CN113001509A - Dance training exoskeleton teaching aid and interaction method - Google Patents
Dance training exoskeleton teaching aid and interaction method Download PDFInfo
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- CN113001509A CN113001509A CN202110109407.8A CN202110109407A CN113001509A CN 113001509 A CN113001509 A CN 113001509A CN 202110109407 A CN202110109407 A CN 202110109407A CN 113001509 A CN113001509 A CN 113001509A
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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
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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Abstract
The invention discloses an exoskeleton teaching aid for dance training, which at least comprises a flexible structure worn on a body, an exoskeleton skeleton used for installing the flexible structure, and gear joints installed on the exoskeleton skeleton; the gear joint comprises a fine adjustment joint arranged on the outer side of an exoskeleton thigh support, a first hip joint component and a second hip joint component which are connected in a nested manner; the fine adjustment joint at least comprises a planetary gear train, a ratchet wheel and pawl mechanism, an angle adjusting knob and an electromagnetic switch, wherein the planetary gear train, the ratchet wheel and pawl mechanism and the angle adjusting knob are all arranged on a central shaft, the electromagnetic switch is used for controlling the locking state of the ratchet wheel and pawl mechanism, the ratchet wheel and the planetary gear train are driven to rotate through the central shaft to realize angle fine adjustment by adjusting the angle adjusting knob, the angle is locked through the electromagnetic switch, the fine adjustment joint is convenient to use and suitable for various training occasions, and the fine adjustment of; the invention further provides an interaction method of the dance training exoskeleton teaching aid, and the visualization of training data is realized.
Description
Technical Field
The invention relates to a dance training teaching aid, in particular to an exoskeleton teaching aid for dance training.
Background
Along with the richness of cultural life of people, the density of sports activities such as dance, gymnastics, body building and the like is gradually increased. However, due to improper practice, many students have injuries such as muscle strain, ligament tear, and bone and muscle dislocation, so that long-time recovery is needed in the later period, and some injuries even accompany lifetime, which affects physical and mental health of students.
At present, many users can adopt the mode of reporting to the police and studying on duty, and the cooperation assists the teaching aid to train, but traditional training mode is with high costs, has higher requirement to teacher and place, and the volume of traditional training teaching aid is great simultaneously, heavy inconvenient, the operation is complicated, and is perhaps simple and easy cheap again, and intelligence is weak, and the security is poor. Therefore, the user needs a more scientific and efficient training mode which is easy and convenient, and can ensure low cost and safe environment while improving the flexibility.
Chinese patent document CN206823075U discloses a multi-functional dance flexible teaching aid, its overall structure that utilizes barre, support and fly leaf to build the barre teaching aid comes two regulation poles of fixed stay through the locking bolt, makes the height that the barre was adjusted can be accurate to the millimeter, facilitates for the student's training. But the device is relatively thick and heavy, is only convenient to place in professional places, and is difficult to meet the diversified requirements that a user can easily exercise in any place; meanwhile, the teaching aid is inconvenient to operate, the stretching effect can be achieved only by the aid of other people or the height of a user is adjusted according to prediction in advance, and the requirement that a student flexibly adjusts the hip pressing degree according to the self condition at any time is difficult to meet; and the device has certain height apart from ground, and does not have fixed knot to construct the safety of protection user, can lead to the focus unstability and fall the condition on ground down, no matter be the health protection or psychological consolation all need consider, the security and the comfort of basic skill training do not obtain the guarantee, and the whole size of device is difficult to satisfy the needs that integrate.
Disclosure of Invention
The invention provides an exoskeleton teaching aid for dance training and an interaction method for dance training, aiming at overcoming the defects of the technology, the exoskeleton teaching aid is suitable for flexible training of dances, gymnastics and the like, the training posture is corrected through an exoskeleton support, the action is guaranteed to be correct, and chronic injury is avoided; meanwhile, the angle fine adjustment and locking of the exoskeleton joints can be realized, the training efficiency is improved, and the measurement of human body data is realized by integrating the telescopic structure.
