CN206534641U - Ectoskeleton takes and body analogue system - Google Patents
Ectoskeleton takes and body analogue system Download PDFInfo
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- CN206534641U CN206534641U CN201620964080.7U CN201620964080U CN206534641U CN 206534641 U CN206534641 U CN 206534641U CN 201620964080 U CN201620964080 U CN 201620964080U CN 206534641 U CN206534641 U CN 206534641U
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Abstract
The utility model discloses ectoskeleton clothes and body analogue system.Ectoskeleton clothes include at least one measurement apparatus, for the size for the limbs for measuring the wearer that the ectoskeleton takes, wherein, the measurement apparatus includes measurement communication module, the size of the limbs for the wearer that the ectoskeleton measured for sending takes, so that without manual measurement, you can obtain the size of the limbs of the wearer of ectoskeleton clothes, and the limb size measured can be sent by measuring communication module.This, which is avoided, is needed to carry out user's limbs manual measurement in the prior art, and measurement receipt is input manually into the cumbersome of system.In addition, the body analogue system uses the size that the limbs for the wearer that the ectoskeleton for measuring and sending takes are taken according to the ectoskeleton of the embodiment of the present disclosure, the body of user can be emulated, without manual measurement and the limb size of input user, simplify operation.
Description
Technical field
The utility model is related to ergonomics technical field, more particularly to ectoskeleton clothes and body analogue system.
Background technology
With the development of society, the progress of network and the communication technology, graph and image processing technology and computer technology, to people
Body carry out emulation and motion capture more and more used in fields such as production of film and TV, health care, Entertainments.
Emulated in the body to people and during motion capture, it usually needs will largely be sensed by the means of bandage or tight etc
Device is close on the body of people.In the case, user is difficult for oneself fastening bandage or puts on tight, can only seek help from it
Other people help, this obtains body attitude information to user and causes very big obstruction.Meanwhile, dressing big quantity sensor causes emulation
The cost of system, it is cumbersome.Moreover, obtaining the limb size data of user by manual measurement and can only be manually entered
System in, it is very cumbersome.
Utility model content
To achieve these goals, the utility model proposes ectoskeleton clothes and body analogue system.
Taken according to first aspect of the present utility model there is provided a kind of ectoskeleton, including at least one measurement apparatus, for surveying
The size of the limbs of the wearer of the ectoskeleton clothes is measured, wherein, the measurement apparatus includes measurement communication module, for sending
The size of the limbs of the wearer for the ectoskeleton clothes measured.
Alternatively, the ectoskeleton clothes also include at multiple ectoskeleton parts, each ectoskeleton part interconnection being outer
Skeletal joint, wherein, the measurement apparatus is installed on the ectoskeleton joint, and with least the one of the ectoskeleton joint
Individual ectoskeleton part is with reference to the size for the limbs for measuring the wearer that the ectoskeleton takes.
Alternatively, at least one ectoskeleton part where the measurement apparatus ectoskeleton joint stretch, with institute
Measurement apparatus is stated with reference to come the size of the limbs that measure the wearer that the ectoskeleton takes.
Alternatively, the ectoskeleton clothes also include upper limbs ectoskeleton, and the upper limbs ectoskeleton includes following multiple ectoskeletons
Part：Shoulder ectoskeleton part and two arm ectoskeleton parts being connected respectively with the shoulder ectoskeleton part, every hand
Arm ectoskeleton part includes forearm ectoskeleton part and the upper arm ectoskeleton being connected with the rear end of the forearm ectoskeleton part
Part,
Wherein, it is ectoskeleton joint at each ectoskeleton part interconnection in the upper limbs ectoskeleton, at least one
Individual ectoskeleton joint installs the measurement apparatus.
Alternatively, the upper limbs ectoskeleton also includes multiple positioners, in each ectoskeleton of the upper limbs ectoskeleton
At least one described positioner is mounted on part, is positioned for the motion to corresponding ectoskeleton part, wherein,
The positioner includes positioning and communicating module, the positioning letter that the motion for sending to corresponding ectoskeleton part is positioned
Breath.
