WO2018035876A1 - 外骨骼服 - Google Patents

外骨骼服 Download PDF

Info

Publication number
WO2018035876A1
WO2018035876A1 PCT/CN2016/097036 CN2016097036W WO2018035876A1 WO 2018035876 A1 WO2018035876 A1 WO 2018035876A1 CN 2016097036 W CN2016097036 W CN 2016097036W WO 2018035876 A1 WO2018035876 A1 WO 2018035876A1
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
expansion interface
expansion
interface module
suit
Prior art date
Application number
PCT/CN2016/097036
Other languages
English (en)
French (fr)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京神秘谷数字科技有限公司 filed Critical 北京神秘谷数字科技有限公司
Priority to PCT/CN2016/097036 priority Critical patent/WO2018035876A1/zh
Publication of WO2018035876A1 publication Critical patent/WO2018035876A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present invention relates to the field of ergonomics, and in particular to an exoskeleton suit.
  • Exoskeleton clothing has broad application prospects in military, engineering, exploration, medical and other fields.
  • exoskeleton suits are specially manufactured for specific purposes and are difficult to use in other fields after manufacture.
  • the exoskeleton garment can only be made more complicated and expensive to manufacture.
  • the functions of the existing exoskeleton suits are shaped as they are completed and are difficult to expand.
  • the present invention proposes an exoskeleton suit which can provide a plurality of different external expansion devices by providing a plurality of expansion interface modules on the exoskeleton component, thereby making the outer body device
  • the bone suit is conveniently adapted to a variety of different fields and, therefore, greatly expands the use of the exoskeleton suit.
  • an exoskeleton suit includes a plurality of exoskeleton members and a plurality of expansion interface modules disposed on the plurality of exoskeleton members, wherein:
  • Each expansion interface module is connected to an external expansion device, and 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.
  • the exoskeleton suit further includes a power line connected to a power source disposed inside or outside the outer skeleton garment, and some or all of the plurality of expansion interface modules are connected through the power line To the power source, the power source supplies power to an external expansion device connected to the expansion interface module connected to the power line.
  • the exoskeleton suit further includes a communication line connected to a processing device disposed inside or outside the outer skeleton garment, a part or all of the plurality of expansion interface modules passing through the communication line Connected to the processing device, an external expansion device connected to the expansion interface module connected to the communication line communicates with the processing device via the communication line.
  • the exoskeleton suit further includes a power source and a communication line connected to a power source disposed inside or outside the outer skeleton garment and a processing device disposed inside or outside the outer bone skeleton garment,
  • a part or all of the plurality of expansion interface modules are connected to the power source and the processing device through the power source and the communication line, thereby being connected to an external expansion device of the expansion interface module connected to the power source and the communication line.
  • a power source is powered and communicates with the processing device over the communication line.
  • the exoskeleton suit comprises an upper limb exoskeleton comprising two arm exoskeletons, each arm exoskeleton comprising a forearm exoskeleton and an upper arm exoskeleton connected to a rear end of the forearm exoskeleton ;
  • the front end of the forearm exoskeleton is provided with at least one of the expansion interface modules, wherein when the user wears the upper limb exoskeleton, the expansion interface module disposed at the front end of the forearm exoskeleton is fixed at the The position of the elbow joint of one arm of the user to the palm of the hand.
  • the plurality of expansion interface modules comprise two expansion 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 load-bearing performance of the first expansion interface module is lower than the load-bearing performance of the second expansion interface module.
  • the second expansion interface module is disposed on at least one of the back exoskeleton and the thigh exoskeleton.
  • 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.
  • the external expansion device comprises a positioning device, a sensor device, a measuring device, One or more of a communication device, a game device, a detection device, a construction device, and a computing device.
  • an exoskeleton suit can provide a plurality of different extension interface modules on the exoskeleton component, so that the exoskeleton suit can be connected to a plurality of different external extension devices, thereby making the exoskeleton suit conveniently applicable to various Different fields, therefore, greatly expand the use of exoskeleton suits.
  • 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.
  • 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.
  • 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.
  • 1 is a block diagram showing the structure of an exoskeleton suit according to an embodiment of the present invention
  • FIG. 2 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.
  • FIG. 3 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.
  • FIG. 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 block diagram showing the structure of a body simulation system according to another embodiment of the present invention.
  • the exoskeleton suit according to the present invention may be various forms of exoskeleton devices as long as they can be worn on the user's body, rather than being limited to Exoskeleton device in the form of clothing.
  • the exoskeleton suit according to the present invention may include only the upper limb exoskeleton, or may only include the lower limb exoskeleton.
  • 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.
  • the exoskeleton garment may also include a head mounted device, such as smart glasses, a smart helmet, and the like.
