CN106112997B - Ectoskeleton clothes - Google Patents
Ectoskeleton clothes Download PDFInfo
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- CN106112997B CN106112997B CN201610743032.XA CN201610743032A CN106112997B CN 106112997 B CN106112997 B CN 106112997B CN 201610743032 A CN201610743032 A CN 201610743032A CN 106112997 B CN106112997 B CN 106112997B
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- ectoskeleton
- clothes
- component
- measuring device
- connection module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention discloses a kind of ectoskeleton clothes, ectoskeleton clothes include multiple ectoskeleton components and the multiple attachment devices being set on multiple ectoskeleton components, in which: multiple attachment devices include at least one expansion connection module and at least one measuring device；Wherein, each expansion connection module is connected for external expanding unit, and when external expanding unit is connected to corresponding expansion connection module, external expanding unit is removably attached on expansion connection module；Wherein, at least one measuring device is used to measure the size of the limbs of the wearer of the ectoskeleton clothes.Expansion connection module makes ectoskeleton clothes that can connect different external expanding units, so that ectoskeleton clothes be made to be readily applied to a variety of different fields, therefore, greatly extends the purposes of ectoskeleton clothes.By measuring device, ectoskeleton according to the present invention clothes can the limb size of the external wearer of exoskeleton suit measure, without manual measurement, to save workload.
Description
Technical field
The present invention relates to ergonomics technical fields more particularly to ectoskeleton to take.
Background technique
Ectoskeleton clothes have a wide range of applications in fields such as military affairs, engineering, exploration, medical treatment.Currently, ectoskeleton clothes are
It is specifically manufactured for special-purpose, other field is difficult to use in after the completion of manufacture.Moreover, when needing richer function
When, ectoskeleton can only be taken and be made to more complexity, and manufacturing cost is high.In addition, the function of existing ectoskeleton clothes with
Complete and be formed, and be difficult to extend.
In addition, being emulated in the body to people and when motion capture, it usually needs pass through bandage or tight etc
Big quantity sensor is tightly attached on the body of people by means.In the case, user is difficult for oneself fastening bandage or puts on close-fitting vest
Clothing can only seek help from other people help, this obtains body posture information to user and causes very big obstruction.Meanwhile wearing is big
Quantity sensor leads to the cost of analogue system, cumbersome.Moreover, people can only be passed through by obtaining the limb size data of user
Work measurement, it is very cumbersome.
Summary of the invention
In order to solve the relevant issues of the prior art, the present invention proposes ectoskeleton clothes.
According to the first aspect of the invention, a kind of ectoskeleton clothes are provided, the ectoskeleton clothes include multiple ectoskeleton components
With the multiple attachment devices being set on the multiple ectoskeleton component, in which:
The multiple attachment device includes at least one expansion connection module and at least one measuring device；
Wherein, each expansion connection module is connected for external expanding unit, is connected to accordingly when by external expanding unit
Expansion connection module when, the external expanding unit is removably attached on the expansion connection module；
Wherein, at least one described measuring device is used to measure the size of the limbs of the wearer of the ectoskeleton clothes.
Optionally, the ectoskeleton clothes further include power circuit, and the power circuit, which is connected to, is set to the ectoskeleton
Internal or external power supply is taken, part or all in the multiple attachment device is connected to described by the power circuit
Power supply.
Optionally, the ectoskeleton clothes further include communication line, and the communication line, which is connected to, is set to the ectoskeleton
The internal or external processing unit of clothes, in the multiple attachment device part or all by the communication line with it is described
Processing unit connection.
Optionally, the ectoskeleton clothes further include power supply and communication line, and the power supply and communication line are connected to setting
In the internal or external power supply of ectoskeleton clothes and it is set to the internal or external processing unit of the ectoskeleton clothes, it is described more
Part or all in a attachment device is connected to the power supply and the processing unit by the power supply and communication line.
Optionally, when at least one described expansion connection module is multiple expansion connection modules, the multiple extension is connect
Mouth mold block includes two kinds of different expansion connection modules of size, wherein the size of the first expansion connection module is less than second
The size of expansion connection module.
