, can be bent, human body different parts place oneself body curve it is different, use Chain can be adjacent to human body, and chain may be used as torsion conduction rope.

As shown in Figure 1 g, several small items 1 form a cross strip with teeth in a crisscross manner.This cross strip is easy pressure The human body of curved easy fitting variation, while torsion can be conducted, it may be used as torsion conduction rope.

Mechanical angle measurement device rotation when can because muscle variation etc. reasons change be connected to limbs both ends away from From.Such as when measuring elbow joint, the rotating member A and rotating member B of axis angle measurement equipment are connected on forearm and upper arm.Generally It is connected using two bars, one end of two bars is connected to rotating member A and turns on part B, and the other end of two bars is fixed respectively On forearm and on upper arm.During actual rotation, can because limb muscle variation make axis angle measurement equipment to forearm with Distance between upper arm changes, therefore designs telescopic rod.Telescopic rod is made of set and bar, and set and bar are all non-circular.Bar It can be moved along direction of insertion in insertion set.Bar and being arranged is calculated as non-circular, it is therefore an objective to prevent bar rotation in set, bar and set Can be designed to circle, but will there are slot or protrusions on bar, correspond on set there are protrusion or slot, make bar cannot in set Rotation, can only move along direction of insertion.On definite meaning, on circular bar there are slot or protrusion should the criteria of right and wrong circle.

As shown in figure 1h, set 1 and bar 2 form a telescopic rod, wherein set 1 is mounted on rotating member A3；Cover 5 and 6 groups of bar At another telescopic rod, wherein set 5 is mounted on rotating member B4, rotating member A3 and rotating member B4 form an axis angle measurement Device.The axis angle measurement equipment for being equipped with telescopic rod can make shaft angle degree measuring appliance preferably measure joint angles variation.

Spring or other similar elastic material can be installed on telescopic rod, guarantee the normal collapsing length of telescopic rod.It gives One pulling force of telescopic rod or pressure, the bar in telescopic rod are stretched out or are pressed into from set, remove pulling force or pressure, telescopic rod Length is restored.

One end of the bar of telescopic rod add protrusion, when bar is extracted out from set, set stop protrusion, bar cannot completely from It is extracted out in set, can prevent bar from taking out from set.Guarantee that bar and set are linked togather in real time.

When using transmission rope type shaft angle degree measuring appliance measurement wrist and joint of vertebral column, when rotating wrist or twisting waist, The power for stretching transmission rope type shaft angle degree measuring appliance can be generated, for this purpose, torsion conduction rope can be used rope with Telescopic or Bar or chain can also install telescopic rod.

Rope type angle measurement device is a kind of using rope form angle measurement equipment made of special material or assembling device Part, torsion and bending rope type angle measurement device can measure and obtain windup-degree and bending angle.Rope type angle measurement equipment The both ends of part are separately fixed at the both ends in joint, that is, can measure the rotational angle in joint.

Transmission rope type shaft angle degree measuring appliance also can be regarded as a kind of rope type angle measurement device.

Wave refers here particularly to sound wave, ultrasonic wave, electromagnetic wave and light wave.

The coding of wave refers to and is set as 0 or 1 by the different ratios of wave launch time and transmitting shut-in time, as wave emits Wave time 2ns, 1ns shut-in time is set as 1, and wave launch time 1ns wave shut-in time 2ns is set as 0.Wave receiving end also basis For identical agreement to decode, receiving wave 2ns then has 1ns not receive wave signal, it is believed that 1 is had received, if receiving wave 1ns After there is the 2ns time not receive wave signal, it is believed that have received 0.If transmitting 101 this binary coding, wave transmitting 2ns is closed again 1ns is closed, then transmitted wave 1ns turns off transmitting 2ns, then transmitted wave 2ns turns off 1ns, so then completes the transmission of coding 101 Function.It mainly does verifying using carrier wave to use, while there are also the distance calculating of auxiliary effects.

Wave transmitting device refers to the electronic device of transmitted wave.Ultrasonic transmission device；Acoustic emission apparatus: loudspeaker, bee Ring the sounding devices such as piece；Light wave emitter: the light emitting devices such as light bulb, LED light；Electromagnetic wave launcher.

Wave receiving device refers to the electronic device of the signal of received wave.Such as ultrasonic receiver, ultrasonic wave is received；Mike Wind receives acoustic signals；Photosensitive diode receives lightwave signal；Electromagnetic receiving device.

Three wave receiving devices are physically at least installed, wave transmitting device is installed on limbs.Wave receiving device receives The wave emitted to wave transmitting device calculates wave launcher there are also propagation velocity and arrives according to wave launch time and wave receiving time The distance between wave receiver.Light wave and electromagnetic wave propagation rate are high, need to emit using high-frequency circuit and receive.

The reception device of wave can be placed on any position on body, can be placed on shirtfront and back part, can also wear On head.

Stimulus to the sense organ includes sonic stimulation, light stimulus, haptic stimulus, dynamics stimulation.

The device that sonic stimulation is generated to sense organ is mainly loudspeaker, earphone；The device for generating light stimulus to sense organ is main There are tablet computer, display, VR glasses, mobile phone, light；To sense organ generate tactile device mainly have piezo, vibration motor, Electromagnet etc.；The device for generating dynamics stimulation to sense organ mainly has motor；

Part is shaken, is the device that the generations such as vibration motor, vibrating plate, piezo vibration is felt；

Electro photoluminescence device, is the electronic device for generating the small electricity of high voltage, and such devices are mainly used for the epidermis of larger animal Stimulation.

Electrothermal device generates temperature after energization, stimulates skin by temperature, temperature is also installed generally on electrothermal device Controller controls the temperature of electrothermal device in safe range.

Electric cooler part, generates cold stimulation after energization, common electric cooler part is semiconductor cooling device currently on the market.

Shaking part, electro photoluminescence device, electrothermal device and electric cooler part is that skin irritatin device is also referred to as haptic stimulus device.