  • 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.
  • 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.
  • the exoskeleton suit 600 includes a plurality of exoskeleton members 610 and a plurality of expansion interface modules 6110 disposed on the plurality of exoskeleton members 610.
  • Each expansion interface module 6110 is connected to an external expansion device.
  • the external expansion device is connected to the corresponding expansion interface module 6110, the external expansion device is detachably fixed to the expansion interface module 6110.
  • the external expansion device mounted on the plurality of expansion interface modules 6110 of the exoskeleton component 610 of the exoskeleton garment 600 is a positioning device that can be used to position the body of the wearer of the external bone garment, thereby tracking the movement of the wearer.
  • the exoskeleton suit 600 can be used in the fields of body simulation, virtual reality, and the like.
  • the external expansion device mounted on the plurality of expansion interface modules 6110 of the exoskeleton component 610 of the exoskeleton garment 600 is a detection device and/or a construction device, whereby the wearer of the exoskeleton wears a disaster relief, exploration, etc. Can help the wearer complete the task.
  • the external expansion device may include one or more of a positioning device, a sensor device, a measuring device, a communication device, a game device, a detecting device, a construction device, and a computing device.
  • the expansion interface module 6110 of the exoskeleton component 610 of the exoskeleton garment 600 may simply be used to removably secure the external expansion device.
  • the expansion interface module 6110 of the exoskeleton component 610 of the exoskeleton garment 600 can also be coupled to a power source internal or external to the exoskeleton garment to power the external expansion device.
  • the expansion interface modules 6110 of the exoskeleton component 610 of the exoskeleton suit 600 may also be interconnected by communication lines and/or connected to the exterior of the exoskeleton through communication lines. Or an external processing device that enables communication between the external expansion devices and/or an external expansion device can communicate with the processing device.
  • the expansion interface module 6110 of the exoskeleton component 610 of the exoskeleton garment 600 can be connected to both the internal or external power supply of the external skeleton garment and to the processing device inside or outside the external skeleton garment, so that the external extension The device can both be powered by the expansion interface module 6110 and communicate with another external control device or processing device via the expansion interface module 6110.
  • FIG. 2 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.
  • an exoskeleton suit 600 further includes a power line.
  • the power line is connected to a power source 620 disposed inside or outside the exoskeleton suit 600.
  • Some or all of the plurality of expansion interface modules 6110 are connected to the power source 620 through a power line such that the power source 620 supplies power to an external expansion device connected to the expansion interface module 6110 connected to the power line.
  • the power source 620 may be built into the exoskeleton suit 600 or may be external to the exoskeleton suit 600.
  • the power supply 620 can be connected to the expansion interface module 6110 as an external expansion device, and power the external expansion devices connected to the other expansion interface modules 6110 through the expansion interface module 6110 and the power supply line.
  • FIG. 3 is a structural block diagram of an exoskeleton suit according to another embodiment of the present invention.
  • an exoskeleton suit 600 further includes a communication line.
  • the communication line is connected to a processing device 630 disposed inside or outside the exoskeleton suit 600.
  • Some or all of the plurality of expansion interface modules 6110 are connected to the processing device 630 via a communication line, and the external extension device connected to the expansion interface module 6110 connected to the communication line communicates with the processing device 630 via a communication line.
  • the processing device 630 may be built into the exoskeleton suit 600 or may be external to the exoskeleton suit 600.
  • the processing device 630 can be a processor placed inside the exoskeleton suit 600 or a computer external to the exoskeleton suit.
  • the processing device 630 can be connected to the expansion interface module 6110 as an external expansion device, and communicate with the external expansion device fixed to the other expansion interface module 6110 via the expansion interface module 6110 and the communication line, and perform data processing.
  • FIG. 4 is a structural block diagram of an exoskeleton suit in accordance with another embodiment of the present invention.
  • an exoskeleton suit 600 further includes a power source and a communication line.
  • the power source and communication line are connected to a power source 620 disposed inside or outside the exoskeleton suit 600 and a processing device 630 disposed inside or outside the exoskeleton suit 600.
  • a part or all of the plurality of expansion interface modules 6110 are connected to the power source 620 and the processing device 630 through power and communication lines, so that the external expansion device connected to the expansion interface module 6110 connected to the power source and the communication line receives the power supply 620 and communicates
  • the line is in communication with processing device 630.
  • a separate expansion interface module 6110 that is not coupled to other expansion interface modules 6110, power supply 620, or processing device 630 is shown.
  • the independent expansion interface module 6110 functions only to detachably fix the external expansion device to the exoskeleton.
  • the exoskeleton according to an embodiment of the present disclosure may have a separate expansion interface module 6110 or may not have a separate expansion interface module 6110.