The technical scheme adopted by the invention for overcoming the technical problems is as follows:
the first purpose of the invention is to provide a dance training exoskeleton teaching aid, which at least comprises a flexible structure worn on a body, an exoskeleton skeleton used for installing the flexible structure, and gear joints installed on the exoskeleton skeleton; the exoskeleton skeleton at least comprises an exoskeleton thigh bracket, an exoskeleton thigh shell and a knee joint shell which are arranged on the exoskeleton thigh bracket, and a waist connecting piece; the flexible structure at least comprises a flexible waist belt and a flexible waist-protecting belt which are connected through a waist connecting piece, a thigh protecting and fixing structure arranged on the inner side of the exoskeleton thigh support and a knee joint protecting and fixing structure arranged on the inner side of the knee joint shell; the gear joint comprises a fine adjustment joint arranged on the outer side of the hip joint, a first hip joint component fixedly connected with the flexible waistband and a second hip joint component fixedly connected with the fine adjustment joint, wherein the first hip joint component and the second hip joint component are connected in a nested manner; the fine adjustment joint at least comprises a planetary gear train, a ratchet and pawl mechanism, an angle adjusting knob and an electromagnetic switch, wherein the planetary gear train, the ratchet and pawl mechanism, the angle adjusting knob and the electromagnetic switch are all arranged on a central shaft, the electromagnetic switch is used for controlling the locking state of the ratchet and pawl mechanism, the central shaft is fixedly connected with the exoskeleton thigh support and the second hip joint assembly through bearings, and the planetary gear train is in bearing connection with the second hip joint assembly and is fixedly connected with the exoskeleton thigh support; the ratchet wheel and pawl mechanism comprises a ratchet wheel fixedly connected with the central shaft and a pawl fixedly connected with the second hip joint assembly, and the electromagnetic switch is connected with the pawl; and the angle adjusting knob is adjusted so as to drive the ratchet wheel and the planetary gear train to rotate through the central shaft to realize angle fine adjustment, and the angle is locked through the electromagnetic switch.
Furthermore, the exoskeleton leg support further comprises a telescopic structure, the telescopic structure comprises a gear rack structure and a telescopic adjusting knob, the gear rack structure comprises a gear arranged on the outer side of the exoskeleton leg support and a rack which is fixedly connected with the sliding structure and arranged inside the exoskeleton leg support, and the sliding structure is telescopic by adjusting forward and reverse rotation of the gear through the telescopic adjusting knob.
The gear rack structure is used for realizing length extension, thereby being suitable for users with different heights and different growth stages of the same user.
Furthermore, the planetary gear train at least comprises 1 sun gear fixed on the central shaft, 3 planet gears connected with the second hip joint assembly bearing, and an inner gear fixedly connected with the exoskeleton thigh support, wherein the planet gears are respectively connected with the sun gear and the inner gear through gears.
The planetary gear train realizes the speed reduction rotation with large transmission ratio.
The control module at least comprises a main control unit, a wireless communication unit and a sensor unit, wherein the main control unit calculates based on the measurement result of the sensor unit and exchanges the calculation result with external communication equipment through the wireless communication unit.
The main control unit adopts an embedded system with STM32 as a core, and performs data exchange with external communication equipment such as a mobile terminal and the like through a wireless communication unit.
Furthermore, the sensor unit at least comprises a potentiometer connected with the fine adjustment joint and used for measuring the joint rotation angle and a pressure sensor embedded into the knee joint protection fixing structure and used for measuring the joint torque.
Further, thigh protection fixed knot constructs includes the thigh cushion, locates thigh protection band and the thigh of thigh cushion inboard and presses and detain the bandage, knee joint protection fixed knot constructs including knee joint protection band and the knee joint of locating knee joint shell inboard and presses and detain the bandage.
Furthermore, the flexible structure further comprises an elastic magic tape arranged on the flexible waist support belt.
Furthermore, the flexible structure adopts soft rubber materials to match with the high-elasticity knitted fabric and is lined with the brocade rubber band elastic yarns.
The flexible structure can be more provided with elastic and elastic wrapping users, is more comfortable to wear, and is matched with the binding type safety buckle and the elastic magic tape to realize flexible adjustment of the size.
The invention also provides an interaction method based on the dance training exoskeleton teaching aid, which specifically comprises the following steps: s1, wearing and finishing the initial state adjustment of the dance training exoskeleton teaching aid;
s2, performing action training, and self-locking the angle of the exoskeleton teaching aid for dance training during the first action; s3, adjusting the angle adjusting knob to keep the second action; s4, after training, connecting the wireless communication unit through the mobile terminal; and S5, the wireless communication unit sends the data to the mobile terminal and checks the training data through the mobile terminal.
