WO2018035875A1

WO2018035875A1 - Exoskeleton suit

Info

Publication number: WO2018035875A1
Application number: PCT/CN2016/097035
Authority: WO
Inventors: 崔泰; 薛兆龙; 李芳芳
Original assignee: 北京神秘谷数字科技有限公司
Priority date: 2016-08-26
Filing date: 2016-08-26
Publication date: 2018-03-01

Abstract

Provided is an exoskeleton suit (100); the exoskeleton suit (100) comprises a plurality of exoskeleton components (110) and a plurality of additional devices arranged on the plurality of exoskeleton components (110); the additional devices comprise at least one expansion interface module (1110) and at least one measurement device (1120); each expansion interface module (1110) is connected to an external expansion device; when an external expansion device is connected to the corresponding expansion interface module (1110), the external expansion device is detachably secured to the expansion interface module (1110); at least one of the measurement devices (1120) is used for measuring the size of the limbs of the wearer of the exoskeleton suit (100). The expansion interface modules (1110) are such that the exoskeleton suit (100) may connect to different external expansion devices, thus making the exoskeleton suit (100) convenient for use in various fields and greatly expanding the range of uses of the exoskeleton suit. By means of the measurement device (1120), the exoskeleton suit (100) measures the size of the limbs of the wearer of the exoskeleton suit (100) without requiring manual measurements, thereby reducing workload.

Description

Exoskeleton suit

Technical field

The present invention relates to the field of ergonomics, and in particular to an exoskeleton suit.

Background technique

Exoskeleton clothing has broad application prospects in military, engineering, exploration, medical and other fields. Currently, exoskeleton suits are specially manufactured for specific purposes and are difficult to use in other fields after manufacture. Moreover, when more functions are required, the exoskeleton garment can only be made more complicated and expensive to manufacture. In addition, the functions of the existing exoskeleton suits are shaped as they are completed and are difficult to expand.

In addition, when simulating a human body and capturing motion, it is usually necessary to attach a large number of sensors to a person's body by means of a strap or a tights. In this case, it is difficult for the user to tie the strap or put on the tights for himself, and can only resort to the help of other people, which greatly hinders the user from acquiring the body posture information. At the same time, wearing a large number of sensors leads to an increase in the cost of the simulation system and cumbersome operation. Moreover, obtaining the user's limb size data can only be measured manually, which is very cumbersome.

Summary of the invention

In order to solve the related problems of the prior art, the present invention proposes an exoskeleton suit.

According to a first aspect of the present invention, there is provided an exoskeleton suit comprising a plurality of exoskeleton members and a plurality of additional devices disposed on the plurality of exoskeleton members, wherein:

The plurality of additional devices includes at least one expansion interface module and at least one measurement device;

Each of the expansion interface modules is connected to the external expansion device. When the external expansion device is connected to the corresponding expansion interface module, the external expansion device is detachably fixed on the expansion interface module;

Wherein the at least one measuring device is configured to measure a size of a limb of a wearer of the exoskeleton suit.

Optionally, the exoskeleton suit further includes a power line connected to a power source disposed inside or outside the outer bone suit, and some or all of the plurality of additional devices are connected through the power line To the power supply.

Optionally, the exoskeleton suit further includes a communication line connected to a processing device disposed inside or outside the outer skeleton garment, and some or all of the plurality of additional devices pass through the communication line Connected to the processing device.

Optionally, the exoskeleton suit further includes a power source and a communication line connected to a power source disposed inside or outside the outer bone suit and a processing device disposed inside or outside the outer bone suit And a part or all of the plurality of additional devices are connected to the power source and the processing device through the power source and the communication line.

Optionally, when the at least one extended interface module is a plurality of extended interface modules, the multiple extended interface modules include two extended interface modules of different sizes, wherein the size of the first extended interface module is smaller than the second The size of the expansion interface module.

Optionally, the measuring device comprises a measuring communication module for transmitting the measured size of the wearer's limb of the exoskeleton.

Optionally, each exoskeleton member is interconnected at an exoskeleton joint, wherein the measuring device is mounted at the exoskeleton joint and combined with at least one exoskeleton member at the exoskeleton joint to measure the The size of the limb of the wearer of the exoskeleton suit.

Optionally, at least one exoskeleton member is telescoped at an exoskeleton joint where the measuring device is located to combine with the measuring device to measure the size of the wearer's limb of the exoskeleton suit.

Optionally, the exoskeleton garment further comprises an upper limb exoskeleton, the upper limb exoskeleton comprising a plurality of exoskeleton components: a shoulder exoskeleton component and two arm exoskeleton respectively connected to the shoulder exoskeleton component a component, each arm exoskeleton component including a forearm exoskeleton component and an upper arm exoskeleton component coupled to a rear end of the forearm exoskeleton component,

Wherein, each of the exoskeleton members in the upper extremity exoskeleton is connected to an exoskeleton joint, and the measuring device is installed at the at least one exoskeleton joint.