Optionally, the measuring device includes measurement communication module, for sending wearing for the ectoskeleton measured clothes
The size of the limbs of wearer.
It optionally, is ectoskeleton joint at each ectoskeleton component interconnection, wherein the measuring device is installed on institute
Ectoskeleton joint is stated, and to measure the ectoskeleton clothes in conjunction at least one ectoskeleton component of the ectoskeleton joint
Wearer limbs size.
Optionally, at least one ectoskeleton component is flexible in the ectoskeleton joint where the measuring device, with institute
Measuring device is stated in conjunction with come the size for the limbs for measuring the wearer of the ectoskeleton clothes.
Optionally, the ectoskeleton clothes further include upper limb ectoskeleton, and the upper limb ectoskeleton includes following multiple ectoskeletons
Component: shoulder ectoskeleton component and two arm ectoskeleton components being connect respectively with the shoulder ectoskeleton component, every hand
Arm ectoskeleton component includes forearm ectoskeleton component and the upper arm ectoskeleton that connect with the rear end of the forearm ectoskeleton component
Component,
It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in the upper limb ectoskeleton, at least one
A ectoskeleton joint installs the measuring device.
Optionally, the ectoskeleton clothes further include lower limb exoskeleton, and the lower limb exoskeleton includes following multiple ectoskeletons
Component: hip ectoskeleton component and two leg ectoskeleton components being connect respectively with the hip ectoskeleton component, each leg
Portion's ectoskeleton component includes shank ectoskeleton component and the thigh ectoskeleton that connect with the upper end of the shank ectoskeleton component
Component,
It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in the lower limb exoskeleton, at least one
A ectoskeleton joint installs the measuring device.
Ectoskeleton clothes proposed by the present invention, ectoskeleton clothes can be by providing at least one extension in outer skeletal members
Interface module, so that ectoskeleton clothes can connect different external expanding units, so that it is each to be readily applied to ectoskeleton clothes
Therefore the different field of kind greatly extends the purposes of ectoskeleton clothes.In addition, the device that not will be provided with various functions is direct
It is mounted on ectoskeleton clothes, but the external expanding unit of expansion connection module and different function is used to connect, that is, will be provided with each
The device of kind of function takes separately manufactured with ectoskeleton, and the manufacturing cost that ectoskeleton takes can be effectively reduced.When not needing certain function
When energy, ectoskeleton clothes can be not connected to the external expanding unit with corresponding function, therefore, ectoskeleton clothes can be effectively reduced
Use cost.By measuring device, ectoskeleton according to the present invention clothes can externally the wearer of exoskeleton suit limb size into
Row measurement, without manual measurement, to save workload.Moreover, ectoskeleton clothes of the invention can be to wearer's
Function abundant is provided by being mounted on the external expanding unit of expansion connection module while limb size measures, so that
Ectoskeleton clothes can be applied to various fields.Taken using the ectoskeleton of the solution of the present invention it is widely used, it is different when being connected with
When external expanding unit, ectoskeleton clothes can be adapted for human-computer interaction, production of film and TV, health care, Entertainment, field are surveyed
The every field such as spy, production activity.
Detailed description of the invention
Fig. 1 is the structural block diagram of ectoskeleton clothes according to an embodiment of the invention；
Fig. 2 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 3 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 4 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 5 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 6 is the structural block diagram of the measuring device in ectoskeleton clothes according to another embodiment of the present invention；
Fig. 7 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention；
Fig. 8 is the structural block diagram of the upper limb ectoskeleton in ectoskeleton clothes according to another embodiment of the present invention；
Fig. 9 is the structural block diagram of the lower limb exoskeleton in ectoskeleton clothes according to another embodiment of the present invention；
Figure 10 is the structural block diagram of body analogue system according to another embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
It should be appreciated by those skilled in the art that ectoskeleton clothes according to the present invention can be various forms of ectoskeleton dresses
It sets, as long as can be clothed on the body of user, rather than is only limitted to the exoskeleton device similar to clothing form.Moreover,
Ectoskeleton clothes according to the present invention can only include upper limb ectoskeleton, can also only include lower limb exoskeleton.Moreover, according to this hair
Bright ectoskeleton clothes while may include upper limb ectoskeleton and lower limb exoskeleton, the two, which can be, integrated to be also possible to separate
's.In addition, in other embodiments in accordance with the invention, ectoskeleton clothes can also include wear-type device, for example, Brilliant Eyes
Mirror, intelligent helmet etc..In addition, ectoskeleton clothes according to the present invention can be power exoskeleton clothes or unpowered ectoskeleton clothes,
Or the dynamic ectoskeleton clothes in part.In embodiments of the present invention, the ectoskeleton component of ectoskeleton clothes can be in the prior art
Mode is realized, will omit associated description in the description of the invention.