Further, the training data at least comprises training duration, stretching angle and training intensity.
The invention has the beneficial effects that:
1. the device has the advantages of small volume, light weight, convenient operation, low cost and wide application, is convenient for users to independently train in any environment, and saves the field and labor cost.
2. The design of the fine adjustment joint realizes the function of intelligently adjusting the stretching angle of a user, and the user can realize the angle fine adjustment and locking of the exoskeleton joint through a manual adjusting knob by combining a ratchet wheel and pawl mechanism which rotates in a single direction and a planetary gear train which adjusts the speed reduction, so that the training efficiency is improved;
3. the telescopic structure is arranged to adapt to users with different heights and different growth stages of the same user;
4. the body data are measured through the potentiometer and the pressure sensor and sent to the mobile terminal, so that the user can master the motion state of the user;
5. the flexible structure that can freely adjust the size of dressing is adopted, avoids the motion damage in the motion process, provides the safety protection of health and psychology, promotes the ease of use and the travelling comfort of ectoskeleton teaching aid.
Drawings
FIG. 1 is a perspective view of a dance training exoskeleton teaching aid according to an embodiment of the invention, shown in FIG. 1;
FIG. 2 is a perspective view 2 of the dance training exoskeleton teaching aid according to the embodiment of the invention;
FIG. 3 is an exploded view of FIG. 1;
FIG. 4 is an exploded view of FIG. 2;
FIG. 5 is a schematic plan view of a fine adjustment joint of the dance training exoskeleton teaching aid according to the embodiment of the invention;
FIG. 6 is a block diagram of a control module of the dance training exoskeleton teaching aid according to the embodiment of the invention;
FIG. 7 is a wearing schematic diagram of the dance training exoskeleton teaching aid according to the embodiment of the invention;
FIG. 8 is a flow chart of an interaction method of the dance training exoskeleton teaching aid according to the embodiment of the invention;
FIG. 9 is a training scene diagram of a dance training exoskeleton teaching aid;
in the figure, 1-exoskeleton skeleton; 1.1-exoskeleton thigh shell; 1.2-exoskeleton thigh support; 1.3-knee joint shell; 1.4-lumbar connection; 2-gear joint; 2.1.1-a first hip joint component; 2.1.2-a second hip joint component; 2.2.1 — a first bearing; 2.3-planetary gear train; 2.3.1-sun gear; 2.3.2-planetary gear; 2.3.4-fourth bearing; 2.3.5-center axis; 2.4-ratchet-pawl mechanism; 2.4.1-pawl; 2.4.2-ratchet; 2.4.3-internal gear; 2.5-electromagnetic switch; 2.6-battery case; 2.7-fine tuning of the joint housing; 2.2.2-second bearing; 2.8-potentiometer; 2.9.1-angle adjusting knob; 2.9.2-telescoping adjusting knob; 2.2.3-third bearing; 3-a rack and pinion mechanism; 4-a main control unit; 5-wireless communication unit, 6-flexible structure; 6.1-flexible waist-protecting band; 6.2-elastic magic tape; 6.3-elastic waistband; 6.4-thigh cushion; 6.5.1-leg protective harness; 6.5.2-Knee protection bands; 6.6.1-pressing and buckling the binding belt on the thigh; 6.6.2-Knee joint pressing and buckling bandage; 6.7-pressure sensor.
Detailed Description
In order to facilitate a better understanding of the invention for those skilled in the art, the invention will be described in further detail with reference to the accompanying drawings and specific examples, which are given by way of illustration only and do not limit the scope of the invention.
Example 1
As shown in fig. 1 and fig. 2, the dance training exoskeleton teaching aid according to the embodiment at least comprises a flexible structure 6 worn on the body, an exoskeleton skeleton 1 for mounting the flexible structure 6, and gear joints 2 mounted on the exoskeleton skeleton 1;
as shown in fig. 3 and 4, which are exploded views of fig. 1 and 2, respectively. The exoskeleton skeleton 1 comprises an exoskeleton thigh shell 1.1, an exoskeleton thigh support 1.2, a fine adjustment joint shell 2.7, a knee joint shell 1.3 and a waist connecting piece 1.4.
In the embodiment of the invention, the exoskeleton framework preferably adopts an aluminum alloy material as an internal support, and an ABS plastic shell is used for covering the internal mechanism.