Haptic stimulus device is typically mounted on limbs, for reminding wearer's limbs to rotate toward that direction.Generally set Limbs are calculated as to rotate toward the opposite direction of stimulus to the sense organ device.When limbs are rotated toward the direction of stimulus to the sense organ device, stimulus to the sense organ The stimulation of device increases, and then shakes strongly if it is vibration device, when opposite direction rotation of the limbs toward stimulus to the sense organ, sense organ thorn The stimulation for swashing device reduces, and if it is vibration part, then vibration dies down.If it is wrist joint around forearm rotation, then in wrist Surrounding installs four haptic stimulus devices (can also install more tactile devices), and four haptic stimulus devices successively become by force, Or successively die down, power is felt around wrist rotation, rotates wrist according to the direction of haptic stimulus device power rotation.

Haptic stimulus device may be mounted at any part of body, be mounted on the rotation side that limbs are used to indicate on limbs To being mounted on shirtfront, back etc. above for being prompted in game by impact.

Electrothermal device and electric cooler part, are chiefly used in being used cooperatively with Games Software.

Vibrator is the electronic component for generating shock effect, includes vibration box, vibration part.Installation vibration part in box is shaken, Vibration part generates beating effect under the action of electric current.The part that vibration part is used to externally pat claims that is, with the face of extremity To pat face.

For the ease of adjusting the position of vibrator in wearing, slide block type vibrator is devised, slide block type vibrator is to shake The outside providing holes of dynamic device.Rope or belt through hole is fixed on wearer, and slide block type vibrator can be moved along rope or belt, micro- Adjust the position with wearer.

Vibration part is divided into crank type vibration part, cam-type vibration part, electromagnetic type vibration part and vibration-type vibration part again.Vibration Part generates the effect of beating incessantly under the action of electric current.

It is that crankshaft-and-connecting-rod is installed on motor that crank type, which shakes part, and motor rotation drives crank rotation, crank rotation band Dynamic connecting rod is reciprocal, generates the effect continuously externally patted.

As shown in Figure 2 a, connecting rod 2 is mounted on crankshaft 1, and crankshaft 1 rotates under the drive of motor 3, and drives connecting rod 2 past The constantly output beating effect outward of face 4 is patted in multiple movement.

It includes motor, cam and bar that cam-type, which shakes part,.Cam is installed on motor, motor rotation band moving cam rotates, Cam extrusion bar moves back and forth, and generates the effect continuously externally patted.

As shown in Figure 2 b, the rotation of motor 1 band moving cam 2 rotates, and 2 pressure ram 3 of cam is flexible, and it is constantly defeated outward to pat face 4 Beating acts on out.

It includes electromagnet, spring leaf (or spring or other bullet green materials) and magnetic material that electromagnet type, which shakes part,.It is magnetic Material is mounted on electromagnet by spring leaf, and the energization of electromagnet discontinuity generates intermittent magnetic force or discontinuity access is positive and negative Plate electric current generates the magnetic force of positive and negative alternate.Electromagnet be powered, generate magnetic force, under the magnetic force, magnetic material be attracted or It is ostracised, cuts off electric current, electromagnet magnetic force disappears, and under the action of spring leaf, magnetic material is restored to origin-location.If The electric current of positive and negative alternate is accessed on electromagnet, magnetic material is the magnet with magnetic pole, electromagnet and magnetic material magnetic force direction It is identical, attract, magnetic force direction is then repelled on the contrary.Using positive and negative current control electromagnet with magnetic pole magnetic material it Between can not have to elastic material connect, can be used other non-elastic materials connection.

As shown in Figure 2 c, iron block 3 is linked together by spring leaf 2 with electromagnet 1, under the control of electric current, electromagnet 1 Magnetic force is intermittently exported, in the case where there is magnetic force, iron block 3 is attracted by magnetic force to the movement of electromagnet 1, is disappeared in failure of current magnetic force When mistake, under the action of spring leaf 2, iron block 3 is far from electromagnet 1, in this way, patting face 4, constantly output beating is made outward.

Vibration-type shakes part, common are the device of the generations such as vibration motor, vibrating plate, piezo vibration.

It is strong and weak related with vibration watt level of part itself to the vibration stimulation of wearer to shake part, with vibration part and wearing The size that person's skin contact is equally had is related, related with vibration the distance between part and wearer.

The vibration of wearer is stimulated in order to reinforce shaking part, can reduce the contact surface that vibration part pats the part of limbs Product.

Skin has certain elasticity.Skin can follow the shaking part of vibration part to move back and forth when vibration part vibration, weaken The effect of seismaesthesia.In order to reduce such side effect, shaking gasket is installed between part and wearer skin, there are small on gasket Part is shaken under the action of electricity in hole, pats the aperture that face is stretched out on gasket, squeezes the skin of wearer；Then box is retracted again Interior, skin is allowed to by gasket isolation cannot be with beating face contact.So on circulate.

As shown in Figure 2 d, box frame 1 and bottom cover 6, upper cover 9 form a box, and vibration part 7 is mounted in box frame 1,6 He of bottom cover Upper cover 9 is mounted on box frame 1, and vibration part 7 is limited in box frame 1, there is hole 10 in upper cover 9, and the beating face of vibration part 7 passes through The outside output beating effect of 10 pairs of hole.Spring 8 is installed between vibration part 7 and bottom cover 6, under the action of spring 8, shakes part 7 Near upper cover 9, the output for facilitating beating to act on.There are macropore 2 and macropore 3 on box frame 1, macropore 2 can be passed through with fixing belt, It is then passed through macropore 3, is then attached on limbs, while the position with damper box frame 1 on the fixing belt can also be slided along fixing belt It sets.There are aperture 4 and aperture 5 on box frame 1, aperture 4 and aperture 5 can be cable-through hole, be also possible to plug wire hole.As cable-through hole When conducting wire pass through aperture 4 or aperture 5, from the external world enter box in, be attempted by vibration part 7 on.If it is be used as plug wire hole, in box It is wired to vibration part 7 on plug wire hole, can be realized on box outer grip line trap insertion plug wire hole and connect with the route of vibration part 7 It is logical.Here big hole number and small hole number can be any number of.