Optionally, the exoskeleton garment further comprises a lower limb exoskeleton, the lower limb exoskeleton comprising a plurality of exoskeleton components: a hip exoskeleton component and two leg portions respectively connected to the hip exoskeleton component a bone component, each leg exoskeleton component comprising a calf exoskeleton component and a thigh exoskeleton component coupled to an upper end of the calf exoskeleton component,

Wherein, each of the exoskeleton members in the lower extremity exoskeleton is connected to an exoskeleton joint, and the measuring device is installed at at least one exoskeleton joint.

According to the present invention, the exoskeleton suit can provide at least one extended interface module on the exoskeleton component, so that the exoskeleton suit can be connected to different external extension devices, thereby making the exoskeleton suit conveniently applicable to various different The field, therefore, greatly expands the use of exoskeleton suits. In addition, the device with various functions is not directly mounted on the exoskeleton suit, but the expansion interface module is connected with the external expansion device of different functions, that is, the device with various functions is separately manufactured from the exoskeleton device, which can effectively Reduce the manufacturing cost of exoskeleton suits. When certain functions are not required, the exoskeleton suit may not be connected to an external expansion device having a corresponding function, and therefore, the use cost of the exoskeleton service can be effectively reduced. By means of the measuring device, the exoskeleton suit according to the invention can measure the limb size of the wearer of the external bone suit without manual measurement, thereby saving work. Moreover, the exoskeleton suit of the present invention is capable of providing a rich function by an external extension device mounted on the expansion interface module while measuring the size of the wearer's limb, so that the exoskeleton suit can be applied to various fields. The exoskeleton suit adopting the solution of the invention has wide application, and when connected with different external expansion devices, the exoskeleton suit can be applied to various fields such as human-computer interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.

DRAWINGS

1 is a block diagram showing the structure of an exoskeleton suit according to an embodiment of the present invention;

2 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention;

3 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention;

4 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention;

FIG. 5 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention; FIG.

6 is a structural block diagram of a measuring device in an exoskeleton garment according to another embodiment of the present invention;

7 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention;

8 is a structural block diagram of an upper limb exoskeleton in an exoskeleton suit according to another embodiment of the present invention;

9 is a structural block diagram of a lower extremity exoskeleton in an exoskeleton suit according to another embodiment of the present invention;

FIG. 10 is a block diagram showing the structure of a body simulation system according to another embodiment of the present invention.

detailed description

The present invention will be further described in detail below with reference to the specific embodiments of the invention. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood by those skilled in the art that the exoskeleton suit according to the present invention may be various forms of exoskeleton devices as long as it can be worn on the user's body, and is not limited to an exoskeleton device similar to the garment form. Moreover, the exoskeleton suit according to the present invention may include only the upper limb exoskeleton, or may only include the lower limb exoskeleton. Moreover, the exoskeleton suit according to the present invention may include both an upper limb exoskeleton and a lower limb exoskeleton, which may be integral or separate. Additionally, in other embodiments in accordance with the invention, the exoskeleton garment may also include a head mounted device, such as smart glasses, a smart helmet, and the like. Additionally, the exoskeleton suit according to the present invention may be a powered exoskeleton suit, or an unpowered exoskeleton suit, or a partially powered exoskeleton suit. In the embodiment of the present invention, the exoskeleton member of the exoskeleton suit can be implemented in the manner of the prior art, and the related description will be omitted in the specification of the present invention.

1 is a block diagram showing the structure of an exoskeleton suit according to an embodiment of the present invention.

As shown in FIG. 1, the exoskeleton garment 100 includes a plurality of exoskeleton components 110 and a plurality of additional devices disposed on the plurality of exoskeleton components 110. The plurality of additional devices includes at least one expansion interface module 1110 and at least one measurement device 1120. Each expansion interface module 1110 is connected to an external expansion device. When the external expansion device is connected to the corresponding expansion interface module 1110, the external expansion device is detachably fixed to the expansion interface module 1110. At least one measurement Device 1120 is used to measure the size of the wearer's limb of the exoskeleton garment 100.

As shown in FIG. 1, an exoskeleton component 110 can be mounted with both the expansion interface module 1110 and the measuring device 1120, or only one of the expansion interface module 1110 and the measuring device 1120. Alternatively, only one expansion interface module 1110 or an extended expansion interface module 1110 may be mounted on one exoskeleton component 110. Alternatively, only one measuring device 1120 may be mounted on one exoskeleton component 110 or the measuring device 1120 may not be mounted.

For example, the external expansion device mounted on the plurality of expansion interface modules 1110 of the exoskeleton component 110 of the exoskeleton garment 100 is a measurement device that can be used to measure the body of the wearer of the external bone garment, thereby tracking the movement of the wearer. In this case, the external measuring device mounted on the expansion interface module 1110 and the measuring device 1120 cooperate to enable the exoskeleton garment 100 to provide accurate measurement results.

For another example, when the external expansion device mounted on the plurality of expansion interface modules 1110 of the exoskeleton component 110 of the exoskeleton device 100 is a communication device, the communication device transmits the size of the wearer's limb measured by the measurement device 1120 to the outside. The limb size of the wearer of the exoskeleton garment 100 can be sent to a related device, such as a body simulation system, without human intervention to simulate the wearer's body.