The flexible structure 6 comprises a flexible waist belt 6.3 and a flexible waist-protecting belt 6.1 which are connected through a waist connecting piece 1.4, a thigh protection fixing structure arranged on the inner side of the exoskeleton thigh support 1.2 and a knee joint protection fixing structure arranged on the inner side of the knee joint shell 1.3. The thigh protection fixed knot constructs including thigh cushion 6.4, locates thigh protection band 6.5.1 and the thigh of thigh cushion 6.4 inboard and presses and detain bandage 6.6.1, and knee joint protection fixed knot constructs including locating knee joint protection band 6.5.2 and the knee joint of knee joint shell 1.3 inboard and presses and detain bandage 6.6.2.
The two components of the flexible waistband 6.3 and the flexible waist-protecting belt 6.1 which are connected through the waist connecting piece 1.4 ensure the fixation and the fitting of the waist, and are beneficial to the stability and the labor saving of the lower limb wearing.
The whole flexible protection architecture of waist, shank adopts the knitting surface fabric of flexible glue material cooperation high elastic property, and inside lining brocade package rubber band elasticity yarn for flexible architecture can have more elastic and elastic parcel user, and is more comfortable and easy to wear, cooperates safe buckle of bundling and pastes the nimble regulation of realizing the size with elasticity magic.
The gear joint is provided with two groups of fine adjustment joints on the outer side of an outer skeleton thigh support, a first hip joint component 2.1.1 fixedly connected with a flexible waistband 6.3, a second hip joint component 2.1.2 fixedly connected with the fine adjustment joints, and a first hip joint component 2.1.1 and a second hip joint component 2.1.2 which are installed in a nested mode.
The nested mounting of the first and second hip joint components 2.1.1, 2.1.2 enables rotation in the Y-direction of freedom.
The fine adjustment joint comprises a planetary gear train 2.3, a ratchet-pawl mechanism 2.4, an electromagnetic switch 2.5 and an angle adjusting knob 2.9.1 which are installed through a central shaft as shown in figure 5. The angle adjusting knob 2.9.1 is fixedly arranged on the middle shaft to realize the rotation fine adjustment in the X direction, the ratchet wheel is fixed on the middle shaft, the pawl is fixed on the hip joint component 2, the unidirectional rotation and locking of the second hip joint component are realized by utilizing the unidirectional rotation characteristic of the ratchet wheel and pawl mechanism, the electromagnetic switch is utilized to control the pawl, and the unidirectional locking of the ratchet wheel is released during resetting. And a planetary gear train 2.3, a sun gear is fixed on an intermediate shaft, a planetary gear is fixed on a second hip joint component 2.1.2 through a bearing, an internal gear is fixed on an exoskeleton thigh support to realize the speed reduction rotation with large transmission ratio, and the planetary gear is fixed on the second hip joint component and the exoskeleton thigh support through a first bearing. When a user rotates the rotation angle adjusting knob by the rotation angle of 2.9.1, the intermediate shaft rotates to drive the ratchet wheel and the sun wheel to rotate, further, the sun wheel drives the planet wheel to rotate, and finally the inner gear 2.4.3 is driven to rotate to adjust the joint angle.
The rotation of the degree of freedom in the X direction is realized by the cooperation of the fine adjustment joint and the second hip joint component, and the rotation of the degree of freedom in the Y direction is realized by the nesting of the first hip joint component and the second hip joint component.
The telescopic structure comprises a gear rack structure 3 and a telescopic adjusting knob 2.9.2. The gear rack structure comprises a gear arranged on the exoskeleton thigh shell 1.1 and a rack fixedly connected with the sliding structure and arranged inside the exoskeleton thigh shell 1.1, and the sliding structure is stretched and contracted by adjusting forward and reverse rotation of the gear through a stretching adjusting knob 2.9.2 so as to adapt to users with different heights and different growth stages of the same user.
In the embodiment of the present invention, a schematic block diagram of a control module is shown in fig. 6, and the control module at least includes a main control unit 4, a wireless communication unit 5, and a sensor unit. The sensor unit comprises a potentiometer 2.8 and a pressure sensor 6.7, and the potentiometer coaxial with the ratchet wheel in the fine tuning joint is used for measuring the rotation angle of the joint. The main control unit uses STM32 as an embedded system, adopts a potentiometer to measure the rotation angle of the joint, and a pressure sensor calculates the torque of the joint. Data exchange is carried out through the wireless module, and the collected data are uploaded to the mobile terminal APP.