Fig. 1 is the structural block diagram of ectoskeleton clothes according to an embodiment of the invention.
As shown in Figure 1, ectoskeleton takes 100 including multiple ectoskeleton components 110 and is set on multiple ectoskeleton components 110
Multiple attachment devices.Multiple attachment devices include at least one expansion connection module 1110 and at least one measuring device
1120.Each expansion connection module 1110 is connected for external expanding unit, when external expanding unit is connected to corresponding expansion
When opening up interface module 1110, external expanding unit is removably attached on expansion connection module 1110.At least one measurement dress
Set the size for the limbs that 1120 are used to measure the wearer that ectoskeleton takes 100.
As shown in Figure 1, can not only be equipped with expansion connection module 1110 on an ectoskeleton component 110, but also survey is installed
Device 1120 is measured, one of expansion connection module 1110 and measuring device 1120 can also be only installed.Optionally, a dermoskeleton
One expansion connection module 1110, or uneasy expansion connection module 1110 can be only installed on bone component 110.Optionally, one
One measuring device 1120 can be only installed on a ectoskeleton component 110, or measuring device 1120 is not installed.
For example, the external expansion installed on multiple expansion connection modules 1110 of the ectoskeleton component 110 of outer exoskeleton suit 100
Extending apparatus is measuring device, and the body that can be used for the wearer of external exoskeleton suit measures, therefore traceable wearer's is dynamic
Make.In this case, external measuring device and measuring device 1120 cooperation installed on expansion connection module 1110, so that outside
Exoskeleton suit 100 is capable of providing accurate measurement result.
In another example that installs on multiple expansion connection modules 1110 of the ectoskeleton component 110 of outer exoskeleton suit 100 is outer
When to connect expanding unit be communication device, communication device sends the size of the limbs for the wearer that measuring device 1120 measures to outer
Portion, so that the limb size for the wearer that ectoskeleton can be taken to 100 without human intervention is sent to relevant apparatus, for example, body
Body analogue system, so that the body to wearer emulates.
In another example that installs on multiple expansion connection modules 1110 of the ectoskeleton component 110 of outer exoskeleton suit 100 is outer
When to connect expanding unit be at least one of game paddle, game firearms and game racket, installed on expansion connection module 1110
On external expanding unit and measuring device 1120 cooperate so that when ectoskeleton clothes wearer carry out game when, accurately obtain
Ectoskeleton is taken to take the limb size of 100 wearer, that is, measuring by the limb size to wearer obtains wearer
Better game experiencing.
According to the ectoskeleton of the embodiment of the present disclosure clothes in, external expanding unit may include measuring device, positioning device,
One of sensor device, communication device, game device, detection device, constructing device, computing device are a variety of.
It will be understood by those skilled in the art that the expansion connection module 1110 that ectoskeleton takes 100 ectoskeleton component 110 can
To be only used for being removably secured external expanding unit.In another embodiment, ectoskeleton takes 100 ectoskeleton component
It is internal or outer that 110 attachment device (including expansion connection module 1110 and measuring device 1120) may be also connected to ectoskeleton clothes
The power supply in portion, to power for external expanding unit.In another embodiment, ectoskeleton takes the attached of 100 ectoskeleton component 110
Between feeder apparatus (including expansion connection module 1110 and measuring device 1120) can also by communication line interconnect and/or
It is connected to the internal or external processing unit of ectoskeleton clothes by communication line, so that can be communicated between external expanding unit,
And/or attachment device can be communicated with processing unit.In another embodiment, ectoskeleton takes 100 ectoskeleton component 110
Attachment device can both be connected to the internal or external power supply of ectoskeleton clothes, be connected to the internal or external place of ectoskeleton clothes
Device is managed, so that attachment device is powered, and is communicated with another external controller or processing unit.