Alternatively, the upper limbs ectoskeleton also includes two upper limbs front lays, wherein：
Each upper limbs front lay is arranged at the front end of the forearm ectoskeleton, wherein, when user is worn by institute
When stating upper limbs ectoskeleton, each upper limbs front lay be each attached to the elbow joint of the arm of the user to palm it
Between position, the upper limbs front lay is positioned to the elbow joint to the position between palm in space, to obtain
Upper limbs front position information is taken, wherein, each upper limbs front lay includes communication module, for sending corresponding upper limbs
Front position information.
Alternatively, the ectoskeleton clothes also include lower limb exoskeleton, and the lower limb exoskeleton includes following multiple ectoskeletons
Part：Hip ectoskeleton part and two leg ectoskeleton parts being connected respectively with the hip ectoskeleton part, each leg
Portion's ectoskeleton part includes shank ectoskeleton part and the thigh ectoskeleton being connected with the upper end of the shank ectoskeleton part
Part,
Wherein, it is ectoskeleton joint at each ectoskeleton part interconnection in the lower limb exoskeleton, at least one
Individual ectoskeleton joint installs the measurement apparatus.
Alternatively, the lower limb exoskeleton also includes multiple positioners, in each ectoskeleton of the lower limb exoskeleton
At least one described positioner is mounted on part, is positioned for the motion to corresponding ectoskeleton part, wherein,
The positioner includes positioning and communicating module, the positioning letter that the motion for sending to corresponding ectoskeleton part is positioned
Breath.
Alternatively, the lower limb exoskeleton also includes end positioning device under two lower limb, wherein：
End positioning device is arranged at the lower end of the shank ectoskeleton under each lower limb, wherein, when user is worn by institute
When stating lower limb exoskeleton, under each lower limb end positioning device be each attached to the knee joint of the one leg of the user to ankle-joint it
Between position, end positioning device is positioned to the knee joint to the position between ankle-joint in space under the lower limb, with
Lower limb lower end position information is obtained, wherein, end positioning device includes communication module under each lower limb, under sending accordingly
Limb lower end position information.
According to second aspect of the present utility model, there is provided a kind of body analogue system, including ectoskeleton clothes and simulator：
The ectoskeleton clothes include at least one measurement apparatus, the limbs of the wearer for measuring the ectoskeleton clothes
Size, wherein, the measurement apparatus includes measurement communication module, the wearer's that the ectoskeleton measured for sending takes
The size of limbs；
The simulator obtains the chi of the limbs of the wearer of the ectoskeleton clothes from least one described measurement apparatus
It is very little, wherein, the size of the limbs for the wearer that the simulator is taken using the ectoskeleton calculates wearer's entirety
Size, and then the body of the wearer is emulated.
The utility model proposes ectoskeleton clothes and body analogue system, the ectoskeleton clothes and body analogue system can lead to
Cross including at least one measurement apparatus, the size of the limbs of the wearer for measuring the ectoskeleton clothes, wherein, the measurement
Device includes measurement communication module, the size of the limbs of the wearer for sending the ectoskeleton measured clothes so that nothing
Need manual measurement, you can obtain the size of the limbs of the wearer of ectoskeleton clothes, and survey can be sent by measuring communication module
The limb size obtained.This, which is avoided, needs to carry out user's limbs manual measurement in the prior art, and it is manually defeated to measure receipt
Enter to the cumbersome of system.Measure and send in addition, the body analogue system uses to be taken according to the ectoskeleton of the embodiment of the present disclosure
The size of the limbs of the wearer of the ectoskeleton clothes come, you can emulated to the body of user, without manual measurement and input
The limb size of user, simplifies operation.It can be used for the people for realizing precise and high efficiency according to body analogue system of the present utility model
Machine real-time, interactive, certain those skilled in the art are it is understood that the man-machine interaction can also be non real-time situation.This practicality
New ectoskeleton clothes and body analogue system are surveyed suitable for man-machine interaction, production of film and TV, health care, Entertainment, field
The every field such as spy, production activity.