  • the expansion interface module may be unsuitable for some external expansion devices.
  • the external expansion device is only a small device, for example, a positioning device
  • only a small expansion interface module is provided to meet the needs of the fixed positioning device.
  • the expansion interface module suitable for the fixed positioning device is not suitable for fixing the construction device due to its small size and load-bearing capacity. . 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.
  • the plurality of expansion interface modules 6110 can include two expansion interface modules of different sizes.
  • the size of the first expansion interface module 6111 is smaller than the size of the second expansion interface module 6112.
  • the load-bearing performance of the first expansion interface module 6111 may be lower than the load-bearing performance of the second expansion interface module 6112.
  • the second expanded interface module 6112 which is larger in size, has greater load bearing capabilities that enable the external fixation device to be attached to the exoskeleton 600.
  • the exoskeleton component 610 of the expansion interface module 6111 can be an upper limb exoskeleton, such as a forearm exoskeleton, and the first expansion interface module 6111 on the forearm exoskeleton can be fixed with a small size and light weight external expansion device.
  • the exoskeleton component 610 provided with the second expansion interface module 6112 may be a lower extremity exoskeleton, such as a thigh exoskeleton, and the second expansion interface module 6112 on the thigh exoskeleton may fix a large and heavy external extension. Device.
  • the second expansion interface module is disposed on at least one of the back exoskeleton and the thigh exoskeleton.
  • 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.
  • 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.
  • the back exoskeleton is suitable for placing a backpack-type carrying device.
  • 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 positioning 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.
  • FIG. 6 is a block diagram showing the structure of a body simulation system according to another embodiment of the present invention.
  • a body simulation system 10 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 expansion interface modules disposed on the plurality of exoskeleton members, wherein: each of the expansion interface modules is connected to an external expansion device when the external expansion device is connected to the corresponding When the interface module is extended, the external expansion device is detachably fixed to the expansion interface module.
  • a measuring device can be mounted on at least one of the expansion interface modules.
  • the measuring device is for measuring the size of the wearer's limb of the exoskeleton suit, and the measuring device may comprise a measuring communication module for transmitting the measured size of the wearer's limb 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. Wherein, the simulation device 12 uses the size of the wearer's limb of the exoskeleton suit 10 to calculate the overall size of the user, and thus the user's The body is simulated.
  • the exoskeleton suit in the simulation system of Figure 6 can include the exoskeleton garments described above with reference to Figures 1-5.
  • the simulation device in the simulation system in FIG. 6 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.
  • 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.
  • the measuring device 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.
  • the measuring device 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.
  • an exoskeleton component such as a forearm exoskeleton component.
  • 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.
  • 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.
  • 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.
  • 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.
  • an exoskeleton suit A measuring device having a measurement communication module mounted on at least one of the expansion interface modules transmits the measured size of the user's limb to the simulation device, and the simulation device simulates the body of the wearer of the external bone garment.
  • 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.
  • measuring devices, positioning devices, and game tennis racquets are mounted on different expansion interface modules.
  • the present invention is not limited thereto, and various external expansion devices can be mounted on the expansion interface module such that the exoskeleton according to the present invention realizes various functions.
  • a body simulation system may be configured to include an exoskeleton suit and a simulation device including at least one measuring device mounted to the expansion interface module for measuring the size of a wearer's limb of the exoskeleton suit,
  • the measuring device comprises a measuring communication module for transmitting the size of the limb of the wearer of the measured exoskeleton suit;
  • the simulation device acquiring the size of the limb of the wearer of the exoskeleton suit from the at least one measuring device, wherein the simulation device adopts The size of the wearer's limb of the exoskeleton suit, calculating the overall size of the user, and then simulating the user's body so that the size of the wearer's limb of the exoskeleton suit can be obtained without manual measurement, and can be measured
  • the communication module transmits the measured limb size, thereby implementing simulation of the user as a whole.
  • 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 human-computer interaction, film and television production, medical treatment Health care, game entertainment, field exploration, production activities and other fields.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种外骨骼服（600），其包括多个外骨骼部件（610）和设置于多个外骨骼部件（610）上的多个扩展接口模块（6110），其中：每一扩展接口模块（6110）均供外接扩展装置连接，当将外接扩展装置连接到相应的扩展接口模块（6110）时，外接扩展装置可拆卸地固定在扩展接口模块（6110）上。外骨骼服（600）可以通过在外骨骼部件（610）上提供多个扩展接口模块（6110），使得外骨骼服（600）能够连接多种不同的外接扩展装置，从而使外骨骼服（600）方便地适用于各种不同的领域，因此，极大地扩展了外骨骼服（600）的用途。另外，不将具备各种功能的装置直接安装在外骨骼服（600）上，而是采用扩展接口模块（6110）与不同功能的外接扩展装置连接，即，将具备各种功能的装置与外骨骼服（600）分开制造，可以有效降低外骨骼服（600）的制造成本。