Power device, output torque are installed in mechanical angle measurement device.In the same of measurement limbs joint rotational angle When can also control power device by electric signal and reverse limbs joint to the angle specified, or to one cradle head of limbs Torsion.

As shown in Figure 3a, rotating member A1 and rotating member B2 forms axis angle measurement equipment, and set 3 and bar 4 form a telescopic rod, Covering has hole 5 on 3, seamed 6 on bar 4.In specifically used, cover 3 and be mounted on rotating member B2 on one side, another side is mounted on electronic On machine 7.Set 9 is mounted on rotating member A1, and set 9 and bar 10 form a telescopic rod.The axis 8 of motor 7 passes through the hole 5 of set 3, bar 4 seam 6 and rotating member B2 and rotating member A1 is installed together.Motor 7, which is powered, to be rotated, and axis 8 drives rotating member A1 rotation, rotation Part A1 relatively rotates part B2 rotation.Set 3 follows rotating member B2 to rotate, and set 9 follows rotating member A1 to rotate.Power device is installed Axis angle measurement equipment is known as power type axis angle measurement equipment.Power type axis angle measurement equipment can both measure the rotational angle in joint Joint or the torsion to one rotation in joint can be twisted with output power again.

As shown in Figure 3b, with teeth on rotating member A1, it is engaged with gear 3, the rotation of gear 3 drives rotating member A1 rotation, gear 3 Together with the axis connection of motor 4, motor 4 is mounted on arc track limiter 5, and arc track limiter 5 is mounted on On rotating member B2.Motor 4 is powered, and driving gear 3 rotates, and then drives rotating member A1 rotation.Tooth 7 is installed on arc slide plate 6, Tooth 7 is engaged with gear 8, and in the installation on the shaft of the motor 9 of gear 8, motor 9 is mounted on arc track limiter 5.Gear 8 Rotation drives arc slide plate 6 to slide.This figure describes a kind of power installation form of arc axis angle measurement equipment.

The arc axis angle measurement equipment for being equipped with power device is known as power type arc axis angle measurement equipment.

The curved angle measuring appliance for being equipped with power device is known as power type curved angle measuring appliance.Power type curved angle Measuring appliance is typically employed on articulations digitorum manus.On knee joint with power type curved angle measuring appliance can also be applied on elbow joint.

As shown in Figure 3c, the arc formed for the ease of installation power device, arc track limiter 3 and arc slide plate 4 Angle measurement equipment deviates the axis of rotating member B2 during installation.Motor 5 is mounted on arc track limiter 3, can also be installed On rotating member B2, the axis of motor 5 passes through rotating member B2 and is mounted on rotating member A1.

As shown in Figure 3d, motor 5 is mounted on arc track limiter 3, and axis passes through the seam 6 on arc slide plate 4, also It links together across rotating member B2 and rotating member A1.Motor 5 rotates, and drives rotating member A1 rotation.This figure describes arc axis Another power installation form of angle measurement equipment.

Power device does not hinder the normal limb activity of wearer again simultaneously in order to facilitate the installation of.Using universal in the present invention The device of axis, gear-linked and similar functions connects power device.It is dynamic to installation in mechanical angle measurement device in this way When power device, power device can be placed on and not hinder the movable position of normal limb.

As shown in Figure 3 e, right angle bevel gear 1 and right angle bevel gear 2 engage, and the transmission shaft that two connect is become vertical Squareness.Gear 3 and tooth 4 engage, and two connection transmission shafts are become parallel.Power device so can be neatly installed.

Power device generally uses decelerating motor.Decelerating motor power is small and torque is big, rotates also slow.If power device Torque be greater than limbs peak torque, such power device can be on the wearable device to attend to the patient.If it is with It plays games or acts on teaching wearable device of the present invention, the peak torque of power device should be less than the peak torque of limbs, side Just wearer stops game or movement teaching at any time.

The big torsion output device such as decelerating motor has very big resistive torque under idle state, is unfavorable for dressing Or it takes off.It wears for convenience, has added clutch in power delivery section.Clutch is closed in the state of work, Large torque power output device output power is set to push the limbs of wearer；Clutch disconnects in a non-operative state, and mitigation is worn The resistance of wearer's limb activity facilitates wearing or takes off.

Devise the embodiment of three kinds of clutches in the present invention: pressure lever type manual clutch, push-down manual clutch, Screw-type clutch.

There are two major parts for clutch: driving link and driven member.

The consistent hexagonal prisms in cross section can be used and six rib pipes realize plug-in type clutch function, hexagonal prisms are inserted into six rib pipes It can link when interior and transmit torsion, torsion Transmission after hexagonal prisms are extracted out of six rib pipes, hexagonal prisms and six rib pipes here The consistent non-circular bar in other cross sections and pipe can also be changed into；

Also the clutch form of magnetic force engagement can be used, i.e. driving link and driven member uses ferromagnetic material, main by strong magnetic attraction Torsion is passed to driven member by moving part；

Also it can be used the high material of coefficient of friction, the contact surface of the driving link and driven member material high using coefficient of friction is main Moving part and driven member contact, under the action of height friction, torsion is passed to driven member by driving link；

As shown in fig. 4 a, pipe 1 and connector 2 form plug-in type clutch.Cam 4 is pressed on plate 3, and handle 5 is mounted on cam 4, Handle 5 is pulled, cam 4 is rotated, spring 6 is installed between pipe 1 and ring 7, under the action of the promotion of spring 6, pipe 1 can be with It is connect with connector 2, mutually transmitting torque.Handle 5 is pulled, cam 4 is rotated, can also disconnect.In order to facilitate insertion tube 1, connector 2 has tip.