Brief description of the drawings
Fig. 1 is the structured flowchart taken according to the ectoskeleton of the embodiment of the utility model one；
Fig. 2 is the structured flowchart taken according to the ectoskeleton of another embodiment of the utility model；
Fig. 3 is the structured flowchart of the upper limbs ectoskeleton taken according to the ectoskeleton of another embodiment of the utility model；
Fig. 4 is the structured flowchart of the lower limb exoskeleton taken according to the ectoskeleton of another embodiment of the utility model；
Fig. 5 is the structured flowchart of the body analogue system according to the embodiment of the utility model one.
Embodiment
For the purpose of this utility model, technical scheme and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to the drawings, the utility model is further described.It should be appreciated that specific embodiment described herein is only to solve
The utility model is released, is not used to limit the utility model.
Fig. 1 is the structured flowchart taken according to the ectoskeleton of the embodiment of the utility model one.
Ectoskeleton shown in Fig. 1, which takes 100, includes at least one measurement apparatus 110, for measuring the wearing that ectoskeleton takes 100
The size of the limbs of person.Wherein, measurement apparatus 110 includes measurement communication module 1110, for sending the ectoskeleton measured clothes
The size of the limbs of 100 wearer.
Show that ectoskeleton clothes include multiple measurement apparatus 110 in Fig. 1, but can only include a measurement apparatus 110.
In the present embodiment, " limbs of wearer " refer to a part on user's body, for example, certain arm
Forearm or upper arm, the shank or thigh of certain leg, shoulder etc..For example, when the forearm of the left arm to wearer is measured,
Measurement apparatus 110 can measure the length of the forearm of left arm.In another example, when the shoulder to wearer is measured, measurement dress
Putting 110 can be with the width of shoulder.
In the present embodiment, when measurement communication module 1110 takes the ectoskeleton that measurement apparatus 110 is measured 100 wearing
When the size of the limbs of person is sent to a human body emulator, the human emulation equipment can be according to measurement communication module 1110
The Size calculation of the limbs of the wearer of transmission goes out corresponding body emulation data, so as to estimate the chi of the body each several part of user
The information such as very little, overall build.It is appreciated that in the case of with multiple measurement apparatus 110, ectoskeleton takes 100 and can provided
More fully limbs data, the wearer for external exoskeleton suit is emulated.
It will be understood by those skilled in the art that measurement apparatus can be all kinds.Moreover, when using multiple measurement apparatus
When, various types of measurement apparatus can be combined in being taken according to the ectoskeleton of the utility model embodiment.
For example, when measurement apparatus is Mechanical measurement device, measurement apparatus can include a tape measure, now measurement dress
The optional position that may be mounted at ectoskeleton clothes is put, for example, on the ectoskeleton part of the joint of such as ancon or such as forearm,
Corresponding limbs length is measured by extracting tape measure out.
For example, when measurement apparatus is Mechanical measurement device, measurement apparatus can include a gear mechanism, with reference to one
Individual ectoskeleton part, for example, forearm ectoskeleton part is used.In the case, forearm ectoskeleton stretches in this gear mechanism
So that gear mechanism is rotated, measurement apparatus also has counting mechanism, and the forearm dermoskeleton can be read according to the rotation of gear mechanism
Length after bone part is flexible, thereby determines that the length of the forearm ectoskeleton part.
For example, measurement apparatus can be with laser ranging system, supersonic range finder, infrared distance measuring device or wireless electrical measurement
Away from device etc., these measurement apparatus can be installed to the optional position of ectoskeleton clothes.
Preferably, each measurement apparatus includes measurement communication module.It can be wire communication module to measure communication module
Or wireless communication module.The limbs information that measurement communication module can measure measurement apparatus is sent to any other can be with determining
The message processing device of bit walk module communication.For example, message processing device can be simple message processing device, such as believe
Cease the complicated message processing device such as process chip or tablet personal computer, PAD, mobile phone, computer, user Ke Gen
Factually the requirement of border information processing selects suitable message processing device.