Fig. 2 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention.
As shown in Fig. 2, taking 200 according to the ectoskeleton of another embodiment of the disclosure further includes power circuit.Power circuit connects
It is connected to and is set to ectoskeleton and takes power supply 120 inside or outside 200.Part or all in multiple attachment devices passes through power supply
Connection is to power supply 120, so that power supply 120 is attachment device power supply.As shown in Fig. 2, a part of expansion connection module 1110
Power supply 120 is connected to by power circuit with a part of measuring device 1120, to be powered by power supply 120.Moreover, be connected to
The external expanding unit of the expansion connection module 1110 of power circuit connection can also be powered by power supply 120.In addition, showing at one
In example, whole expansion connection modules 1110 can not be connect with power supply 120, part or all in simultaneous measuring apparatus 1120
It is connect with power supply 120.In addition, in one example, whole measuring devices 1120 can not be connect with power supply 120, extend simultaneously
Part or all in interface module 1110 is connect with power supply 120.
It is taken in 200 it will be understood by those skilled in the art that power supply 120 can be built in ectoskeleton, dermoskeleton can also be located at
Bone takes except 200.In one example, power supply 120 can be used as an external expanding unit and be connected to expansion connection module
1110, and be the power supply of other attachment devices by expansion connection module 1110 and power circuit.Further, Ke Yiwei
The external expanding unit power supply that expansion connection module 1110 is connected.
Fig. 3 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention.
As shown in figure 3, taking 300 according to the ectoskeleton of another embodiment of the disclosure further includes communication line.Communication line connects
It is connected to and is set to ectoskeleton and takes processing unit 130 inside or outside 300.Part or all in multiple attachment devices passes through
Communication line is connect to communicate with processing unit 130 with processing unit 130.As shown in figure 3, a part of expansion connection module 1110
Processing unit 130 is connected to communicate with processing unit 130 by communication line with a part of measuring device 1120.Further
Ground, the external expanding unit being connected in the expansion connection module 1110 connecting with communication line are filled by communication line and processing
Set 130 communications.In addition, in one example, whole expansion connection modules 1110 can not be connect with processing unit 130, simultaneously
Part or all in measuring device 1120 is connect with processing unit 130.In addition, in one example, whole measuring devices
1120 can not connect with processing unit 130, while part or all in expansion connection module 1110 and processing unit 130
Connection.
It, can also be with it will be understood by those skilled in the art that processing unit 130 can be and be built in ectoskeleton and take in 300
It is to be located at ectoskeleton to take except 300.For example, processing unit 130, which can be placed in ectoskeleton, takes processor inside 300,
It can be ectoskeleton and take a computer outside 300.In one example, processing unit 130 can be used as an external expansion
Extending apparatus is connected to expansion connection module 1110, and passes through expansion connection module 1110 and communication line and measuring device
1120 and/or it is fixed on the external expanding unit communication of other expansion connection modules 1110, and carries out data processing.
Fig. 4 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention.
As shown in figure 4, taking 400 according to the ectoskeleton of another embodiment of the disclosure further includes power supply and communication line.Power supply
And communication line be connected to be set to ectoskeleton take power supply 120 inside or outside 400 and be set to ectoskeleton take 400 inside or
External processing unit 130.Part or all in multiple attachment devices is connected to power supply 120 by power supply and communication line
With processing unit 130, powers and communicated by communication line with processing unit 130 to receive power supply 120.As shown in figure 4,
A part of expansion connection module 1110 and a part of measuring device 1120 are connected to power supply 120 by power supply and communication line and locate
Device 130 is managed, to be powered and communicated with processing unit 130 by power supply 120.Further, it is connected to and power supply and communication line
The external expanding unit of the expansion connection module 1110 of road connection receives power supply 120 and powers and filled by communication line and processing
Set 130 communications.In addition, in one example, whole expansion connection modules 1110 can not be with power supply 120 and processing unit 130
It connects, part or all in simultaneous measuring apparatus 1120 is connect with power supply 120 and processing unit 130.In addition, showing at one
In example, whole measuring devices 1120 can not be connect with power supply 120 and processing unit 130, while in expansion connection module 1110
Part or all connect with power supply 120 and processing unit 130.