For another example, when the external expansion device mounted on the plurality of expansion interface modules 1110 of the exoskeleton component 110 of the exoskeleton garment 100 is at least one of a game handle, a game gun, and a game racket, the external interface mounted on the expansion interface module 1110 The expansion device cooperates with the measuring device 1120 such that when the wearer of the exoskeleton wears a game, the limb size of the wearer of the exoskeleton garment 100 is accurately obtained, ie, by measuring the size of the wearer's limb, the wearer is more Good game experience.

In the exoskeleton according to an embodiment of the present disclosure, the external expansion device may include one or more of a measurement device, a positioning device, a sensor device, a communication device, a game device, a detection device, a construction device, and a calculation device.

Those skilled in the art will appreciate that the expansion interface module 1110 of the exoskeleton component 110 of the exoskeleton garment 100 may simply be used to removably secure the external expansion device. In another embodiment, the attachment of the exoskeleton component 110 of the exoskeleton garment 100 (including the expansion interface module 1110 and the measurement device 1120) can also be connected to a power source inside or outside the exoskeleton garment, thereby Power the external expansion unit. In another embodiment, additional means of the exoskeleton component 110 of the exoskeleton garment 100 (including the expansion interface module 1110 and the measuring device 1120) may also be interconnected by communication lines and/or connected to the interior of the exoskeleton through a communication line. Or an external processing device that enables communication between the external expansion devices and/or the additional device can communicate with the processing device. In another embodiment, the attachment of the exoskeleton component 110 of the exoskeleton garment 100 can be connected to both the internal or external power source of the exoskeleton garment and to the processing device inside or outside the exoskeleton garment such that the attachment is powered And in communication with another external control device or processing device.

2 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.

As shown in FIG. 2, an exoskeleton garment 200 in accordance with another embodiment of the present disclosure further includes a power line. The power line is connected to a power source 120 disposed inside or outside the exoskeleton suit 200. Some or all of the plurality of additional devices are connected to the power source 120 by a power line such that the power source 120 supplies power to the add-on device. As shown in FIG. 2, a portion of the expansion interface module 1110 and a portion of the measurement device 1120 are connected to the power source 120 through a power line to be powered by the power source 120. Moreover, an external expansion device connected to the expansion interface module 1110 connected to the power line can also be powered by the power source 120. Additionally, in one example, all of the expansion interface modules 1110 may not be coupled to the power source 120 while some or all of the measurement devices 1120 are coupled to the power source 120. Additionally, in one example, all of the measurement devices 1120 may not be coupled to the power source 120 while some or all of the expansion interface module 1110 is coupled to the power source 120.

Those skilled in the art will appreciate that the power source 120 can be built into the exoskeleton suit 200 or can be located outside of the exoskeleton suit 200. In one example, the power source 120 can be connected to the expansion interface module 1110 as an external expansion device and power the other additional devices through the expansion interface module 1110 and the power line. Further, the external expansion device connected to the expansion interface module 1110 can be powered.

3 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.

As shown in FIG. 3, an exoskeleton suit 300 according to another embodiment of the present disclosure further includes a communication line. The communication line is connected to a processing device 130 disposed inside or outside the exoskeleton suit 300. Some or all of the plurality of add-on devices are coupled to the processing device 130 via a communication line to communicate with the processing device 130. As shown in FIG. 3, a part of the extended interface module 1110 and a part of the test The quantity device 1120 is coupled to the processing device 130 via a communication line to communicate with the processing device 130. Further, an external expansion device connected to the expansion interface module 1110 connected to the communication line communicates with the processing device 130 via a communication line. Additionally, in one example, all of the expansion interface modules 1110 may not be coupled to the processing device 130 while some or all of the measurement devices 1120 are coupled to the processing device 130. Additionally, in one example, all of the measurement devices 1120 may not be coupled to the processing device 130 while some or all of the expansion interface module 1110 is coupled to the processing device 130.

Those skilled in the art will appreciate that the processing device 130 may be built into the exoskeleton suit 300 or may be external to the exoskeleton suit 300. For example, the processing device 130 can be a processor placed inside the exoskeleton suit 300 or a computer external to the exoskeleton suit 300. In one example, the processing device 130 can be connected to the expansion interface module 1110 as an external expansion device, and communicate with the measurement device 1120 and/or an external expansion device fixed to the other expansion interface module 1110 through the expansion interface module 1110 and the communication line, And perform data processing.

4 is a structural block diagram of an exoskeleton suit in accordance with another embodiment of the present invention.

As shown in FIG. 4, an exoskeleton suit 400 according to another embodiment of the present disclosure further includes a power source and a communication line. The power source and communication line are connected to a power source 120 disposed inside or outside the exoskeleton suit 400 and a processing device 130 disposed inside or outside the exoskeleton suit 400. Some or all of the plurality of additional devices are connected to the power source 120 and the processing device 130 via power and communication lines to receive power from the power source 120 and to communicate with the processing device 130 over the communication line. As shown in FIG. 4, a portion of the expansion interface module 1110 and a portion of the measurement device 1120 are coupled to the power source 120 and the processing device 130 via power and communication lines to be powered by the power source 120 and in communication with the processing device 130. Further, the external expansion device connected to the expansion interface module 1110 connected to the power supply and communication line receives power from the power source 120 and communicates with the processing device 130 via the communication line. Additionally, in one example, all of the expansion interface modules 1110 may not be coupled to the power source 120 and the processing device 130 while some or all of the measurement devices 1120 are coupled to the power source 120 and the processing device 130. Additionally, in one example, all of the measurement devices 1120 may not be coupled to the power source 120 and the processing device 130 while some or all of the expansion interface module 1110 is coupled to the power source 120 and the processing device 130.