Description

外骨骼服 技术领域
本发明涉及人机工程学技术领域，尤其涉及外骨骼服。
背景技术
外骨骼服在军事、工程、勘探、医疗等领域有着广泛的应用前景。当前，外骨骼服是针对特定用途而专门制造的，制造完成后难以用于其他领域。而且，当需要更丰富的功能时，只能将外骨骼服制造得越发复杂，而且制造成本高昂。另外，现有的外骨骼服的功能随着制作完成而定型，并且难以扩展。
发明内容
为了解决现有技术的相关问题，本发明提出外骨骼服，该外骨骼服可以通过在外骨骼部件上提供多个扩展接口模块，使得外骨骼服能够连接多种不同的外接扩展装置，从而使外骨骼服方便地适用于各种不同的领域，因此，极大地扩展了外骨骼服的用途。
根据本发明的第一方面，提供一种外骨骼服，所述外骨骼服包括多个外骨骼部件和设置于所述多个外骨骼部件上的多个扩展接口模块，其中：
每一扩展接口模块均供外接扩展装置连接，当将外接扩展装置连接到相应的扩展接口模块时，所述外接扩展装置可拆卸地固定在所述扩展接口模块上。
优选地，所述外骨骼服还包括电源线路，所述电源线路连接到设置于所述外骨骼服内部或外部的电源，所述多个扩展接口模块中的一部分或全部通过所述电源线路连接到所述电源，从而所述电源为连接到与所述电源线路连接的扩展接口模块的外接扩展装置供电。
优选地，所述外骨骼服还包括通信线路，所述通信线路连接到设置于所述外骨骼服内部或外部的处理装置，所述多个扩展接口模块中的一部分或全部通过所述通信线路与所述处理装置连接，连接到在与所述通信线路连接的扩展接口模块的外接扩展装置通过所述通信线路与所述处理装置通信。
优选地，所述外骨骼服还包括电源及通信线路，所述电源及通信线路连接到设置于所述外骨骼服内部或外部的电源和设置于所述外骨骼服内部或外部的处理装置，所述多个扩展接口模块中的一部分或全部通过所述电源及通信线路连接到所述电源和所述处理装置，从而连接到与所述电源及通信线路连接的扩展接口模块的外接扩展装置接受电源供电并且通过所述通信线路与所述处理装置通信。
优选地，所述外骨骼服包括上肢外骨骼，所述上肢外骨骼包括两条手臂外骨骼，每条手臂外骨骼均包括前臂外骨骼和与所述前臂外骨骼的后端连接的上臂外骨骼；
其中，所述前臂外骨骼的前端设置有至少一个所述扩展接口模块，其中，当用户穿戴上所述上肢外骨骼时，设置在所述前臂外骨骼的前端的扩展接口模块均固定在所述用户的一条手臂的肘关节至手掌之间的位置。
优选地，所述多个扩展接口模块包括两种尺寸不同的扩展接口模块，其中，第一种扩展接口模块的尺寸小于第二种扩展接口模块的尺寸。
优选地，所述第一种扩展接口模块的承重性能低于所述第二种扩展接口模块的承重性能。
优选地，当所述外骨骼服包括后背外骨骼和大腿外骨骼时，所述第二种扩展接口模块被设置于所述后背外骨骼和所述大腿外骨骼中的至少之一上。
优选地，与设置于所述后背外骨骼的所述第二种扩展接口模块连接的外接扩展装置是承载装置，所述承载装置内部具有容纳物品的容纳空间。
优选地，所述外接扩展装置包括定位装置、传感器装置、测量装置、 通信装置、游戏装置、探测装置、施工装置、计算装置中的一种或多种。
本发明提出的外骨骼服，该外骨骼服可以通过在外骨骼部件上提供多个扩展接口模块，使得外骨骼服能够连接多种不同的外接扩展装置，从而使外骨骼服方便地适用于各种不同的领域，因此，极大地扩展了外骨骼服的用途。另外，不将具备各种功能的装置直接安装在外骨骼服上，而是采用扩展接口模块与不同功能的外接扩展装置连接，即，将具备各种功能的装置与外骨骼服分开制造，可以有效降低外骨骼服的制造成本。当不需要某些功能时，外骨骼服可以不连接具有相应功能的外接扩展装置，因此，可以有效降低外骨骼服的使用成本。采用本发明的方案的外骨骼服用途广泛，当连接有不同的外接扩展装置时，外骨骼服可以适用于人机交互、影视制作、医疗保健、游戏娱乐、野外勘探、生产活动等各个领域。
附图说明
图1是根据本发明一实施例的外骨骼服的结构框图；
图2是根据本发明另一实施例的外骨骼服的结构框图；
图3是根据本发明另一实施例的外骨骼服的结构框图；
图4是根据本发明另一实施例的外骨骼服的结构框图；
图5是根据本发明另一实施例的外骨骼服的结构框图；
图6是根据本发明另一实施例的躯体仿真系统的结构框图。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
本领域技术人员应该理解，根据本发明的外骨骼服可以是各种形式的外骨骼装置，只要能够穿戴到用户的躯体上即可，而非仅限于类似于 服装形式的外骨骼装置。而且，根据本发明的外骨骼服可以仅包括上肢外骨骼，也可以仅包括下肢外骨骼。而且，根据本发明的外骨骼服同时可以包括上肢外骨骼和下肢外骨骼，二者可以是一体的也可以是分离的。另外，在根据本发明的其他实施例中，外骨骼服还可以包括头戴式装置，例如，智能眼镜、智能头盔等等。另外，根据本发明的外骨骼服可以是动力外骨骼服，或无动力外骨骼服，或局部有动力外骨骼服。在本发明实施例中，外骨骼服的外骨骼部件可以以现有技术中的方式实现，在本发明的说明书中将省略相关描述。