It will be understood by those skilled in the art that showing in Fig. 2 into embodiment shown in Fig. 4 and not adding dress with other
It sets, the independent attachment device of power supply 120 or processing unit 130 connection, including, independent expansion connection module 1110 and independence
Measuring device 1120.In the case, independent measuring device 1120 may not need electricity consumption or self-powered, to complete
Measurement.In the case where not connecting with power supply 120 or processing unit 130, independent expansion connection module 1110 only plays will be outer
Connect the effect that expanding unit is detachably fixed to ectoskeleton clothes.Ectoskeleton clothes according to an embodiment of the present disclosure can have solely
Vertical attachment device can also not have independent attachment device.
Ectoskeleton clothes proposed by the present invention, ectoskeleton clothes can be by providing at least one extension in outer skeletal members
Interface module, so that ectoskeleton clothes can connect different external expanding units, so that it is each to be readily applied to ectoskeleton clothes
Therefore the different field of kind greatly extends the purposes of ectoskeleton clothes.In addition, the device that not will be provided with various functions is direct
It is mounted on ectoskeleton clothes, but the external expanding unit of expansion connection module and different function is used to connect, that is, will be provided with each
The device of kind of function takes separately manufactured with ectoskeleton, and the manufacturing cost that ectoskeleton takes can be effectively reduced.When not needing certain function
When energy, ectoskeleton clothes can be not connected to the external expanding unit with corresponding function, therefore, ectoskeleton clothes can be effectively reduced
Use cost.By measuring device, ectoskeleton according to the present invention clothes can externally the wearer of exoskeleton suit limb size into
Row measurement, without manual measurement, to save workload.Moreover, ectoskeleton clothes of the invention can be to wearer's
Function abundant is provided by being mounted on the external expanding unit of expansion connection module while limb size measures, so that
Ectoskeleton clothes can be applied to various fields.Taken using the ectoskeleton of the solution of the present invention it is widely used, it is different when being connected with
When external expanding unit, ectoskeleton clothes can be adapted for human-computer interaction, production of film and TV, health care, Entertainment, field are surveyed
The every field such as spy, production activity.
In the ectoskeleton clothes of the disclosure, since external expanding unit can be any device, if only mentioned
For a kind of expansion connection module, then it may cause expansion connection module and be unsuitable for for certain external expanding units.For example, when outer
Connecing expanding unit is only a midget plant, for example, only providing small-sized expansion connection module can expire when measuring device
The needs of sufficient fixation measuring device.In the case, when external expanding unit is only a relatively large device, for example, all
As electric drill etc constructing device when, be suitable for the expansion connection module of fixation measuring device due to its size and load-bearing capacity
It is small, it is unsuitable for fixed constructing device.Therefore, it is connect in certain situations it is desirable to which various sizes of extension is arranged on outer exoskeleton suit
Mouth mold block.
Fig. 5 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention.
In one embodiment, multiple expansion connection modules 1110 may include the different expansion interface mould of two kinds of sizes
Block.Wherein, the size of less than second expansion connection module 1112 of the size of the first expansion connection module 1111.Preferably,
The load-bearing property of the first expansion connection module 1111 can be lower than the load-bearing property of second of expansion connection module 1112.Ability
Field technique personnel are appreciated that there is larger-sized second of expansion connection module 1112 stronger load-bearing property to enable to
Ectoskeleton, which takes, can fix heavier external expanding unit on 500.For example, being provided with the outer of the first expansion connection module 1111
Skeletal members 110 can be upper limb ectoskeleton, such as forearm ectoskeleton, the first expansion connection module on forearm ectoskeleton
1111 can be small and light-weight with fixed dimension external expanding unit.In another example being provided with second of expansion connection module 1112
Ectoskeleton component 110 can be lower limb exoskeleton, such as thigh ectoskeleton, second of expansion interface mould on thigh ectoskeleton
Block 1112 can the heavy external expanding unit of and weight big with fixed dimension.