Ectoskeleton clothes can be by including at least one measurement apparatus, for measuring the wearer's that the ectoskeleton takes
The size of limbs, wherein, the measurement apparatus includes measurement communication module, for sending wearing for the ectoskeleton measured clothes
The size of the limbs of wearer so that without manual measurement, you can obtain the size of the limbs of the wearer of ectoskeleton clothes, Er Qieke
The limb size measured is sent by measuring communication module.This, which is avoided, needs manually to survey user's limbs in the prior art
Amount, and measurement receipt is input manually into the cumbersome of system.For example, being taken by ectoskeleton when to human emulation, Ke Yiwu
Manual measurement human dimension and the analogue system for inputting the size measured are needed, but ectoskeleton can have been dressed in user and taken it
Afterwards, at least one measurement apparatus on ectoskeleton clothes is the limb size at measurable handy family and limb size is sent into emulation
System, this simplifies the work of analogue system.Ectoskeleton clothes of the present utility model are applied to man-machine interaction, production of film and TV, medical treatment
The every field such as health care, Entertainment, ground observation, production activity.
Fig. 2 is the structured flowchart taken according to the ectoskeleton of another embodiment of the utility model.
(do not show including multiple ectoskeleton parts also as shown in Fig. 2 taking 200 according to the ectoskeleton of the utility model embodiment
Go out), it is ectoskeleton joint 210 at each ectoskeleton part interconnection.Wherein, measurement apparatus 110 is installed on ectoskeleton joint
At 210, and combined with least one ectoskeleton part at ectoskeleton joint 210 to measure the wearer that ectoskeleton takes 200
The size of limbs.
It will be understood by those skilled in the art that in being taken according to the ectoskeleton of the utility model embodiment, can be by dermoskeleton
Bone joint is fabricated to single ectoskeleton part, for example, setting one between forearm ectoskeleton part and upper arm ectoskeleton part
Individual elbow joint ectoskeleton part connects the two., can also not in being taken according to the ectoskeleton of the utility model embodiment
Single ectoskeleton joint is manufactured, but the junction of two adjacent ectoskeleton parts is referred to as ectoskeleton joint.For example, will
The junction of forearm ectoskeleton part and upper arm ectoskeleton part is referred to as ectoskeleton joint.
In this embodiment, at least one ectoskeleton part (not shown) can be in the ectoskeleton where measurement apparatus 110
At joint 210 stretch, measured with being combined with measurement apparatus 110 ectoskeleton take 200 wearer limbs size.For example,
When measurement apparatus is Mechanical measurement device, the measurement apparatus of ectoskeleton joint can include a gear mechanism, with reference to
One ectoskeleton part, for example, forearm ectoskeleton part is used.In the case, forearm ectoskeleton is stretched in this gear mechanism
Contracting causes gear mechanism to rotate, and measurement apparatus also has counting mechanism, can be read according to the rotation of gear mechanism outside the forearm
Length after skeletal members are flexible, thereby determines that the length of the forearm ectoskeleton part.It will be understood by those skilled in the art that this reality
Apply the measurement apparatus in example and be not limited to mechanical processing unit, but can be laser ranging system, supersonic range finder, red
Outer range unit or radio distance-measuring device etc..
In being taken according to the ectoskeleton of the utility model embodiment, ectoskeleton clothes can also include upper limbs ectoskeleton.Upper limbs
Ectoskeleton can include following multiple ectoskeleton parts：Shoulder ectoskeleton part and be connected respectively with shoulder ectoskeleton part two
Bar arm ectoskeleton part, every arm ectoskeleton part include forearm ectoskeleton part and with after forearm ectoskeleton part
Hold the upper arm ectoskeleton part of connection.Wherein, closed at each ectoskeleton part interconnection in upper limbs ectoskeleton for ectoskeleton
Section, measurement apparatus is installed at least one ectoskeleton joint.
Fig. 3 is the structured flowchart of the upper limbs ectoskeleton taken according to the ectoskeleton of another embodiment of the utility model.
In being taken according to the ectoskeleton of the utility model embodiment, upper limbs ectoskeleton 300 can also include multiple positioning dresses
3110 are put, at least one positioner 3110 is mounted on each ectoskeleton part 310 of upper limbs ectoskeleton 300, is used for
Motion to corresponding ectoskeleton part 310 is positioned.Wherein, positioner 3110 can include positioning and communicating module (not
Show), the location information that the motion for sending to corresponding ectoskeleton part 310 is positioned.