图1是根据本发明一实施例的外骨骼服的结构框图。
如图1所示，外骨骼服600包括多个外骨骼部件610和设置于多个外骨骼部件610上的多个扩展接口模块6110。每一扩展接口模块6110均供外接扩展装置连接，当将外接扩展装置连接到相应的扩展接口模块6110时，外接扩展装置可拆卸地固定在扩展接口模块6110上。
例如，在外骨骼服600的外骨骼部件610的多个扩展接口模块6110上安装的外接扩展装置是定位装置，可用于对外骨骼服的穿戴者的躯体进行定位，因此可跟踪穿戴者的动作。在这种情况下，外骨骼服600可用于躯体仿真、虚拟现实等领域。
又例如，在外骨骼服600的外骨骼部件610的多个扩展接口模块6110上安装上的外接扩展装置是探测装置和/或施工装置，由此当外骨骼服的穿戴者进行救灾、勘探等工作时，可以帮助穿戴者完成任务。
在根据本公开实施例的外骨骼服中，外接扩展装置可以包括定位装置、传感器装置、测量装置、通信装置、游戏装置、探测装置、施工装置、计算装置中的一种或多种。
本领域技术人员可以理解，外骨骼服600的外骨骼部件610的扩展接口模块6110可以仅仅是用于可拆卸地固定外接扩展装置。在另一实施例中，外骨骼服600的外骨骼部件610的扩展接口模块6110还可以连接到外骨骼服内部或外部的电源，从而为外接扩展装置供电。在另一实施例中，外骨骼服600的外骨骼部件610的扩展接口模块6110之间还可以通过通信线路互联并且/或者通过通信线路连接到外骨骼服内部 或外部的处理装置，使得外接扩展装置之间能够通信，并且/或者外接扩展装置可以与处理装置通信。在另一实施例中，外骨骼服600的外骨骼部件610的扩展接口模块6110可以既连接到外骨骼服内部或外部的电源，又连接到外骨骼服内部或外部的处理装置，使得外接扩展装置既能够通过扩展接口模块6110供电，又通过扩展接口模块6110与另一外接控制装置或处理装置通信。
图2是根据本发明另一实施例的外骨骼服的结构框图。
如图2所示，根据本公开另一实施例的外骨骼服600还包括电源线路。电源线路连接到设置于外骨骼服600内部或外部的电源620。多个扩展接口模块6110中的一部分或全部通过电源线路连接到电源620，从而电源620为连接到与电源线路连接的扩展接口模块6110的外接扩展装置供电。
本领域技术人员可以理解，电源620可以是内置在外骨骼服600中的，也可以是位于外骨骼服600之外的。在一个示例中，电源620可以作为一个外接扩展装置连接到扩展接口模块6110，并且通过扩展接口模块6110以及电源线路为其他扩展接口模块6110所连接的外接扩展装置供电。
图3是根据本发明另一实施例的外骨骼服的结构框图。
如图3所示，根据本公开另一实施例的外骨骼服600还包括通信线路。通信线路连接到设置于外骨骼服600内部或外部的处理装置630。多个扩展接口模块6110中的一部分或全部通过通信线路与处理装置630连接，连接到在与通信线路连接的扩展接口模块6110的外接扩展装置通过通信线路与处理装置630通信。
本领域技术人员可以理解，处理装置630可以是内置在外骨骼服600中的，也可以是位于外骨骼服600之外的。例如，处理装置630可以是置于外骨骼服600内部的处理器，也可以是外骨骼服外部的一台计算机。在一个示例中，处理装置630可以作为一个外接扩展装置连接到扩展接口模块6110，并且通过扩展接口模块6110以及通信线路与固定在其他扩展接口模块6110的外接扩展装置通信，并且进行数据处理。
图4是根据本发明另一实施例的外骨骼服的结构框图。
如图4所示，根据本公开另一实施例的外骨骼服600还包括电源及通信线路。电源及通信线路连接到设置于外骨骼服600内部或外部的电源620和设置于外骨骼服600内部或外部的处理装置630。多个扩展接口模块6110中的一部分或全部通过电源及通信线路连接到电源620和处理装置630，从而连接到与电源及通信线路连接的扩展接口模块6110的外接扩展装置接受电源620供电并且通过通信线路与处理装置630通信。
本领域技术人员可以理解，在图2至图4所示的实施例中，示出了不与其他扩展接口模块6110、电源620或处理装置630连接的独立的扩展接口模块6110。在此情况下，独立的扩展接口模块6110仅起到将外接扩展装置可拆卸地固定到外骨骼服的作用。根据本公开的实施例的外骨骼服可以具有独立的扩展接口模块6110，也可以不具有独立的扩展接口模块6110。
在本公开的外骨骼服中，由于外接扩展装置可以是任何一种装置，因此，如果仅提供一种扩展接口模块，则可能导致扩展接口模块不适于对于某些外接扩展装置。例如，当外接扩展装置仅仅是一个小型装置，例如，定位装置时，仅提供小型的扩展接口模块就可以满足固定定位装置的需要。在此情况下，当外接扩展装置仅仅是一个较大型的装置，例如，诸如电钻之类的施工装置时，适合于固定定位装置的扩展接口模块由于其尺寸和承重能力小，不适于固定施工装置。因此，在某些情况下，需要在外骨骼服上设置不同尺寸的扩展接口模块。