Preferably, when ectoskeleton clothes include back ectoskeleton and thigh ectoskeleton, second of expansion connection module is set
It is placed at least one of back ectoskeleton and thigh ectoskeleton.Preferably, be set to second of back ectoskeleton expansion
The external expanding unit for opening up interface module connection is bogey, has the receiving for accommodating article empty inside the bogey
Between.It will be understood by those skilled in the art that in outer exoskeleton suit, compared to other ectoskeleton components, back ectoskeleton and thigh
Therefore ectoskeleton, which is relatively more suitable for fixed larger size or the external expanding unit of greater weight, can connect second of extension
Mouth mold block is set at least one of back ectoskeleton and thigh ectoskeleton.In addition, back ectoskeleton is suitable for placement one
The bogey of a backpack.For example, the bogey of backpack can be placed to accommodate in the back ectoskeleton of outer exoskeleton suit
One computer, the computer pass through other on second of expansion connection module that bogey is fixed to and ectoskeleton clothes
The external expanding unit that expansion connection module is connected, for example, measuring device and sensor etc., communication.It is this to have and hold
Receive computer bogey ectoskeleton clothes be suitable for various scenes, for example, virtual reality, exploration etc..
Fig. 6 is the structural block diagram of the measuring device in ectoskeleton clothes according to another embodiment of the present invention.
As shown in fig. 6, measuring device 6120 includes measurement communication module 6121, for sending the ectoskeleton measured clothes
The size of the limbs of wearer.
In the present embodiment, the wearer for the ectoskeleton clothes measured measuring device 6120 when measurement communication module 6121
The size of limbs when being sent to a human body emulator, human body emulator can be sent out according to measurement communication module 6121
The size of the limbs of the wearer sent calculates corresponding body emulation data, to estimate the ruler of body each section of user
The information such as very little, whole figure.It is appreciated that ectoskeleton clothes can provide more with multiple measuring device 6120
Comprehensive limbs data, the wearer for external exoskeleton suit emulate.
It will be understood by those skilled in the art that measuring device can be various types.Moreover, when using multiple measuring devices
When, various types of measuring devices can be combined in ectoskeleton according to an embodiment of the present invention clothes.
For example, measuring device may include a tape measure when measuring device is Mechanical measurement device, measurement is filled at this time
Any position that may be mounted at ectoskeleton clothes is set, for example, on the ectoskeleton component of the joint of such as ancon or such as forearm,
Corresponding limbs length is measured by extraction tape measure.
For example, measuring device may include a gear mechanism, in conjunction with one when measuring device is Mechanical measurement device
A ectoskeleton component, for example, forearm ectoskeleton component uses.In the case, forearm ectoskeleton stretches in this gear mechanism
So that gear mechanism rotates, measuring device also has counting mechanism, the forearm dermoskeleton can be read according to the rotation of gear mechanism
Length after bone component is flexible, thereby determines that the length of the forearm ectoskeleton component.
For example, measuring device can be with laser ranging system, supersonic range finder, infrared distance measuring device or wireless electrical measurement
Away from device etc., these measuring devices can be installed to any position of ectoskeleton clothes.
Preferably, each measuring device includes measurement communication module.Measurement communication module can be wire communication module
Or wireless communication module.Measurement communication module can send any other for the limbs information that measuring device measures can be with survey
Measure the information processing equipment of communication module communication.For example, information processing equipment can be simple information processing equipment, for example believe
Breath processing chip, is also possible to the information processing equipment of the complexity such as tablet computer, PAD, mobile phone, computer, user Ke Gen
Factually the requirement of border information processing selects suitable information processing equipment.