Those skilled in the art will appreciate that in the embodiment illustrated in Figures 2 through 4, separate add-on devices are shown that are not coupled to other add-on devices, power source 120, or processing device 130, including separate expansion interface modules 1110. And a separate measuring device 1120. In this case, the independent measuring device 1120 can be used without power or with its own power supply to complete the measurement. The independent expansion interface module 1110 functions only to detachably secure the external expansion device to the exoskeleton without being connected to the power source 120 or the processing device 130. The exoskeleton according to an embodiment of the present disclosure may have independent attachments or may not have separate attachments.

In the exoskeleton of the present disclosure, since the external expansion device can be any device, if only one expansion interface module is provided, the expansion interface module may be unsuitable for some external expansion devices. For example, when the external expansion device is only a small device, for example, a measurement device, only a small expansion interface module is provided to meet the needs of the fixed measurement device. In this case, when the external expansion device is only a larger device, such as a construction device such as an electric drill, an expansion interface module suitable for fixing the measurement device Due to its small size and load-bearing capacity, it is not suitable for fixing construction equipment. Therefore, in some cases, it is necessary to set different size expansion interface modules on the exoskeleton suit.

FIG. 5 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.

In one embodiment, the plurality of expansion interface modules 1110 can include two expansion interface modules of different sizes. The size of the first expansion interface module 1111 is smaller than the size of the second expansion interface module 1112. Preferably, the load-bearing performance of the first expansion interface module 1111 may be lower than the load-bearing performance of the second expansion interface module 1112. Those skilled in the art will appreciate that the second expanded interface module 1112, which is larger in size, has greater load bearing capabilities that enable the heavier external device to be attached to the exoskeleton 500. For example, the exoskeleton component 110 provided with the first type of expansion interface module 1111 may be an upper limb exoskeleton, such as a forearm exoskeleton, and the first type of expansion interface module 1111 on the forearm exoskeleton may be fixed with a small size and light weight external expansion device. . For another example, the exoskeleton component 110 provided with the second expansion interface module 1112 may be a lower limb exoskeleton, such as a thigh exoskeleton, and the second expansion interface module 1112 on the thigh exoskeleton may fix a large-sized and heavy external extension. Device.

Preferably, when the exoskeleton suit comprises a back exoskeleton and a thigh exoskeleton, the second expansion interface module is disposed on at least one of the back exoskeleton and the thigh exoskeleton. Preferably, the external expansion device connected to the second expansion interface module disposed on the rear exoskeleton is a carrying device having an accommodation space for accommodating articles therein. Those skilled in the art can understand that in the exoskeleton suit, the back exoskeleton and the thigh exoskeleton are more suitable for fixing the external expansion device of larger size or larger weight than other exoskeleton components, and therefore, the second extension device can be used. The expansion interface module is disposed on at least one of the back exoskeleton and the thigh exoskeleton. In addition, the back exoskeleton is suitable for placing a backpack-type carrying device. For example, a piggyback carrying device can be placed on the back exoskeleton of the exoskeleton suit to accommodate a computer that is coupled to other expansion interface modules on the exoskeleton device by a second type of expansion interface module to which the carrier device is secured External expansion devices, such as measurement devices and sensors, communicate. Such an exoskeleton having a carrying device that can accommodate a computer is suitable for use in various scenarios, such as virtual reality, exploration, and the like.

6 is a structural block diagram of a measuring device in an exoskeleton suit according to another embodiment of the present invention.

As shown in FIG. 6, the measuring device 6120 includes a measurement communication module 6121 for transmitting a measurement. The size of the limb of the wearer of the exoskeleton suit.

In the present embodiment, when the measurement communication module 6121 transmits the size of the wearer's limb of the exoskeleton garment measured by the measuring device 6120 to a human body simulation device, the human body simulation device can be based on the wearer sent by the measurement communication module 6121. The size of the limb is calculated by calculating the corresponding body simulation data, thereby estimating the size and overall body shape of each part of the user's body. It will be appreciated that with multiple measuring devices 6120, the exoskeleton can provide more comprehensive limb data for simulation of the wearer of the external bone suit.

Those skilled in the art will appreciate that the measuring devices can be of various types. Moreover, when a plurality of measuring devices are employed, various types of measuring devices can be incorporated in an exoskeleton suit according to an embodiment of the present invention.

For example, when the measuring device is a mechanical measuring device, the measuring device may comprise a tape measure, and the measuring device may be mounted at any position of the exoskeleton, for example, at a joint such as an elbow or an exoskeleton member such as a forearm. Take out the tape measure to measure the length of the corresponding limb.