图5是根据本发明另一实施例的外骨骼服的结构框图。
在一个实施例中，多个扩展接口模块6110可以包括两种尺寸不同的扩展接口模块。其中，第一种扩展接口模块6111的尺寸小于第二种扩展接口模块6112的尺寸。优选地，第一种扩展接口模块6111的承重性能可以低于第二种扩展接口模块6112的承重性能。本领域技术人员可以理解，尺寸更大的第二种扩展接口模块6112具有更强的承重性能能够使得外骨骼服600上可以固定更重的外接扩展装置。例如，设置有第 一种扩展接口模块6111的外骨骼部件610可以是上肢外骨骼，例如前臂外骨骼，前臂外骨骼上的第一种扩展接口模块6111可以固定尺寸小且重量轻的外接扩展装置。又例如，设置有第二种扩展接口模块6112的外骨骼部件610可以是下肢外骨骼，例如大腿外骨骼，大腿外骨骼上的第二种扩展接口模块6112可以固定尺寸大且重量重的外接扩展装置。
优选地，当外骨骼服包括后背外骨骼和大腿外骨骼时，第二种扩展接口模块被设置于后背外骨骼和大腿外骨骼中的至少之一上。优选地，与设置于后背外骨骼的第二种扩展接口模块连接的外接扩展装置是承载装置，所述承载装置内部具有容纳物品的容纳空间。本领域技术人员可以理解，在外骨骼服中，相较于其他外骨骼部件，后背外骨骼和大腿外骨骼比较适合于固定较大尺寸或较大重量的外接扩展装置，因此，可以将第二种扩展接口模块设置于后背外骨骼和大腿外骨骼中的至少之一上。此外，后背外骨骼适合于放置一个背负式的承载装置。例如，可以在外骨骼服的后背外骨骼放置背负式的承载装置以容纳一台计算机，该计算机通过承载装置所固定到的第二种扩展接口模块与外骨骼服上的其他扩展接口模块所连接的外接扩展装置，例如，定位装置和传感器等，通信。这种具有可以容纳计算机的承载装置的外骨骼服适用于各种情景，例如，虚拟现实、勘探等。
图6是根据本发明另一实施例的躯体仿真系统的结构框图。
如图6所示，根据本发明另一实施例的躯体仿真系统10包括外骨骼服11和仿真装置12。外骨骼服11可以包括多个外骨骼部件和设置于多个外骨骼部件上的多个扩展接口模块，其中：每一扩展接口模块均供外接扩展装置连接，当将外接扩展装置连接到相应的扩展接口模块时，所述外接扩展装置可拆卸地固定在所述扩展接口模块上。可以在至少一个扩展接口模块上安装测量装置。测量装置用于测量外骨骼服的穿戴者的肢体的尺寸，测量装置可以包括测量通信模块，用于发送测量出的所述外骨骼服的穿戴者的肢体的尺寸。仿真装置12从至少一个测量装置获取外骨骼服10的穿戴者的肢体的尺寸。其中，仿真装置12采用外骨骼服10的穿戴者的肢体的尺寸，计算用户整体的尺寸，进而对用户的 躯体进行仿真。
本领域技术人员可以理解，图6中的仿真系统中的外骨骼服可以包括以上参照图1至图5描述的外骨骼服。本领域技术人员可以理解，图6中的仿真系统中的仿真装置可以是现有技术中的仿真装置，即，在获得了外骨骼服上的测量装置测得的肢体尺寸的情况下，仿真装置即可基于现有程序、算法等对用户的躯体等进行仿真。进一步地，当仿真装置获得了外骨骼服上的定位装置对外骨骼服的各个外骨骼部件的定位信息时，可以对外骨骼服的穿戴者的状态进行仿真。
本领域技术人员可以理解，测量装置可以为各种类型。而且，当采用多个测量装置时，可以在根据本发明实施例的外骨骼服中结合各种类型的测量装置。
例如，当测量装置是机械式测量装置时，测量装置可以包括一个卷尺，此时测量装置可以安装在外骨骼服的任意位置，例如，诸如肘部的关节处或诸如前臂的外骨骼部件上，通过抽出卷尺来测量相应肢体长度。
例如，当测量装置是机械式测量装置时，测量装置可以包括一个齿轮机构，结合一个外骨骼部件，例如，前臂外骨骼部件使用。在此情况下，前臂外骨骼在此齿轮机构中伸缩使得齿轮机构转动，测量装置还具有计数机构，可以根据齿轮机构的转动读取该前臂外骨骼部件伸缩后长度，由此确定该前臂外骨骼部件的长度。
例如，测量装置还可以激光测距装置、超声波测距装置、红外测距装置或无线电测距装置等，这些测量装置可以安装到外骨骼服的任意位置。
优选地，每一测量装置均包括测量通信模块。测量通信模块可以是有线通信模块或无线通信模块。测量通信模块可以将测量装置测得的肢体信息发送到任何其他能够与测量通信模块通信的信息处理设备。例如，信息处理设备可以为简单的信息处理设备，比如信息处理芯片，也可以是平板电脑、PAD、移动电话、计算机等复杂的信息处理设备，用户可根据实际信息处理的要求选择合适的信息处理设备。
在根据本发明实施例的躯体仿真系统的一个应用场景中，外骨骼服 上的至少一个扩展接口模块上安装的具有测量通信模块的测量装置将测得的用户肢体的尺寸发送到仿真装置，仿真装置对外骨骼服的穿戴者的身体进行仿真。此时，外骨骼服的一个扩展接口模块上安装有游戏手柄，例如游戏网球拍，其他扩展接口安装了定位装置等外接扩展装置。定位装置将对外骨骼服穿戴者的动作的定位信息发送到仿真装置，仿真装置基于单位信息对已经进行了身体仿真的外骨骼服穿戴者进行姿态仿真。在已经进行了身体仿真和姿态仿真的情况下，当外骨骼服的穿戴者使用游戏网球拍进行虚拟现实的网球比赛时，用户的身体和动作姿态可以真实地虚拟出来，因此能够实现对用户躯体的高精度仿真，并且提升了此虚拟现实的网球比赛的真实感。在此实施例中，在不同的扩展接口模块上安装了测量装置、定位装置和游戏网球拍。但是本发明不限于此，可以在扩展接口模块上安装各种外接扩展装置使得根据本发明的外骨骼服实现各种功能。