As shown in Figure 4 b, pipe 1 and connector 2 form plug-in type clutch.Spring 5, ring 4 and pipe are installed between ring 3 and pipe 1 Spring 6 is installed, ring 3 and ring 4 are mounted on sliding block 7 by bar, stir sliding block 7 with hand, ring 3 and ring 4 also and then move between 1 Dynamic, spring 5 and spring 6 give 1 one resultant forces of pipe, and pipe 1 is made to engage or disconnect with connector 2.Spring 5 and spring 6 play the work of buffering With.Clamp 8 is stuck in the position that sliding block 7 is fixed in the groove of sliding block 7, the shape of the state or disconnection that keep pipe 1 to engage with connector 2 State.

As illustrated in fig. 4 c, pipe 1 and connector 2 form plug-in type clutch.Spring 5, ring 4 and pipe are installed between ring 3 and pipe 1 Spring 6 is installed, installation takes turns 7 indirectly between ring 3 and ring 4, takes turns 7 sets on screw rod 8, screw rod 8 rotates, in the work of silk between 1 Under, wheel 7 is moved along screw rod 8, and then ring 3 and ring 4 also follow movement, and spring 5 and spring 6 give 1 one resultant forces of pipe, make pipe 1 with The engagement of connector 2 disconnects.Spring 5 and spring 6 play the role of buffering.

Motor and control circuit can be installed to clutch, clutch closing or opening is made by electric signal control.

Also electromagnet can be used to be attracted clutch device.

As shown in figure 4d, rotating member A1 and rotating member B2 forms axis angle measurement equipment, and set 3 is mounted on rotating member B2, circle Ring 4 is mounted on set 3.Driven member 5 passes through annulus 4 by axis, 3 and rotating member B2 of set is connect with rotating member A1.The axis of motor 9 Driving link 6 is installed.Driving link 6 and driven member 5 form a clutch device.Driving link 6 is inserted into driven member 5, and motor 9 connects Terminal 8 is pressed on conductive sheet 7, and shelves 10 are stuck in shelves 11.Circuit control is powered to conductive sheet 7, and electric current is transmitted to wiring by conductive sheet 7 Column 8, motor 9, which is powered, to be rotated, and the rotation of driving link 6 drives driven member 5 to rotate, and driven member 5 drives rotating member A1 to rotate, rotating member A1 relatively rotates part B2 rotation.12 one end of box is mounted on annulus 4,9 sets of motor in box.Disk 13 is covered in box 12 On, the protection of motor 9 in box 12.

It can be combined into an angle measurement device with three axis angle measurement equipments, for measuring the angle in three dimensions Variation, referred to as three-dimensional shaft angle measurement equipment.Power device is installed on three-dimensional shaft angle measurement equipment, it can measurement joint angle Degree, and power type three-dimensional shaft angle measurement equipment can be referred to as with outputting torsion.

As shown in figure 5, its axis of motor 1 passes through card 10, connect across rotating member A2 with rotating member B3, block 10 a part It is mounted on motor 1, a part is mounted on rotating member A2, and motor 1 rotates, and drives rotating member B3 rotation；Motor 4 its Axis passes through set 11, bar 15, rotating member A6 and connect with rotating member B5, and motor 4 rotates, and drives rotating member B5 to relatively rotate part A6 and turns Dynamic, 11 one sides of set are connect with rotating member A6, and another side is connect with motor 4；Its axis of motor 7 passes through set 12, bar 16, rotating member A9 is connect with rotating member B8, and motor 7 rotates, and is driven rotating member B8 to relatively rotate part A9 rotation, is covered 12 one sides and rotating member A9 Connection, another side are connect with motor 7.13 one end of L shaped plate is mounted on rotating member B5, and the other end is mounted on rotating member A2, L 14 one end of shape plate is mounted on rotating member B8, and the other end is mounted on rotating member B3, and so composition one has measurement three dimensional angular Spend the assembling device of function and power output function.The insertion of bar 15 set 11, seamed on bar 15, the axis of motor 4 passes through bar 15 Seam connect with rotating member B5.The insertion of bar 16 set 12, it is seamed on bar 16, the axis of motor 7 by bar 16 seam and rotating member B8 Connection.Plate 17 is mounted on set 12, can also be installed together with rotating member A9, have hole 18 on plate 17, fixing belt is through via hole 18 Power type three-dimensional shaft angle measurement equipment is mounted on limbs.

The installation axle angle measurement equipment at corresponding joint rotation generally on joint.Such as elbow joint, only a kind of rotation direction, One axis angle measurement equipment is installed in elbow joint, the axis and forearm of axis angle measurement equipment are in same around the axis that elbow joint rotates On straight line, the rotating member A of axis angle measurement equipment is connected on forearm, and rotating member B is connected on upper arm.Axis angle measurement equipment follows Elbow joint rotation, the angle for measuring to take can approximatively regard the rotational angle of elbow joint as.Such as shoulder joint, there are three types of rotations Mode, one is arm side raise, one is arms swing fore backward, one is when arm droop, arm using arm as axis inside and outside Rotation.The angle measurement of shoulder joint generally uses three axis angle measurement equipments, installs a shaft angle degree in the dead astern of shoulder joint Measuring appliance, the rotational angle of shoulder joint when measurement arm side raise；In the left side of left shoulder joint, the right side installation one of right shoulder joint A axis angle measurement equipment, the rotational angle of shoulder joint when measurement arm swing；One axis is installed in the surface of shoulder joint Angle measurement equipment, measurement arm is using arm as the rotational angle of shoulder joint when rotating inside and outside axis.

The measurement of joint of vertebral column is similar with shoulder joint, and also there are three types of directions, and one is ridge joints when swaying forwards and backwards body Angular turn, one is the angular turn in ridge joint when double swerve body, another kind be body by after front steering when ridge joint Angular turn.Several three-dimensional shaft angle measurement equipments can be used when measuring joint of vertebral column；Also a transmission can be used Rope type axis angle measurement equipment and multiple arc axis angle measurement equipments；Also transmission rope type shaft angle degree measuring appliance and multiple can be used Twin shaft angle measurement equipment.When transmission rope type shaft angle degree measuring appliance mainly measures turns due, the rotational angle of spinal bone.