For example, when the measuring device is a mechanical measuring device, the measuring device can include a gear mechanism that is used in conjunction with an exoskeleton component, such as a forearm exoskeleton component. In this case, the forearm exoskeleton is telescoped in the gear mechanism to rotate the gear mechanism, and the measuring device further has a counting mechanism, and the length of the forearm exoskeleton component can be read according to the rotation of the gear mechanism, thereby determining the forearm exoskeleton The length of the part.

For example, the measuring device may also be a laser ranging device, an ultrasonic distance measuring device, an infrared distance measuring device or a radio ranging device, etc., which can be mounted to any position of the exoskeleton suit.

Preferably, each measurement device comprises a measurement communication module. The measurement communication module may be a wired communication module or a wireless communication module. The measurement communication module can transmit the limb information measured by the measurement device to any other information processing device capable of communicating with the measurement communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or a complex information processing device such as a tablet computer, a PAD, a mobile phone, or a computer. The user may select an appropriate information processing according to actual information processing requirements. device.

The exoskeleton suit may be configured to measure a size of a wearer's limb of the exoskeleton suit by including at least one measuring device, wherein the measuring device includes a measurement communication module, The measured size of the wearer's limb of the exoskeleton garment is transmitted such that the size of the wearer's limb of the exoskeleton suit can be obtained without manual measurement, and the measured limb size can be transmitted by the measurement communication module. This avoids the cumbersome need in the prior art to manually measure the user's limbs and manually input the measurement receipt into the system. For example, when the exoskeleton is used for human body simulation, it is possible to perform at least one measurement on the exoskeleton suit after the user wears the exoskeleton suit without manually measuring the size of the human body and inputting the measured size. The device measures the user's limb size and sends the limb size to the simulation system, which simplifies the work of the simulation system. In addition, the exoskeleton according to the present invention can provide more functions when the measuring device is used in conjunction with an external expansion device mounted on the expansion interface module. The exoskeleton suit of the present invention is suitable for various fields such as human-computer interaction, film and television production, medical care, game entertainment, field exploration, and production activities.

7 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.

As shown in FIG. 7, in the exoskeleton suit 700 according to an embodiment of the present invention, each of the exoskeleton members is interconnected at an exoskeleton joint 710. Therein, the measuring device 7110 is mounted at the exoskeleton joint 710 and combined with at least one exoskeleton member at the exoskeleton joint 710 to measure the size of the wearer's limb of the exoskeleton garment 700.

It will be understood by those skilled in the art that in an exoskeleton according to an embodiment of the present invention, an exoskeleton joint can be fabricated as a separate exoskeleton component, for example, an elbow joint is provided between the forearm exoskeleton component and the upper arm exoskeleton component. The exoskeleton component connects the two. In the exoskeleton according to the embodiment of the present invention, it is also possible not to manufacture a separate exoskeleton joint, but to refer to the joint of two adjacent exoskeleton parts as an exoskeleton joint. For example, the junction of the forearm exoskeleton component and the upper arm exoskeleton component is referred to as an exoskeleton joint.

In this embodiment, at least one exoskeleton component (not shown) can be telescoped at the exoskeleton joint 710 where the measuring device 7110 is located to combine with the measuring device 7110 to measure the size of the wearer's limb of the exoskeleton garment 700. For example, when the measuring device is a mechanical measuring device, the measuring device at the exoskeleton joint can include a gear mechanism that is used in conjunction with an exoskeleton component, such as a forearm exoskeleton component. In this case, the forearm exoskeleton is telescoped in the gear mechanism to rotate the gear mechanism, and the measuring device further has a counting mechanism, and the length of the forearm exoskeleton component can be read according to the rotation of the gear mechanism, thereby determining the forearm exoskeleton Component length. It can be understood by those skilled in the art that the measuring device in this embodiment is not limited to a mechanical processing device, but may be a laser ranging device, an ultrasonic ranging device, an infrared ranging device, or a radio ranging device.

In the exoskeleton suit according to an embodiment of the present invention, the exoskeleton suit may further include an upper limb exoskeleton. The upper extremity exoskeleton may include a plurality of exoskeleton components: a shoulder exoskeleton component and two arm exoskeleton components respectively coupled to the shoulder exoskeleton component, each arm exoskeleton component including a forearm exoskeleton component and a forearm The upper arm exoskeleton component to which the back end of the bone component is attached. Wherein, each exoskeleton component in the upper extremity exoskeleton is connected to an exoskeleton joint, and a measuring device is installed at at least one exoskeleton joint.

8 is a structural block diagram of an upper limb exoskeleton of an exoskeleton suit according to another embodiment of the present invention.

In an exoskeleton suit according to an embodiment of the present invention, the upper limb exoskeleton 800 may further include a plurality of positioning devices 8110, and at least one positioning device 8110 is mounted on each of the exoskeleton members 810 of the upper limb exoskeleton 800 for The movement of the corresponding exoskeleton member 810 is positioned. Wherein, the positioning device 8110 can include a positioning communication module (not shown) for transmitting positioning information for positioning the motion of the corresponding exoskeleton component 310.