根据本发明实施例的躯体仿真系统，可以通过包括外骨骼服和仿真装置：外骨骼服包括至少一个安装到扩展接口模块上的测量装置，用于测量外骨骼服的穿戴者的肢体的尺寸，其中，测量装置包括测量通信模块，用于发送测量出的外骨骼服的穿戴者的肢体的尺寸；仿真装置从至少一个测量装置获取外骨骼服的穿戴者的肢体的尺寸，其中，仿真装置采用外骨骼服的穿戴者的肢体的尺寸，计算用户整体的尺寸，进而对所述用户的躯体进行仿真，使得无需人工测量，即可获得外骨骼服的穿戴者的肢体的尺寸，而且可通过测量通信模块发送测得的肢体尺寸，进而实现对用户整体的仿真。这避免了现有技术中需要对用户肢体进行人工测量，并将测量收据人工输入到系统的繁琐。此外，所述躯体仿真系统采用根据本公开实施例的外骨骼服测量并发送来的外骨骼服的穿戴者的肢体的尺寸，即可对用户的身体进行仿真，无需人工测量和输入用户的肢体尺寸，简化了操作。根据本发明的躯体仿真系统可用于实现准确高效的人机实时交互，当然本领域技术人员可以明了，所述人机交互也可以是非实时的情况。
本发明的外骨骼服和躯体仿真系统适用于人机交互、影视制作、医 疗保健、游戏娱乐、野外勘探、生产活动等各个领域。
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种外骨骼服，其特征在于，所述外骨骼服包括多个外骨骼部件和设置于所述多个外骨骼部件上的多个扩展接口模块，其中：
    每一扩展接口模块均供外接扩展装置连接，当将外接扩展装置连接到相应的扩展接口模块时，所述外接扩展装置可拆卸地固定在所述扩展接口模块上。
  2. 根据权利要求1所述的外骨骼服，其特征在于，所述外骨骼服还包括电源线路，所述电源线路连接到设置于所述外骨骼服内部或外部的电源，所述多个扩展接口模块中的一部分或全部通过所述电源线路连接到所述电源，从而所述电源为连接到与所述电源线路连接的扩展接口模块的外接扩展装置供电。
  3. 根据权利要求1或2所述的外骨骼服，其特征在于，所述外骨骼服还包括通信线路，所述通信线路连接到设置于所述外骨骼服内部或外部的处理装置，所述多个扩展接口模块中的一部分或全部通过所述通信线路与所述处理装置连接，连接到在与所述通信线路连接的扩展接口模块的外接扩展装置通过所述通信线路与所述处理装置通信。
  4. 根据权利要求1所述的外骨骼服，其特征在于，所述外骨骼服还包括电源及通信线路，所述电源及通信线路连接到设置于所述外骨骼服内部或外部的电源和设置于所述外骨骼服内部或外部的处理装置，所述多个扩展接口模块中的一部分或全部通过所述电源及通信线路连接到所述电源和所述处理装置，从而连接到与所述电源及通信线路连接的扩展接口模块的外接扩展装置接受电源供电并且通过所述通信线路与所述处理装置通信。
  5. 根据权利要求1所述的外骨骼服，其特征在于，所述外骨骼服包括上肢外骨骼，所述上肢外骨骼包括两条手臂外骨骼，每条手臂外骨骼均包括前臂外骨骼和与所述前臂外骨骼的后端连接的上臂外骨骼；
    其中，所述前臂外骨骼的前端设置有至少一个所述扩展接口模块，其中，当用户穿戴上所述上肢外骨骼时，设置在所述前臂外骨骼的前端 的扩展接口模块均固定在所述用户的一条手臂的肘关节至手掌之间的位置。
  6. 根据权利要求1所述的外骨骼服，其特征在于，所述多个扩展接口模块包括两种尺寸不同的扩展接口模块，其中，第一种扩展接口模块的尺寸小于第二种扩展接口模块的尺寸。
  7. 根据权利要求6所述的外骨骼服，其特征在于，所述第一种扩展接口模块的承重性能低于所述第二种扩展接口模块的承重性能。
  8. 根据权利要求7所述的外骨骼服，其特征在于，当所述外骨骼服包括后背外骨骼和大腿外骨骼时，所述第二种扩展接口模块被设置于所述后背外骨骼和所述大腿外骨骼中的至少之一上。
  9. 根据权利要求8所述的外骨骼服，其特征在于，与设置于所述后背外骨骼的所述第二种扩展接口模块连接的外接扩展装置是承载装置，所述承载装置内部具有容纳物品的容纳空间。
  10. 根据权利要求1所述的外骨骼服，其特征在于，所述外接扩展装置包括定位装置、传感器装置、测量装置、通信装置、游戏装置、探测装置、施工装置、计算装置中的一种或多种。
PCT/CN2016/097036 2016-08-26 2016-08-26 外骨骼服 WO2018035876A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/097036 WO2018035876A1 (zh) 2016-08-26 2016-08-26 外骨骼服