The angle measurement of clavicle joint, clavicle joint are rotated there are two types of mode, are moved upwards one is shoulder and dynamic downwards, another Kind is that shoulder forwardly and rearwardly moves.Here it is measured using arc axis angle measurement equipment or twin shaft angle measurement equipment.

Wrist joint, the measurement method of hip joint are similar with joint of vertebral column.

Several conducting wires are had on stimulus to the sense organ device and joint angles sampler, are used for transmission electric signal and input electricity Stream.Conducting wire is broken when wearer's activity limbs in order to prevent, stretch conducting wire is used in the present invention, stretch conducting wire is conducting wire system It is made the line of bending, or the line curled, can moderately stretched, is suitble to be worn on movable human body.

It as shown in Figure 6 a, is spring Line-shaped conductor.

It as shown in Figure 6 b, is bent conducting wire.

It can be effectively prevented using spring shape conducting wire or bent conducting wire because of the case where limb activity pulls apart conducting wire generation.

Wearer's body is worn on or from wearer in order to facilitate stimulus to the sense organ device and joint angles sampler It removes, devises tightening device.Tightening device, be mainly strained and fixed band, and fixing belt is made to form one on the limbs of wearer Fixed pulling force is securely fixed in stimulus to the sense organ device and joint angles sampler with wearer, and unclamps and fix Band makes fixing belt loosen from wearer.

Tightening device, generally zipper, snap-fastener, eye-splice, button, magnetic clasp, magic tape or any of the above combination.In order to adjust Multiple tightening devices can be used in elasticity.

As fig. 6 c, rack gear 1, rack gear 2 and one zipper of composition of slider of zipper fastener 3 are known as zipper A, rack gear 4, rack gear 5 and drawing Chain head 6 forms a zipper and is known as zipper B, and rack gear 7, rack gear 8 and slider of zipper fastener 9 form a zipper and be known as zipper C.Zipper A, it draws Chain B and zipper C be fixed on while 10 and while 11 on.Three zippers to while 10 with while 11 distance it is different, different receipts can be played Tight effect；If three zippers to while 10 with while 11 distance it is identical, three zippers can increase the receipts of opposite side 10 and side 11 Close pulling force.

When having on VR glasses and playing game, wearer is easy to fall down, for the personal safety of wearer, in the present invention Safety lifting rope is installed, one end of rope is hung in higher position, and the other end ties up in the present invention, in order to increase buffering, safety lifting rope It can be partly or entirely made of elastic material；Alternatively, it is also possible to install guardrail, the protection schemes such as soft floor are used.

In the present invention, several control chips can be used, to acquire the electric signal of joint angles sampler, output electricity Signal gives stimulus to the sense organ device.A master control control chip is had in the present invention, and master control controls chip and collects all control cores The electric signal of piece, and send instructions to all control chips.If adopted between master control control chip and each control chip With independent data line, data line can be made excessive, if there is 8 control chips, then at least 8 groups of data line.If adopted With concatenated mode, it is connected on group data line as soon as 8 control chips and master control is allowed to control chip, the usage quantity of data line becomes At one group, when in use, master control control chip mass-send by data line to all control chips, order some control chip and Master control control core starts data transmission, other control chips do not send data externally, does not also receive data.Such master control controls core Piece and each control chip transmit data one by one.

Embodiment one, seismaesthesia formula intelligent wearable device, as shown in Figure 7, Figure 8.

Fig. 7 and Fig. 8 show the same embodiment, and Fig. 7 is wearer's front schematic view, and Fig. 8 is wearer's schematic rear view, Wherein identical label indicates same device or same function element in two figures, illustrates this reality together with two figure of Fig. 8 below with reference to Fig. 7 Apply example.

As shown in the figure, after zipper 2 pulls open, the device of the present embodiment, which becomes smaller to the pressure of limbs, to be facilitated wearing or takes off, After zipper 2 pulls open conjunction, the device of the present embodiment can be adjacent to the body of wearer.

One or more zipper can be installed along coat-sleeve, trouser legs etc., used here as zipper, main purpose is to play tightening to make With.More zippers, then more a tightening dynamics.

The both ends difference installation set 102 and set 103 of axis angle measurement equipment 101.Fixing belt 104 is passed through around shoulder oxter The hole grip 102 for crossing set 102 is fixed at shoulder, and 105 one end of fixing belt is fixed on plate 106, after the other end is fixed on wearer At back on plate 107, plate 106 is mounted on the present embodiment chest locations, and plate 107 is mounted on the present embodiment back position, fixing belt 105 Across set 102, to the power at 102 1 direction wearer's chest centers of set.Under the action of fixing belt 104 and fixing belt 105, set 102 are securely fixed in wearer's shoulder position.

The both ends difference installation set 112 and set 113 of axis angle measurement equipment 111.In the insertion of bar 114 set 112, and 112 groups are covered At a telescopic rod.In one set of the other end insertion double braid covering 115 of bar 114.Fixing belt 116 is around upper arm and passes through bilayer The hole of set 115 is fixed on double braid covering 115 on the upper arm of wearer.

The both ends difference installation set 122 and set 123 of axis angle measurement equipment 121.In one end insertion set 122 of bar 124, with set 122 one telescopic rod of composition.Other one end insertion set 103 of bar 124, forms a telescopic rod with set 103.It inserts one end of bar 125 Enter in set 123, forms a telescopic rod with set 123；In the other end insertion set 113 of bar 125, one is formed with set 113 and is stretched Bar.

Axis angle measurement equipment 101, set 102, set 103, bar 124, axis angle measurement equipment 121, set 122, set 123, bar 125, Set 113, axis angle measurement equipment 111, set 112, bar 114 collectively constitute shoulder measurement device, and collective effect measures shoulder joint three Rotational angle in a dimension.