In being taken according to the ectoskeleton of the utility model embodiment, positioner can be any available for positioning
Positioner.The positioner includes the one or more in various sensors, location equipment and image capture device.It is described
Sensor includes but is not limited to be used to sense the acceleration transducer of acceleration information, the angular speed for sensing angular velocity data
The exercise data sensor of sensor, direction sensor for sensing direction of motion data etc.；For sensing earth magnetism field data
Reluctive transducer, the baroceptor for sensing barometric information, for the temperature sensor of sensing temperature data etc.
Environmental data sensor；For sensing the proximity transducer close to block data；Blood pressure, the heart of target are caught for sensor operation
The sign data sensor of the sign datas such as jump, pulse, shell temperature.The location equipment can be GPS location equipment, WIFI
Location equipment, beacon location equipment, sensor location device, Big Dipper location equipment, GLONASS (GLONASS) location equipment,
One or more of location equipments such as Galileo location equipment.Described image collecting device can be the IMAQs such as camera
Equipment.It should be strongly noted that above-mentioned positioner is exemplary explanation, the utility model is not limited to, is appointed
The component of positioning function each falls within protection domain of the present utility model needed for what can be achieved.
Preferably, the positioner is wearable, and it can include multiple inertial sensors, the multiple inertia
Sensor is placed on the elbow joint of the arm of user to the position between palm, to obtain the inertia sensing data at this.
Wherein, the inertial sensor is multi-axial sensor, such as including gyroscope XYZ axles, accelerometer XYZ axles and magnetometer XYZ
Nine axle sensors of axle, so result in the inertia sensing data of various dimensions, so as to more accurately determine human body attitude.
Preferably, each positioner includes positioning and communicating module.Positioning and communicating module can be wire communication module
Or wireless communication module.The location information that positioner is obtained can be sent to any other by positioning and communicating module can be with determining
The message processing device of bit walk module communication.For example, message processing device can be simple message processing device, such as believe
Cease the complicated message processing device such as process chip or tablet personal computer, PAD, mobile phone, computer, user Ke Gen
Factually the requirement of border information processing selects suitable message processing device.
It can pass through each ectoskeleton part positioned at upper limbs ectoskeleton according to the ectoskeleton of the utility model embodiment clothes
On the upper extremity exercise of wearer of the external exoskeleton suit of positioner positioned, and location information can be sent to outside.When
, can be preferably to user's in the case of the limb size for having carried out positioning and have learned that user to the motion of wearer
Build and action are emulated.Ectoskeleton clothes of the present utility model are applied to man-machine interaction, production of film and TV, health care, game
The every field such as amusement, ground observation, production activity.
In one embodiment, upper limbs ectoskeleton can include two upper limbs front lays, wherein：Before each upper limbs
End positioning device is arranged at the front end of forearm ectoskeleton.Wherein, when user is worn by upper limbs ectoskeleton, each upper limbs front end
Positioner is each attached to the elbow joint of the arm of user to the position between palm, and the upper limbs front lay is in sky
Between in elbow joint to the position between palm is positioned, to obtain upper limbs front position information.Wherein, each upper limbs front end
Positioner includes communication module, for sending corresponding upper limbs front position information.When utilization upper limbs front position information
When being emulated to the state of user, IK Solvers algorithm can be used, based on upper limbs front position information and measurement apparatus
The ectoskeleton measured takes the limb size of wearer, calculates the athletic posture of wearer's upper limbs, and then to the user's
Upper limbs posture is emulated.Those skilled in the art it is understood that IK Solvers algorithm be one kind by first determining sub- bone
Position, then reverse derive n grades of father's bone sites on skeletal chain where it, so that it is determined that the method for whole piece skeletal chain.Root
According to teaching of the present utility model, IK Solvers algorithm of the prior art can be applied to this practicality by those skilled in the art
In new.
In being taken according to the ectoskeleton of the utility model embodiment, ectoskeleton clothes can also include lower limb exoskeleton, lower limb
Ectoskeleton includes following multiple ectoskeleton parts：Hip ectoskeleton part and two legs being connected respectively with hip ectoskeleton part
Portion's ectoskeleton part, each leg ectoskeleton part includes shank ectoskeleton part and connected with the upper end of shank ectoskeleton part
The thigh ectoskeleton part connect.Wherein, it is ectoskeleton joint at each ectoskeleton part interconnection in lower limb exoskeleton,
At least one ectoskeleton joint installs measurement apparatus.