Fig. 7 is a schematic diagram of a dance training exoskeleton teaching aid worn by a user according to an embodiment of the invention. Taking leg pressing training in dance training as an example, after the user wears the dance training device, the leg pressing training is started; the user can independently stretch to a certain degree, and when the user feels pain and cannot continuously press down, the user can self-lock by using the electromagnetic switch; then, the angle adjusting knob is rotated to increase the angle driven by the fine adjustment joint, so that the user is driven to continue stretching downwards; when the user feels that the leg muscles cannot bear the leg muscles, the user stops moving downwards, the current action is kept, and the leg muscles and the tendons are stretched; after training is completed, relevant data can be checked.
Example 2
As shown in fig. 8, according to the interaction method flowchart of the dance training exoskeleton teaching aid, a user can wear and train the exoskeleton teaching aid at home independently, and the dance training exoskeleton teaching aid is low in cost and convenient and fast to operate. One embodiment of the interaction method specifically comprises the following steps:
s1, the user wears the dance training exoskeleton teaching aid and adjusts the dance training exoskeleton teaching aid to a comfortable state;
and S2, starting training motions, such as leg pressing training, and when the user presses down to a certain degree, namely in a first motion state, and feels pain and cannot press down continuously, the dance training exoskeleton teaching aid disclosed by the embodiment of the invention is locked, and the user is fixed at the angle.
And S3, rotating the angle adjusting knob by the user, and driving the angle to increase by the gear structure, so that the user is driven to continue stretching, namely, the second work is kept. When the user feels that the user can not bear the downward movement, the knob stops rotating and is kept for a period of time, and the stretching of the muscle of the leg is realized.
And S4, the wireless communication unit sends the data to the mobile phone, or the mobile phone actively requires to collect training data. After the training is finished, relevant training data such as training duration, stretching angle and training intensity can be checked through the page of the mobile phone end.
Fig. 9 is a schematic diagram of training effects of the dance training exoskeleton teaching aid and the interaction method according to the invention. The data visualization can be realized by measuring the human body data, and the user can master the self motion state. The traditional training mode is broken through, and safety guarantee and scientific training are brought to users.
The foregoing merely illustrates the principles and preferred embodiments of the invention and many variations and modifications may be made by those skilled in the art in light of the foregoing description, which are within the scope of the invention.
Claims (10)
1. A dance training ectoskeleton teaching aid which characterized in that: the exoskeleton comprises at least a flexible structure (6) worn on a body, an exoskeleton skeleton (1) used for installing the flexible structure (6), and gear joints (2) installed on the exoskeleton skeleton (1);
the exoskeleton skeleton (1) at least comprises an exoskeleton thigh bracket (1.2), an exoskeleton thigh shell (1.1) and a knee joint shell (1.3) which are arranged on the exoskeleton thigh bracket (1.2), and a waist connecting piece (1.4);
the flexible structure (6) at least comprises a flexible waist belt (6.3) and a flexible waist-protecting belt (6.1) which are connected through a waist connecting piece (1.4), a thigh protecting and fixing structure arranged on the inner side of the exoskeleton thigh support (1.2) and a knee joint protecting and fixing structure arranged on the inner side of the knee joint shell (1.3);
the gear joint comprises a fine adjustment joint arranged on the outer side of the hip joint, a first hip joint component (2.1.1) fixedly connected with the flexible waistband (6.3), and a second hip joint component (2.1.2) fixedly connected with the fine adjustment joint, wherein the first hip joint component (2.1.1) and the second hip joint component (2.1.2) are connected in a nested manner;
the fine adjustment joint at least comprises a planetary gear train (2.3), a ratchet-pawl mechanism (2.4), an angle adjusting knob (2.9.1) and an electromagnetic switch (25) for controlling the locking state of the ratchet-pawl mechanism (2.4), wherein the planetary gear train (2.3) is at least arranged on a central shaft, the central shaft is fixedly connected with an exoskeleton thigh bracket (1.2) and a second hip joint component (2.1.2) through a bearing, and the planetary gear train (2.3) is in bearing connection with the second hip joint component (2.1.2) and is fixedly connected with the exoskeleton thigh bracket (1.2);
the ratchet wheel and pawl mechanism (2.4) comprises a ratchet wheel (2.4.2) fixedly connected with the central shaft and a pawl (2.4.1) fixedly connected with the second hip joint assembly, and the electromagnetic switch is connected with the pawl (2.4.1);
the angle adjusting knob (2.9.1) is adjusted so as to drive the ratchet wheel and the planetary gear train (2.3) to rotate through the central shaft to realize angle fine adjustment, and the angle is locked through the electromagnetic switch (2.5).