130 one end of arc axis angle measurement equipment is mounted on plate 107, and the other end is mounted on set 102.Arc axis angle measurement equipment 130 rotational angle to measure clavicle joint.

The both ends difference installation set 142 and set 143 of axis angle measurement equipment 141.In one end insertion set 143 of bar 147, bar 147 form a telescopic rod with set 143.In the other end insertion double braid covering 115 of bar 147.In one end insertion set 142 of bar 144, A telescopic rod is formed with set 142, the other end insertion of bar 144 covers in 145, forms a telescopic rod with set 145.Fixing belt 146 pass through the hole on set 145, and grip 145 is fixed on forearm.Axis angle measurement equipment 141 is used as the angle of measurement elbow joint rotation Degree.

Rotating member A201 is worn on forearm wrist joint, and rotating member B232 is worn on forearm elbow joint, 231 one end of stock It is mounted on rotating member A201, the other end compresses rotating member B232.Rotating member A201, rotating member B232, stock 231 constitute one Kind wrist angle measurement device, such wrist angle measurement device can only measure wrist around the angle of forearm rotation.Arc shaft angle degree Measuring appliance 202 is worn on wrist joint, to measure the angular turn in two dimensions of wrist.Arc axis angle measurement equipment 203 is pacified At the finger joint that palm is connect with finger, the rotational angle of finger joint herein is measured.Curved angle measuring appliance 204 is mounted on finger Intermediate joint, to measure the rotational angle in joint herein.

One end of three-dimensional shaft angle measurement equipment 301 is fixed on wearer back by fixing belt 303.Three-dimensional shaft angle measurement Device 301 is connect by telescopic rod 302 with plate 107.Three-dimensional shaft angle measurement equipment 301 is used to measure the angle of rotation in partial ridge joint Degree.

One end of three-dimensional shaft angle measurement equipment 311 is fixed on wearer back by fixing belt 313.Three-dimensional shaft angle measurement Device 311 is linked together by telescopic rod 312 with three-dimensional shaft angle measurement equipment 301, and three-dimensional shaft angle measurement equipment 311 is to measure The rotational angle in the ridge joint of middle section.

One end of three-dimensional shaft angle measurement equipment 321 is fixed on wearer's waist by fixing belt 323.Three-dimensional shaft angle measurement Device 321 is linked together by telescopic rod 322 with three-dimensional shaft angle measurement equipment 311, and three-dimensional shaft angle measurement equipment 321 is to measure The rotational angle in lower partial ridge joint.

More three-dimensional shaft angle measurement equipments can be dressed to measure the rotational angle of joint of vertebral column.

The both ends difference installation set 402 and bar 403 of axis angle measurement equipment 401.In 403 one end of bar insertion set 404, fixing belt 405 are looped around on thigh, and set 404 is mounted in fixing belt 405.There is eye-splice 406 in fixing belt 405, the effect of eye-splice 406 is to receive Fasten band 405.

The both ends difference installation set 412 and bar 414 of axis angle measurement equipment 411.The other end of bar 414 is mounted on fixing belt On 323.In one end insertion set 412 of bar 413, a telescopic rod is formed with set 412, other end insertion covers in 402, with set 402 Form a telescopic rod.

Bar 414, axis angle measurement equipment 411, set 412, bar 413, set 402, axis angle measurement equipment 401, bar 403 and set 404 It forms Hip Angle and measures assembling device, to measure the rotational angle of hip joint.

The both ends of axis angle measurement equipment 421 link together with bar 422 and bar 423 respectively.The other end of bar 422 is connected to In fixing belt 424.The other end of bar 423 is connected in fixing belt 425.Eye-splice 426 is mounted in fixing belt 424, and effect is to receive Fasten band 424.Eye-splice 427 is mounted in fixing belt 425, and effect is tightening fixing belt 425.Here zipper also can be used Realize tightening function.Fixing belt 424 is worn on the thigh near knee joint, and fixing belt 425 is worn on small near knee joint On leg.Curve knee joint, axis angle measurement equipment 421 follows rotation, and then measures and obtain and kneed curve angle.

The both ends of axis angle measurement equipment 431 link together with bar 432 and bar 433 respectively.It is attached that bar 432 is mounted on ankle-joint At nearly shank, it is upper close to ankle that bar 433 is mounted on foot.Angle of the axis angle measurement equipment 431 to measure ankle-joint rotation.

Several vibration parts 1 are mounted in fixing belt 303.Vibration part 1 converts electrical signals into vibration and passes to wearer.This Vibration part is fitted in embodiment in the fixing belt of juxtra-articular, to export seismaesthesia.

It is not drawn into the joint acquisition of neck part, toes part in figures 7 and 8, pass can be installed in the present embodiment The rotational angle for saving angle acquisition module collection head neck portion, toes partial joint, can also install stimulus to the sense organ module, pacify Dress mode is similar with the installation of stimulus to the sense organ module with the joint angles acquisition module in other joints in the present embodiment.

In wearing, all fixing belts are dressed physically one by one.Fixing belt can also be sewed in finery, gloves On, when dressing finery gloves, while all devices are all worn, it is more convenient.For the ease of replacing device, Band 4 is used in the present embodiment, band 4 is fixed on fixing belt on finery.When replacement, fixing belt is extracted out out of band 4.Gu Determining band may be mounted on tightening device zipper, also may be mounted on cloth and is connected to one with zipper indirectly by cloth It rises.Drawing zipper tightens fixing belt.

On the present embodiment, gyroscope can also be installed, to judge the inclined degree of wearer's body, if beyond peace Full limits remind wearer to take care, play the role of falling-resistant；Loudspeaker or earphone can also be installed, to defeated Sound out；Microphone can also be installed, to acquire sound；VR glasses can also be installed, to experience the strong game of the sense of reality； Display can also be installed, to export video pictures；GPS can also be installed, to acquire the GPS location of wearer；May be used also To install range unit, to detect wearer to wall distance, if apart from too short, remind wearer will bump against object Body.