Fig. 4 is the structured flowchart of the lower limb exoskeleton taken according to the ectoskeleton of another embodiment of the utility model.
In being taken according to the ectoskeleton of the utility model embodiment, lower limb exoskeleton 400 may also include multiple positioners
4110.Be mounted at least one positioner 4110 on each ectoskeleton part 410 of lower limb exoskeleton 400, for pair
The motion of corresponding ectoskeleton part 410 is positioned.Wherein, positioner 4110 (can not show including positioning and communicating module
Go out), the location information that the motion for sending to corresponding ectoskeleton part 410 is positioned.
In being taken according to the ectoskeleton of the utility model embodiment, positioner on lower limb exoskeleton can with outside upper limbs
Positioner system on bone is identical.
In being taken according to the ectoskeleton of the utility model embodiment, positioner is wearable, and it can include many
Individual inertial sensor, the multiple inertial sensor is placed on the elbow joint of the arm of user to the position between palm,
To obtain the inertia sensing data at this.Wherein, the inertial sensor be multi-axial sensor, such as including gyroscope XYZ axles,
Nine axle sensors of accelerometer XYZ axles and magnetometer XYZ axles, so result in the inertia sensing data of various dimensions, so that
Human body attitude can more accurately be determined.
In being taken according to the ectoskeleton of the utility model embodiment, include positioning and communicating module in each positioner.
Positioning and communicating module can be wire communication module or wireless communication module.What positioning and communicating module can obtain positioner
Location information is sent to the message processing device that any other can communicate with positioning and communicating module.For example, message processing device
Can be simple message processing device, such as information processing chip or tablet personal computer, PAD, mobile phone, calculating
The complicated message processing device such as machine, the requirement that user can be handled according to actual information selects suitable message processing device.
It can pass through each ectoskeleton part positioned at lower limb exoskeleton according to the ectoskeleton of the utility model embodiment clothes
On the lower extremity movement of wearer of the external exoskeleton suit of positioner positioned, and location information can be sent to outside.When
, can be preferably to user's in the case of the limb size for having carried out positioning and have learned that user to the motion of wearer
Build and action are emulated.Ectoskeleton clothes of the present utility model are applied to man-machine interaction, production of film and TV, health care, game
The every field such as amusement, ground observation, production activity.
In being taken according to the ectoskeleton of the utility model embodiment, upper limbs ectoskeleton, which can also include two lower limb lower ends, to be determined
Position device, wherein：End positioning device is arranged at the lower end of shank ectoskeleton under each lower limb.Wherein, when user is worn by down
During limb ectoskeleton, end positioning device is each attached to the knee joint of the one leg of user to the position between ankle-joint under each lower limb
Put, end positioning device is positioned to knee joint to the position between ankle-joint in space under the lower limb, to obtain under lower limb
End position information, wherein, end positioning device includes communication module under each lower limb, for sending corresponding lower limb lower end position
Information.When being emulated using lower limb lower end position information to the state of user, IK Solvers algorithm can be used, is based on
The ectoskeleton that lower limb lower end position information and measurement apparatus are measured takes the limb size of wearer, calculates wearer's lower limb
Athletic posture, and then the lower limb posture of the user is emulated.Those skilled in the art are it is understood that IK Solvers is calculated
Method is a kind of position by first determining sub- bone, n grades of father's bone sites on skeletal chain where then reverse derives it, so that
The method for determining whole piece skeletal chain.According to teaching of the present utility model, those skilled in the art can will be of the prior art anti-
It is applied to algorithm of robot dynamics in the utility model.
Fig. 5 is the structured flowchart of the body analogue system according to the embodiment of the utility model one.