2. The dance training exoskeleton teaching aid of claim 1, wherein: the exoskeleton leg support is characterized by further comprising a telescopic structure, wherein the telescopic structure comprises a gear rack structure (3) and a telescopic adjusting knob (2.9.2), the gear rack structure comprises a gear arranged on the outer side of the exoskeleton leg support (1.2) and a rack which is arranged inside the exoskeleton leg support (1.2) and fixedly connected with the sliding structure, and the sliding structure is telescopic by adjusting forward and reverse rotation of the gear through the telescopic adjusting knob (2.9.2).
3. The dance training exoskeleton teaching aid of claim 1, wherein: the planetary gear train (2.3) at least comprises 1 sun gear (2.3.1) fixed on a central shaft (2.3.5), 3 planet gears (2.3.2) connected with a second hip joint component bearing, and an inner gear (2.3.4) fixedly connected with the exoskeleton thigh support (1.2), wherein the planet gears (2.3.2) are respectively in gear connection with the sun gear (2.3.1) and the inner gear (2.3.4).
4. A dance training exoskeleton teaching aid according to claim 3, wherein: the intelligent control system is characterized by further comprising a control module, wherein the control module at least comprises a main control unit (4), a wireless communication unit (5) and a sensor unit, the main control unit (4) calculates based on the measurement result of the sensor unit, and the calculation result is subjected to data exchange with external communication equipment through the wireless communication unit (5).
5. The dance training exoskeleton teaching aid of claim 4, wherein: the sensor unit at least comprises a potentiometer (2.8) connected with the fine adjustment joint and used for measuring the joint rotation angle and a pressure sensor (6.7) embedded in the knee joint protection fixing structure and used for measuring the joint torque.
6. A dance training exoskeleton teaching aid according to claim 1, wherein the thigh protection fixing structure comprises a thigh cushion (6.4), a thigh protection belt (6.5.1) and a thigh press-buckling strap (6.6.1) which are arranged on the inner side of the thigh cushion (6.4), and the knee joint protection fixing structure comprises a knee joint protection belt (6.5.2) and a knee joint press-buckling strap (6.6.2) which are arranged on the inner side of a knee joint shell (1.3).
7. The dance training exoskeleton teaching aid of claim 1, wherein: the flexible structure (6) further comprises an elastic magic tape (6.2) arranged on the flexible waist-protecting belt (6.1).
8. A dance training exoskeleton teaching aid according to any one of claims 1 to 7, wherein the flexible structure (6) is made of soft rubber materials, is matched with high-elasticity knitted fabric, and is lined with a brocade rubber elastic yarn.
9. A dance training exoskeleton teaching aid interaction method based on any one of claims 1 to 8, which is characterized by comprising the following steps:
s1, wearing and finishing the initial state adjustment of the dance training exoskeleton teaching aid;
s2, performing action training, and self-locking the angle of the exoskeleton teaching aid for dance training during the first action;
s3, adjusting the angle adjusting knob to keep the second action;
s4, after training, connecting the wireless communication unit through the mobile terminal;
and S5, the wireless communication unit sends the data to the mobile terminal and checks the training data through the mobile terminal.
10. The dance training exoskeleton teaching aid of claim 9, wherein: the training data includes at least a training duration, a stretching angle, and a training intensity.
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| CN202110109407.8A CN113001509B (en) | 2021-01-25 | 2021-01-25 | Dance training exoskeleton teaching aid and interaction method |
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| CN113580102A (en) * | 2021-06-28 | 2021-11-02 | 北京机械设备研究所 | Upper limb passive power assisting exoskeleton |
| CN113580102B (en) * | 2021-06-28 | 2023-03-14 | 北京机械设备研究所 | Upper limb passive power assisting exoskeleton |
| CN114750135A (en) * | 2022-04-22 | 2022-07-15 | 重庆奔腾科技发展有限公司 | Robot joint structure |
| CN114750135B (en) * | 2022-04-22 | 2024-02-23 | 重庆奔腾科技发展有限公司 | Robot joint structure |
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| CN113001509B (en) | 2023-02-03 |
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