Ectoskeleton clothes can be by including at least one measuring device, for measuring the wearer of ectoskeleton clothes
The size of limbs, wherein the measuring device includes measurement communication module, for sending wearing for the ectoskeleton measured clothes
The size of the limbs of wearer can be obtained the size of the limbs of the wearer of ectoskeleton clothes, Er Qieke so that being not necessarily to manual measurement
The limb size measured is sent by measurement communication module.This avoids need manually to survey user's limbs in the prior art
Amount, and measurement receipt is input manually into the cumbersome of system.For example, being taken when to human emulation by ectoskeleton, Ke Yiwu
The analogue system for needing manual measurement human dimension and inputting the size measured, but ectoskeleton can have been dressed in user and take it
Afterwards, at least one measuring device on ectoskeleton clothes is that can measure the limb size at handy family and send emulation for limb size
System, this simplifies the work of analogue system.In addition, when the external extension dress installed on measuring device combination expansion connection module
It sets when being used together, ectoskeleton clothes according to the present invention can provide more functions.Ectoskeleton clothes of the invention are suitable for people
The every field such as machine interaction, production of film and TV, health care, Entertainment, ground observation, production activity.
Fig. 7 is the structural block diagram of ectoskeleton clothes according to another embodiment of the present invention.
As shown in fig. 7, being taken in 700 in ectoskeleton according to an embodiment of the present invention, at each ectoskeleton component interconnection
For ectoskeleton joint 710.Wherein, measuring device 7110 is installed at ectoskeleton joint 710, and at ectoskeleton joint 710
At least one ectoskeleton component combine with measure ectoskeleton take 700 wearer limbs size.
It will be understood by those skilled in the art that ectoskeleton can be closed in ectoskeleton according to an embodiment of the present invention clothes
Section is fabricated to individual ectoskeleton component, for example, an elbow is arranged between forearm ectoskeleton component and upper arm ectoskeleton component
Joint ectoskeleton component connects the two.In ectoskeleton according to an embodiment of the present invention clothes, it can not also manufacture individually
Ectoskeleton joint, but the junction of two adjacent ectoskeleton components is known as ectoskeleton joint.For example, by forearm dermoskeleton
The junction of bone component and upper arm ectoskeleton component is known as ectoskeleton joint.
In this embodiment, at least one ectoskeleton component (not shown) can be in the ectoskeleton where measuring device 7110
At joint 710 stretch, with combined with measuring device 7110 measure ectoskeleton take 700 wearer limbs size.For example,
When measuring device is Mechanical measurement device, the measuring device of ectoskeleton joint may include a gear mechanism, in conjunction with
One ectoskeleton component, for example, forearm ectoskeleton component uses.In the case, forearm ectoskeleton is stretched in this gear mechanism
So that gear mechanism rotates, measuring device also has counting mechanism, can be read outside the forearm according to the rotation of gear mechanism for contracting
Length after skeletal members are flexible, thereby determines that the length of the forearm ectoskeleton component.It will be understood by those skilled in the art that this reality
It applies the measuring device in example and is not limited to mechanical processing unit, but can be laser ranging system, supersonic range finder, red
Outer range unit or radio distance-measuring device etc..
In ectoskeleton according to an embodiment of the present invention clothes, ectoskeleton clothes can also include upper limb ectoskeleton.Upper limb dermoskeleton
Bone may include following multiple ectoskeleton components: shoulder ectoskeleton component and two hands connecting respectively with shoulder ectoskeleton component
Arm ectoskeleton component, every arm ectoskeleton component include forearm ectoskeleton component and connect with the rear end of forearm ectoskeleton component
The upper arm ectoskeleton component connect.It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in upper limb ectoskeleton,
At least one ectoskeleton joint installs measuring device.
Fig. 8 is the structural block diagram of the upper limb ectoskeleton of ectoskeleton clothes according to another embodiment of the present invention.
In ectoskeleton according to an embodiment of the present invention clothes, upper limb ectoskeleton 800 can also include multiple positioning devices
8110, be mounted at least one positioning device 8110 on each ectoskeleton component 810 of upper limb ectoskeleton 800, for pair
The movement of corresponding ectoskeleton component 810 is positioned.Wherein, positioning device 8110 may include that positioning and communicating module (is not shown
Out), the location information that the movement for sending to corresponding ectoskeleton component 310 is positioned.