As shown in figure 5, taking 10 and emulation dress including ectoskeleton according to the body analogue system 500 of the utility model embodiment
Put 30.Ectoskeleton take 10 include at least one measurement apparatus, for measure ectoskeleton take 10 wearer limbs size.Its
In, measurement apparatus includes measurement communication module, the size of the limbs of the wearer for sending the ectoskeleton measured clothes.Emulation
Device 30 takes the size of the limbs of 10 wearer from least one measurement apparatus acquisition ectoskeleton.Wherein, simulator 30 is adopted
The size of the limbs of 10 wearer is taken with ectoskeleton, the overall size of user is calculated, and then the body of user is emulated.
It will be understood by those skilled in the art that the ectoskeleton clothes in analogue system in Fig. 5 can include above by reference to Fig. 1
The ectoskeleton clothes described to Fig. 4.It will be understood by those skilled in the art that the simulator in analogue system in Fig. 5 can be
Simulator of the prior art, i.e. what the measurement communication module in measurement apparatus on ectoskeleton clothes are obtained was sent
In the case of limb size, simulator can be emulated based on existing program, algorithm etc. to body of user etc..
, can be by including ectoskeleton clothes and simulator according to the body analogue system of the utility model embodiment：Outside
Exoskeleton suit includes at least one measurement apparatus, the size of the limbs of the wearer for measuring ectoskeleton clothes, wherein, measurement apparatus
Including measurement communication module, the size of the limbs of the wearer for sending the ectoskeleton measured clothes；Simulator is from least
One measurement apparatus obtains the size of the limbs of the wearer of ectoskeleton clothes, wherein, simulator uses the wearing that ectoskeleton takes
The size of the limbs of person, calculates the overall size of user, and then the body of the user is emulated so that without artificial survey
Amount, you can obtain the size of the limbs of the wearer of ectoskeleton clothes, and the limbs measured can be sent by measuring communication module
Size, and then realize to the overall emulation of user.This, which is avoided, needs to carry out user's limbs manual measurement in the prior art, and
Measurement receipt is input manually into the cumbersome of system.In addition, the body analogue system is used according to the outer of the embodiment of the present disclosure
The size of the limbs of the wearer for the ectoskeleton clothes that exoskeleton suit is measured and sent, you can emulated to the body of user, nothing
The limb size of manual measurement and input user are needed, operation is simplified.It can be used for according to body analogue system of the present utility model
The man-machine real-time, interactive of precise and high efficiency, certain those skilled in the art are realized it is understood that the man-machine interaction can also right and wrong
Real-time situation.Ectoskeleton clothes of the present utility model and body analogue system are applied to man-machine interaction, production of film and TV, medical treatment guarantor
The every field such as strong, Entertainment, ground observation, production activity.
Particular embodiments described above, has carried out entering one to the purpose of this utility model, technical scheme and beneficial effect
Step is described in detail, be should be understood that and be the foregoing is only specific embodiment of the utility model, is not limited to this
Utility model, all within spirit of the present utility model and principle, any modification, equivalent substitution and improvements done etc. all should be wrapped
It is contained within protection domain of the present utility model.
Claims (10)
1. a kind of ectoskeleton clothes, it is characterised in that including at least one measurement apparatus, the wearing for measuring the ectoskeleton clothes
The size of the limbs of person, wherein, the measurement apparatus includes measurement communication module, for sending the ectoskeleton measured clothes
Wearer limbs size.
2. ectoskeleton clothes according to claim 1, it is characterised in that the ectoskeleton clothes also include multiple ectoskeleton portions
It is ectoskeleton joint at part, each ectoskeleton part interconnection, wherein, the measurement apparatus is installed on the ectoskeleton joint
Place, and combined to measure the limb for the wearer that the ectoskeleton takes with least one ectoskeleton part of the ectoskeleton joint
The size of body.
3. ectoskeleton clothes according to claim 2, it is characterised in that at least one ectoskeleton part is in the measurement apparatus
The ectoskeleton joint at place is stretched, and the limbs of the wearer of the ectoskeleton clothes are measured to be combined with the measurement apparatus
Size.