It will be understood by those skilled in the art that the positioning device 8110 can be directly mounted on the upper limb exoskeleton 800 of the exoskeleton suit, or can be detachably mounted as an external expansion device to each of the expansion interface modules on the upper limb exoskeleton 800.

In an exoskeleton according to an embodiment of the invention, the positioning device can be any positioning device that can be used for positioning. The positioning device includes one or more of various sensors, positioning devices, and image acquisition devices. The sensor includes, but is not limited to, an acceleration sensor for sensing acceleration data, an angular velocity sensor for sensing angular velocity data, a motion sensor for sensing a direction of motion data, and the like; for sensing geomagnetic data a magneto-resistive sensor, an air pressure sensor for sensing air pressure data, an environmental data sensor for sensing temperature data, etc.; a proximity sensor for sensing proximity blocking data; and a sensing motion capture target Vital data sensor for vital signs such as blood pressure, heart rate, pulse, and body surface temperature. The positioning device may be one or more of a GPS positioning device, a WIFI positioning device, a beacon positioning device, a sensor positioning device, a Beidou positioning device, a GLONASS positioning device, a Galileo positioning device, and the like. Image acquisition The device can be an image capture device such as a camera. It is to be noted that the above-mentioned positioning device is merely illustrative and is not intended to limit the present invention, and any component that can achieve the desired positioning function falls within the scope of the present invention.

Preferably, the positioning device is wearable, and may include a plurality of inertial sensors placed at a position between an elbow joint of one arm of the user to the palm to obtain an inertial transmission there Sense data. Wherein, the inertial sensor is a multi-axis sensor, such as a nine-axis sensor including a gyro XYZ axis, an accelerometer XYZ axis, and a magnetometer XYZ axis, so that multi-dimensional inertial sensing data can be obtained, thereby more accurately determining the human body. attitude.

Preferably, each positioning device comprises a positioning communication module. The positioning communication module may be a wired communication module or a wireless communication module. The positioning communication module can transmit the positioning information acquired by the positioning device to any other information processing device capable of communicating with the positioning communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or a complex information processing device such as a tablet computer, a PAD, a mobile phone, or a computer. The user may select an appropriate information processing according to actual information processing requirements. device.

The exoskeleton suit according to an embodiment of the present invention can position the upper limb movement of the wearer of the external bone wear through a positioning device located on each of the exoskeleton members of the upper extremity exoskeleton, and can transmit the positioning information to the outside. When the wearer's motion is located and the user's limb size has been known, the user's body shape and motion can be better simulated. The exoskeleton suit of the present invention is suitable for various fields such as human-computer interaction, film and television production, medical care, game entertainment, field exploration, and production activities.

In one embodiment, the upper extremity exoskeleton may include two upper limb front end positioning devices, wherein: each upper limb front end positioning device is disposed at a front end of the forearm exoskeleton. Wherein, when the user wears the upper extremity exoskeleton, each upper limb front positioning device is fixed at a position between the elbow joint of the user's one arm to the palm, and the upper limb front positioning device is in the space between the elbow joint and the palm The position is positioned to obtain the position information of the upper limb front end. Each of the upper limb front positioning devices includes a communication module for transmitting corresponding upper limb front end position information. When the state of the user is simulated by using the position information of the front end of the upper limb, an inverse dynamics algorithm can be used, and the limb of the wearer of the exoskeleton wear is measured based on the position information of the upper limb front end and the measuring device. Dimensions, calculating a motion posture of the wearer's upper limb, and then simulating the user's upper limb posture. It will be apparent to those skilled in the art that the inverse dynamics algorithm is a method of determining the entire skeleton chain by first determining the position of the child bone and then deriving the position of the n-level parent bone on the bone chain in which it is located. Those skilled in the art can apply the inverse dynamics algorithm of the prior art to the present invention in accordance with the teachings of the present invention.

In an exoskeleton suit according to an embodiment of the present invention, the exoskeleton suit may further include a lower limb exoskeleton including a plurality of exoskeleton members: a hip exoskeleton member and two respectively connected to the hip exoskeleton member The leg exoskeleton component, each leg exoskeleton component includes a calf exoskeleton component and a thigh exoskeleton component coupled to the upper end of the calf exoskeleton component. Wherein, each of the exoskeleton members in the exoskeleton of the lower limb is connected to the exoskeleton joint, and the measuring device is installed at the at least one exoskeleton joint.

9 is a structural block diagram of a lower limb exoskeleton of an exoskeleton suit according to another embodiment of the present invention.

In the exoskeleton suit according to an embodiment of the present invention, the lower extremity exoskeleton 900 may further include a plurality of positioning devices 9110. At least one positioning device 9110 is mounted on each of the exoskeleton members 910 of the lower extremity exoskeleton 900 for positioning the movement of the respective exoskeleton member 910. Wherein, the positioning device 9110 can include a positioning communication module (not shown) for transmitting positioning information for positioning the motion of the corresponding exoskeleton component 910.

It will be understood by those skilled in the art that the positioning device 9110 can be directly mounted on the lower extremity exoskeleton 900 of the exoskeleton suit, or can be detachably mounted as an external expansion device to each of the expansion interface modules on the lower extremity exoskeleton 900.