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/097036 WO2018035876A1 (zh) 2016-08-26 2016-08-26 外骨骼服

Publications (1)

Publication Number Publication Date
WO2018035876A1 true WO2018035876A1 (zh) 2018-03-01

Family

ID=61246319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/097036 WO2018035876A1 (zh) 2016-08-26 2016-08-26 外骨骼服

Country Status (1)

Country Link
WO (1) WO2018035876A1 (zh)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103786157A (zh) * 2014-01-20 2014-05-14 浙江大学 基于上肢外骨骼助力机器人的嵌入式控制系统
CN104173124A (zh) * 2014-08-29 2014-12-03 电子科技大学 一种基于生物信号的上肢康复系统
US20150001269A1 (en) * 2011-05-06 2015-01-01 Anthony D. Sacksteder Exoskeleton arm interface
CN105142445A (zh) * 2013-03-13 2015-12-09 埃克苏仿生公司 步态矫正装置以及用于保护步态矫正装置及用户免受损伤的方法
CN106112996A (zh) * 2016-08-26 2016-11-16 北京神秘谷数字科技有限公司 外骨骼服
CN206011063U (zh) * 2016-08-26 2017-03-15 北京神秘谷数字科技有限公司 外骨骼服

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150001269A1 (en) * 2011-05-06 2015-01-01 Anthony D. Sacksteder Exoskeleton arm interface
CN105142445A (zh) * 2013-03-13 2015-12-09 埃克苏仿生公司 步态矫正装置以及用于保护步态矫正装置及用户免受损伤的方法
CN103786157A (zh) * 2014-01-20 2014-05-14 浙江大学 基于上肢外骨骼助力机器人的嵌入式控制系统
CN104173124A (zh) * 2014-08-29 2014-12-03 电子科技大学 一种基于生物信号的上肢康复系统
CN106112996A (zh) * 2016-08-26 2016-11-16 北京神秘谷数字科技有限公司 外骨骼服
CN206011063U (zh) * 2016-08-26 2017-03-15 北京神秘谷数字科技有限公司 外骨骼服

Similar Documents

Publication Publication Date Title
Slade et al. An open-source and wearable system for measuring 3D human motion in real-time
CN105688396B (zh) 运动信息显示系统和运动信息显示方法
WO2018196227A1 (zh) 人体运动能力评价方法、装置及系统
TWI647595B (zh) 人體姿勢偵測系統、穿戴裝置以及方法
US6866643B2 (en) Determination of finger position
JP2019526295A (ja) 組込みセンサと外界センサとを組み合わせる多関節トラッキングのための方法およびプログラム製品
Alves et al. Assisting physical (hydro) therapy with wireless sensors networks
CN107320108B (zh) 一种关节活动度测量方法
CN106112997B (zh) 外骨骼服
TW201417796A (zh) 互動式下肢復健系統
WO2018035875A1 (zh) 外骨骼服
RU2670649C1 (ru) Способ изготовления перчатки виртуальной реальности (варианты)
CN206924405U (zh) 一种穿戴式光学惯性捕捉设备及系统
CN206011064U (zh) 外骨骼服
CN206011063U (zh) 外骨骼服
WO2018035876A1 (zh) 外骨骼服
Shigapov et al. Design and development of a hardware and software system for simulation of feedback tactility
KR20110101888A (ko) 손에 착용 가능한 형태의 심박수 측정과 저장 및 전송 장치
CN106112996B (zh) 外骨骼服
Paladugu et al. A sensor cluster to monitor body kinematics
CN206534641U (zh) 外骨骼服和躯体仿真系统
Szelitzky et al. Data glove and virtual environment—A distance monitoring and rehabilitation solution
Salicone et al. Low-cost real-time motion capturing system using inertial measurement units
Salehi et al. Design and development of low-cost smart training pants (STants)
CN106073790B (zh) 外骨骼服和躯体仿真系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16913897

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 11.06.2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16913897

Country of ref document: EP

Kind code of ref document: A1