Embodiment two, power type intelligent wearable device, as shown in Figure 9, Figure 10.

Fig. 9 and Figure 10 show the same embodiment, and Fig. 9 is wearer's front schematic view, and Figure 10 is the signal of the wearer back side Figure illustrates together with two figure of Figure 10 wherein identical label indicates same device or same function element in two figures below with reference to Fig. 9 The present embodiment.

One rotating member of power type axis angle measurement equipment 2101 is fixed on shoulder around shoulder and oxter by fixing belt 2109 Portion, 2110 both ends of fixing belt are separately fixed on plate 2111 and plate 2112, and plate 2111 is mounted on wearer's chest locations, plate 2112 It is mounted on wearer back position.One rotating member of fixing belt 2110 and power type axis angle measurement equipment 2101 is connected to one It rises, the power of wearer's chest is directed toward to power type axis angle measurement equipment 2,101 1, prevents power type axis angle measurement equipment 2101 It is slid to outside shoulder.

One end of bar 2105 is mounted on a rotating member of power type axis angle measurement equipment 2101, and power type shaft angle degree is surveyed Measuring device 2101 rotates, and driven rod 2105 rotates.The other end of bar 2105 is mounted on one of power type axis angle measurement equipment 2102 On rotating member.Mounting rod 2106 on another rotating member of power type axis angle measurement equipment 2102, power type axis angle measurement equipment 2102 output powers, driven rod 2105 and bar 2106 rotate.The other end of bar 2106 is mounted on power type axis angle measurement equipment On 2103 rotating member.Another rotating member mounting rod 2107 of power type axis angle measurement equipment 2103, power type shaft angle It spends measuring appliance 2103 and rotates driven rod 2106 and the rotation of bar 2107.In the other end insertion double braid covering 2108 of bar 2107, double braid covering 2108 are fixed on upper arm.

Power type axis angle measurement equipment 2101, bar 2105, power type axis angle measurement equipment 2102, bar 2106, power profile shaft Angle measurement equipment 2103, bar 2107 form shoulder joint power device, have not only acquired the angle in each dimension of shoulder joint rotation, but also Output torque, torsion shoulder joint rotation.

One rotating member of power type arc axis angle measurement equipment 2130 is mounted on plate 2112, power type arc axis angle measurement The arc slide plate of device 2130 is mounted on a rotating member of power type axis angle measurement equipment 2101.Power type arc axis angle measurement Rotational angle and outputting torsion of the device 2130 to measure clavicle.

One rotating member of power type axis angle measurement equipment 2121 installs connecting rod 2122, and the other end insertion of bar 2122 is double In layer set 2108, another rotating member mounting rod 2123 of power type axis angle measurement equipment 2121, the insertion of bar 2123 covers in 2124, Set 2124 is mounted on forearm.Power type axis angle measurement equipment 2121 rotates, and torque rod 2122 is rotated relative to bar 2123.

Bar 2122, power type axis angle measurement equipment 2121 and bar 2123 constitute the angle measurement device of elbow joint, realize The angle measurement of elbow joint and the torsion of elbow joint.

Rotating member A2201 is worn on forearm wrist joint, and rotating member B2202 is worn on forearm elbow joint, stock 2203 One end is mounted on rotating member A2201, and the other end compresses rotating member B2202.It is with teeth on rotating member B2202, in stock 2203 Power gear is installed with the joint rotating member B2202, power gear rotation drives rotating member B2202 rotation.Rotating member A2201, Rotating member B2202, stock 2203 constitute a kind of power type wrist angle measurement device, it can measurement wrist angle, and can With output power rotation wrist around forearm rotation.

Power type arc axis angle measurement equipment 2204 is worn on wrist joint, turns to measure the angle in two dimensions of wrist Dynamic and outputting torsion.Power type arc axis angle measurement equipment 2205 is mounted at the finger joint that palm is connect with finger, and measurement is herein The rotational angle and outputting torsion of finger joint.Power type curved angle measuring appliance 2206 is mounted on the joint among finger, uses To measure the rotational angle and outputting torsion in joint herein.

2311 one end of bar is mounted on plate 2112, and the other end is mounted on one of power type three-dimensional shaft angle measurement equipment 2301 On rotating member.Power type three-dimensional shaft angle measurement equipment 2301 is fixed on back position around chest and back by fixing belt 2321.Bar 2312 one end is mounted on power type three-dimensional shaft angle measurement equipment 2301, and the other end is mounted on power type three-dimensional shaft angle measurement On one rotating member of device 2302.Power type three-dimensional shaft angle measurement equipment 2302 is fixed on back around chest and back by fixing belt 2322 Portion position.One end of bar 2313 is mounted on power type three-dimensional shaft angle measurement equipment 2302, and the other end is mounted on power type three-dimensional On one rotating member of axis angle measurement equipment 2303.Fixing belt 2323 is around waist power type three-dimensional shaft angle measurement equipment 2303 It is fixed on waist location.

Power type three-dimensional shaft angle measurement equipment 2301, power type three-dimensional shaft angle measurement equipment 2302, power type three-dimensional shaft angle Spend the rotational angle and outputting torsion twisting of 2,303 3 power type three-dimensional shaft angle measurement equipment measurement joint of vertebral column of measuring appliance Articulation.It is defeated to measure the rotational angle of joint of vertebral column and torsion that more power type three-dimensional shaft angle measurement equipments can be installed Out.