In the exoskeleton according to an embodiment of the present invention, the positioning means on the exoskeleton of the lower limb may be the same as the positioning means on the exoskeleton of the upper limb.

In an exoskeleton suit according to an embodiment of the present invention, the positioning device is wearable, which may include a plurality of inertial sensors placed at a position between the elbow joint of one arm of the user to the palm of the hand, Get the inertial sensing data there. Wherein, the inertial sensor is a multi-axis sensor, such as a nine-axis sensor including a gyro XYZ axis, an accelerometer XYZ axis, and a magnetometer XYZ axis, so that multi-dimensional inertial sensing data can be obtained, thereby more accurately determining the human body. attitude.

In an exoskeleton suit according to an embodiment of the invention, each positioning device includes a positioning pass Letter module. The positioning communication module may be a wired communication module or a wireless communication module. The positioning communication module can transmit the positioning information acquired by the positioning device to any other information processing device capable of communicating with the positioning communication module. For example, the information processing device may be a simple information processing device, such as an information processing chip, or a complex information processing device such as a tablet computer, a PAD, a mobile phone, or a computer. The user may select an appropriate information processing according to actual information processing requirements. device.

The exoskeleton garment according to an embodiment of the present invention can position the lower limb movement of the wearer of the external bone wear through a positioning device located on each of the exoskeleton members of the lower extremity exoskeleton, and can transmit the positioning information to the outside. When the wearer's motion is located and the user's limb size has been known, the user's body shape and motion can be better simulated. The exoskeleton suit of the present invention is suitable for various fields such as human-computer interaction, film and television production, medical care, game entertainment, field exploration, and production activities.

In the exoskeleton suit according to an embodiment of the present invention, the upper limb exoskeleton may further include two lower limb lower end positioning devices, wherein: each lower limb lower end positioning device is disposed at a lower end of the calf exoskeleton. Wherein, when the user wears the upper and lower extremity exoskeleton, each lower limb lower end positioning device is fixed at a position between the knee joint and the ankle joint of one leg of the user, and the lower limb lower end positioning device is in the space to the knee joint to the ankle joint The position is located to obtain the lower end position information of the lower limb, wherein each lower limb lower positioning device comprises a communication module for transmitting the corresponding lower limb lower position information. When the state of the user is simulated by using the position information of the lower limb lower end, the inverse dynamics algorithm may be used to calculate the movement of the lower limb of the wearer based on the position information of the lower limb lower end and the limb size of the wearer of the exoskeleton wear measured by the measuring device. The posture, in turn, simulates the user's lower limb posture. It will be apparent to those skilled in the art that the inverse dynamics algorithm is a method of determining the entire skeleton chain by first determining the position of the child bone and then deriving the position of the n-level parent bone on the bone chain in which it is located. Those skilled in the art can apply the inverse dynamics algorithm of the prior art to the present invention in accordance with the teachings of the present invention.

As shown in FIG. 10, a torso simulation system 10 according to another embodiment of the present invention includes an exoskeleton suit 11 and a simulation device 12. The exoskeleton suit 11 may include a plurality of exoskeleton members and a plurality of additional devices disposed on the plurality of exoskeleton members, wherein: the plurality of additional devices includes at least one An interface module and at least one measuring device. Each expansion interface module is connected to an external expansion device. When the external expansion device is connected to the corresponding expansion interface module, the external expansion device is detachably fixed on the expansion interface module. Wherein at least one measuring device is used to measure the size of the limb of the wearer of the exoskeleton suit, and the measuring device comprises a measuring communication module for transmitting the measured size of the limb of the wearer of the exoskeleton suit. The simulation device 12 acquires the size of the wearer's limb of the exoskeleton 10 from at least one measurement device. The simulation device 12 uses the size of the wearer's limb of the exoskeleton 10 to calculate the overall size of the user, and then simulates the user's body.

Those skilled in the art will appreciate that the exoskeleton suit in the simulation system of Figure 10 can include the exoskeleton garments described above with reference to Figures 1-9. It will be understood by those skilled in the art that the simulation device in the simulation system in FIG. 10 may be a simulation device in the prior art, that is, in the case where the limb size measured by the measurement device on the exoskeleton device is obtained, the simulation device The user's body and the like can be simulated based on existing programs, algorithms, and the like. Further, when the simulation device obtains the positioning information of the external exoskeleton components of the external bones of the positioning device on the exoskeleton suit, the state of the wearer of the external skeleton garment can be simulated.

In an application scenario of a body simulation system according to an embodiment of the present invention, a measuring device having a measurement communication module on an exoskeleton device transmits the measured size of the user's limb to the simulation device, and the simulation device is external to the wearer of the skeleton. The body is simulated. At this time, an expansion interface module of the exoskeleton suit is equipped with a game controller, such as a game tennis racket, and other expansion interfaces are equipped with an external expansion device such as a positioning device. The positioning device transmits positioning information of the action of the wearer of the external bones to the simulation device, and the simulation device performs posture simulation on the wearer of the exoskeleton who has performed the body simulation based on the unit information. In the case where body simulation and posture simulation have been performed, when the wearer of the exoskeleton wears a virtual reality tennis game using the game tennis racket, the user's body and posture can be virtually virtualized, thereby enabling the user's body to be realized. High-precision simulation and enhance the realism of this virtual reality tennis game.