4. ectoskeleton clothes according to claim 1, it is characterised in that the ectoskeleton clothes also include upper limbs ectoskeleton, institute
Stating upper limbs ectoskeleton includes following multiple ectoskeleton parts：Shoulder ectoskeleton part and respectively with the shoulder ectoskeleton part connect
The two arm ectoskeleton parts connect, every arm ectoskeleton part include forearm ectoskeleton part and with the forearm dermoskeleton
The upper arm ectoskeleton part of the rear end connection of bone part,
Wherein, it is ectoskeleton joint at each ectoskeleton part interconnection in the upper limbs ectoskeleton, outside at least one
Skeletal joint installs the measurement apparatus.
5. ectoskeleton clothes according to claim 4, it is characterised in that the upper limbs ectoskeleton also includes multiple positioning dresses
Put, at least one described positioner is mounted on each ectoskeleton part of the upper limbs ectoskeleton, for corresponding
The motion of ectoskeleton part positioned, wherein, the positioner includes positioning and communicating module, for sending to corresponding
The location information that the motion of ectoskeleton part is positioned.
6. ectoskeleton clothes according to claim 4, it is characterised in that the upper limbs ectoskeleton also includes two upper limbs front ends
Positioner, wherein：
Each upper limbs front lay is arranged at the front end of the forearm ectoskeleton, wherein, when user is worn by described
During limb ectoskeleton, each upper limbs front lay is each attached to the elbow joint of the arm of the user between palm
Position, the upper limbs front lay is positioned to the elbow joint to the position between palm in space, with acquisition
Limb front position information, wherein, each upper limbs front lay includes communication module, for sending corresponding upper limbs front end
Positional information.
7. ectoskeleton clothes according to claim 1, it is characterised in that the ectoskeleton clothes also include lower limb exoskeleton, institute
Stating lower limb exoskeleton includes following multiple ectoskeleton parts：Hip ectoskeleton part and respectively with the hip ectoskeleton part connect
The two leg ectoskeleton parts connect, each leg ectoskeleton part include shank ectoskeleton part and with the shank dermoskeleton
The thigh ectoskeleton part of the upper end connection of bone part,
Wherein, it is ectoskeleton joint at each ectoskeleton part interconnection in the lower limb exoskeleton, outside at least one
Skeletal joint installs the measurement apparatus.
8. ectoskeleton clothes according to claim 7, it is characterised in that the lower limb exoskeleton also includes multiple positioning dresses
Put, at least one described positioner is mounted on each ectoskeleton part of the lower limb exoskeleton, for corresponding
The motion of ectoskeleton part positioned, wherein, the positioner includes positioning and communicating module, for sending to corresponding
The location information that the motion of ectoskeleton part is positioned.
9. ectoskeleton clothes according to claim 7, it is characterised in that the lower limb exoskeleton also includes two lower limb lower ends
Positioner, wherein：
End positioning device is arranged at the lower end of the shank ectoskeleton under each lower limb, wherein, when user be worn by it is described under
During limb ectoskeleton, end positioning device is each attached to the knee joint of the one leg of the user between ankle-joint under each lower limb
End positioning device is positioned to the knee joint to the position between ankle-joint in space under position, the lower limb, to obtain
Lower limb lower end position information, wherein, end positioning device includes communication module under each lower limb, for sending under corresponding lower limb
End position information.
10. a kind of body analogue system, it is characterised in that including ectoskeleton clothes and simulator：
The ectoskeleton clothes include at least one measurement apparatus, the chi of the limbs of the wearer for measuring the ectoskeleton clothes
It is very little, wherein, the measurement apparatus includes measurement communication module, the limb of the wearer for sending the ectoskeleton measured clothes
The size of body；
The simulator obtains the size of the limbs of the wearer of the ectoskeleton clothes from least one described measurement apparatus, its
In, the size of the limbs for the wearer that the simulator is taken using the ectoskeleton calculates the overall size of the wearer,
And then the body of the wearer is emulated.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106073790A (en) * | 2016-08-26 | 2016-11-09 | 北京神秘谷数字科技有限公司 | Ectoskeleton clothes and body analogue system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106073790A (en) * | 2016-08-26 | 2016-11-09 | 北京神秘谷数字科技有限公司 | Ectoskeleton clothes and body analogue system |
| CN106073790B (en) * | 2016-08-26 | 2023-06-16 | 北京神秘谷数字科技有限公司 | Exoskeleton suit and torso simulation system |
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