Bar 2403 is mounted in fixing belt 2323, and the other end of bar 2403 is mounted on power type axis angle measurement equipment 2401 On one rotating member, mounting rod 2404 on another rotating member of power type axis angle measurement equipment 2401.The other end of bar 2404 It is mounted on a rotating member of power type axis angle measurement equipment 2402.Another rotation of power type axis angle measurement equipment 2402 Part installs telescopic rod 2405.The other end of telescopic rod 2405 is fixed on leg using fixing belt.Bar 2403, power type shaft angle degree are surveyed Measuring device 2401, bar 2404, power type axis angle measurement equipment 2402, telescopic rod 2405 form hip joint measurement device, and measurement hip closes The rotational angle and outputting torsion of section, twisting hip joint rotation.

Bar 2412 is mounted near knee joint at thigh by fixing belt, and the other end of bar 2412 is mounted on power type shaft angle It spends on a rotating member of measuring appliance 2411, another rotating member mounting rod 2413 of power type axis angle measurement equipment 2411, bar 2413 other end is mounted near knee joint at shank by fixing belt, bar 2412, power type axis angle measurement equipment 2411, bar 2413 collective effects measure kneed angle and outputting torsion, twisting knee joint rotation.

One end of bar 2422 is mounted near ankle-joint at shank by fixing belt, and the other end of bar 2422 is mounted on power On one rotating member of profile shaft angle measurement equipment 2421, another rotating member mounting rod of power type axis angle measurement equipment 2421 2423, the other end of bar 2423 is mounted near ankle-joint on foot by fixing belt.Bar 2422, power type axis angle measurement equipment 2421, the angle and outputting torsion of 2423 collective effect of bar measurement ankle-joint, twisting ankle-joint rotation.

It is simple and clear for statement, using the fixed power type axis angle measurement equipment of fixing belt in Fig. 9 Figure 10 signal, in reality The plate or shell using fitting body, referred to as limbs shell should be increased in the operation of border.Limbs shell is mounted on outside limbs, power profile shaft One rotating member of angle measurement equipment is connect with limbs shell.Such as elbow joint, limbs shell is installed on upper arm and is known as upper arm limbs Shell installs limbs shell, referred to as forearm limbs shell, the rotating member and upper arm limbs of power type axis angle measurement equipment on forearm Shell connection, another rotating member link together with forearm limbs shell.Power type axis angle measurement equipment outputting torsion twists upper arm Limbs shell phase rotates forearm limbs shell, i.e. the rotation of twisting elbow joint.Increased at limbs shell with extremity using flexible material Add wearing comfort degree.

For beauty, fairing or other moulding can be installed in the present invention.Fairing or other Moulding may be mounted on telescopic rod, also may be mounted in fixing belt, also may be mounted on other devices.

Claims (13)

1. a kind of smart electronics object wearing device, characterized by comprising:

Joint angles acquisition module, for acquiring articulation angle and being converted into electric signal；

Stimulus to the sense organ module, converts electrical signals into stimulus to the sense organ.

2. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the joint angles acquisition module Include:

Rotating member A；

Rotating member B；

Electron displacement measuring appliance, the electronic device of measurement angle；

The rotating member A is rotated relative to the rotating member B, and the electron displacement measuring appliance is mounted on the rotating member A and described On rotating member B, to measure the rotational angle of the relatively described rotating member B of the rotating member A.

3. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the joint angles acquisition module Include:

Torsion conduction rope, rope, rope form, bar, rod-shaped, chain or chain device, for conducting torsion；

Rotating member A；

Rotating member B；

Electron displacement measuring appliance, the electronic device of measurement angle；

The torsion conduction rope, one end is mounted on the rotating member A or rotating member B；The rotating member A and the rotation The electron displacement measuring appliance is installed on part B, to measure the rotational angle of the relatively described rotating member B of the rotating member A, is reversed The torsion conduction rope, torsion are conducted to the rotating member A or rotating member B, make the relatively described rotating member of the rotating member A B rotation.

4. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the joint angles acquisition module Include rotating member A, rotating member B, axis, arc track limiter, arc slide plate and electron displacement measuring appliance；The rotating member A and The rotating member B installation is on the shaft；The electron displacement measuring appliance is installed on the rotating member A and the rotating member B, To measure the rotational angle of the relatively described rotating member B of the rotating member A；The arc track limiter or the arc slide plate It is mounted on the rotating member A or rotating member B；The arc track limiter covers outside the arc slide plate, the arc Shape slide plate rotates under the limitation of the arc track limiter around a straight line；It is limited in the arc slide plate and the arc track The electron displacement measuring appliance is installed to measure the arc slide plate relative to the rotation of the arc track limiter on device processed Angle.

5. a kind of smart electronics object wearing device according to claim 1, which is characterized in that it also include extensible member, it is described to stretch Contracting part includes bar and set, can be moved along direction of insertion relative to set in the bar insertion set.

6. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the stimulus to the sense organ module includes Seismaesthesia stimulation device.

7. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the stimulus to the sense organ module includes Be slidably installed hole, band or rope can be penetrated in the hole that is slidably installed, and can move along band or rope, adjusted on band or rope Position.

8. a kind of smart electronics object wearing device according to claim 1, which is characterized in that it also include tightening device, to Stimulus to the sense organ module and/or joint angles acquisition module is set to be adjacent to limbs or the device to get off of loosening from limbs, the tightening Device is zipper, snap-fastener, eye-splice, button, magnetic clasp, magic tape or any of the above combination.

9. a kind of smart electronics object wearing device according to claim 1, which is characterized in that it also include stretch conducting wire, it is described Stretch conducting wire can be stretched or be shunk within certain limits.

10. a kind of smart electronics object wearing device according to claim 1, which is characterized in that also include elastic reducing-fixing band, institute Stating elastic reducing-fixing band is flexible band-like or rope form device, to fix other devices on limbs.

11. a kind of smart electronics object wearing device according to claim 1, which is characterized in that it also include several control chips, Shared data line between the control chip.

12. a kind of smart electronics object wearing device according to claim 1, which is characterized in that the stimulus to the sense organ module packet Containing electric-powered device.

13. a kind of smart electronics object wearing device according to claim 12, which is characterized in that the electric-powered device packet Containing clutch.