A body simulation system according to an embodiment of the present invention may include an exoskeleton suit and a simulation device: the exoskeleton suit includes at least one measuring device for measuring a size of a limb of a wearer of the exoskeleton suit, wherein the measuring device includes a measurement communication Module for sending measured out The size of the wearer's limb of the skeleton garment; the simulation device acquires the size of the wearer's limb of the exoskeleton suit from at least one measurement device, wherein the simulation device uses the size of the wearer's limb of the exoskeleton suit to calculate the overall size of the user And then simulating the body of the user, so that the size of the wearer's limb of the exoskeleton suit can be obtained without manual measurement, and the measured limb size can be transmitted through the measurement communication module, thereby realizing the simulation of the user as a whole. . This avoids the cumbersome need in the prior art to manually measure the user's limbs and manually input the measurement receipt into the system. In addition, the body simulation system can simulate the user's body by using the size of the wearer's limb of the exoskeleton garment measured and transmitted according to the exoskeleton of the embodiment of the present disclosure, without manually measuring and inputting the user's limb. Size simplifies operation. The body simulation system according to the present invention can be used to implement accurate and efficient human-machine real-time interaction. Of course, those skilled in the art can understand that the human-computer interaction can also be a non-real-time situation. The exoskeleton and body simulation system of the invention is suitable for various fields such as human-computer interaction, film and television production, medical care, game entertainment, field exploration, production activities and the like.

The specific embodiments of the present invention have been described in detail, and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

An exoskeleton suit, characterized in that the exoskeleton suit comprises a plurality of exoskeleton members and a plurality of additional devices disposed on the plurality of exoskeleton members, wherein:

The plurality of additional devices includes at least one expansion interface module and at least one measurement device;

Each of the expansion interface modules is connected to the external expansion device. When the external expansion device is connected to the corresponding expansion interface module, the external expansion device is detachably fixed on the expansion interface module;

Wherein the at least one measuring device is configured to measure a size of a limb of a wearer of the exoskeleton suit.
The exoskeleton suit according to claim 1, wherein the exoskeleton suit further comprises a power line connected to a power source disposed inside or outside the outer bone suit, the plurality of additional devices Some or all of them are connected to the power source through the power line.
The exoskeleton suit according to claim 1 or 2, wherein the exoskeleton suit further comprises a communication line connected to a processing device disposed inside or outside the outer skeleton garment, the plurality Some or all of the additional devices are connected to the processing device via the communication line.
The exoskeleton suit according to claim 1, wherein the exoskeleton suit further comprises a power source and a communication line, and the power source and the communication line are connected to a power source disposed inside or outside the outer bone suit and disposed on the power supply The processing device inside or outside the exoskeleton suit, a part or all of the plurality of additional devices being connected to the power source and the processing device through the power source and the communication line.
The exoskeleton suit according to claim 1, wherein when the at least one extended interface module is a plurality of extended interface modules, the plurality of extended interface modules comprise two extended interface modules of different sizes, wherein The size of the first expansion interface module is smaller than the size of the second expansion interface module.
The exoskeleton suit according to claim 1, wherein said measuring device A measurement communication module is included for transmitting the measured size of the wearer's limb of the exoskeleton suit.
The exoskeleton suit according to claim 1, wherein each of the exoskeleton members is interconnected at an exoskeleton joint, wherein the measuring device is mounted at the exoskeleton joint and at the exoskeleton joint At least one exoskeleton member is combined to measure the size of the wearer's limb of the exoskeleton suit.
The exoskeleton suit according to claim 7, wherein at least one exoskeleton member is telescoped at an exoskeleton joint where the measuring device is located to combine with the measuring device to measure a wearer of the exoskeleton suit. The size of the limb.
The exoskeleton suit according to claim 7, wherein the exoskeleton suit further comprises an upper limb exoskeleton, the upper limb exoskeleton comprising a plurality of exoskeleton members: a shoulder exoskeleton member and the shoulder Two arm exoskeleton members connected to the outer bone member, each arm exoskeleton member including a forearm exoskeleton member and an upper arm exoskeleton member coupled to a rear end of the forearm exoskeleton member,

Wherein, each of the exoskeleton members in the upper extremity exoskeleton is connected to an exoskeleton joint, and the measuring device is installed at the at least one exoskeleton joint.
The exoskeleton suit according to claim 7, wherein the exoskeleton suit further comprises a lower limb exoskeleton, the lower limb exoskeleton comprising a plurality of exoskeleton members: a hip exoskeleton member and the hip and the hip respectively Two leg exoskeleton members joined by the outer bone member, each leg exoskeleton member including a calf exoskeleton member and a thigh exoskeleton member coupled to the upper end of the calf exoskeleton member,

Wherein, each of the exoskeleton members in the lower extremity exoskeleton is connected to an exoskeleton joint, and the measuring device is installed at at least one exoskeleton joint.