It will be understood by those skilled in the art that positioning device 8110 can be directly installed on the upper limb ectoskeleton of ectoskeleton clothes
On 800, each expansion connection module that external expanding unit is releasably attached on upper limb ectoskeleton 800 can also be used as
On.
In ectoskeleton according to an embodiment of the present invention clothes, positioning device can be any positioning that can be used for positioning
Device.The positioning device includes one of various sensors, positioning device and image capture device or a variety of.The sensing
Device includes but is not limited to the acceleration transducer for being used to sense acceleration information, the angular speed sensing for sensing angular velocity data
Device, the exercise data sensor for the direction sensor of sensing movement bearing data etc.；For sensing the magnetic of earth magnetism field data
Resistive sensor, the baroceptor for sensing barometric information, for the environment of the temperature sensor of sensing temperature data etc.
Data pick-up；For sensing the proximity sensor close to block data；For sensor operation capture the blood pressure of target, heartbeat,
The sign data sensor of the sign datas such as pulse, shell temperature.The positioning device can be fixed for GPS positioning device, WIFI
Position equipment, beacon positioning device, sensor location device, Beidou positioning device, GLONASS (GLONASS) positioning device, gal
One or more of positioning devices such as benefit slightly positioning device.Described image acquisition equipment can set for Image Acquisition such as cameras
It is standby.It should be strongly noted that above-mentioned positioning device is only exemplary explanation, be not intended to restrict the invention, it is any can be real
The component of positioning function needed for existing each falls within protection scope of the present invention.
Preferably, the positioning device is wearable, may include multiple inertial sensors, the multiple inertia
Sensor is placed on the elbow joint of the arm of user to the position between palm, to obtain the inertia sensing data at this.
Wherein, the inertial sensor is multi-axial sensor, such as including gyroscope XYZ axis, accelerometer XYZ axis and magnetometer XYZ
Nine axle sensors of axis can obtain the inertia sensing data of various dimensions in this way, so as to more accurately determine human body attitude.
Preferably, each positioning device includes positioning and communicating module.Positioning and communicating module can be wire communication module
Or wireless communication module.Positioning and communicating module can send the location information that positioning device obtains to any other can with it is fixed
The information processing equipment of bit walk module communication.For example, information processing equipment can be simple information processing equipment, for example believe
Breath processing chip, is also possible to the information processing equipment of the complexity such as tablet computer, PAD, mobile phone, computer, user Ke Gen
Factually the requirement of border information processing selects suitable information processing equipment.
Ectoskeleton clothes according to an embodiment of the present invention can be by being located on each ectoskeleton component of upper limb ectoskeleton
The upper extremity exercise of the wearer of the external exoskeleton suit of positioning device positions, and can send outside for location information.When to wearing
The movement of wearer has carried out in the case where positioning and having learned that the limb size of user, can be preferably to the figure of user
It is emulated with movement.Ectoskeleton clothes of the invention are suitable for human-computer interaction, production of film and TV, health care, Entertainment, field
The every field such as exploration, production activity.
In one embodiment, upper limb ectoskeleton may include two upper limb front lays, in which: before each upper limb
End positioning device is arranged at the front end of forearm ectoskeleton.Wherein, when user is worn by upper limb ectoskeleton, each upper limb front end
Positioning device is each attached to the elbow joint of the arm of user to the position between palm, and the upper limb front lay is in sky
Between in elbow joint to the position between palm is positioned, to obtain upper limb front position information.Wherein, each upper limb front end
Positioning device includes communication module, for sending corresponding upper limb front position information.When utilization upper limb front position information
When being emulated to the state of user, IK Solvers algorithm can be used, upper limb front position information and measuring device are based on
The ectoskeleton measured takes the limb size of wearer, calculates the athletic posture of wearer's upper limb, and then to the user's
Upper limb posture is emulated.Those skilled in the art are it is understood that IK Solvers algorithm is a kind of by first determining sub- bone
Position, then reverse derives n grades of father's bone sites on skeletal chain where it, so that it is determined that the method for whole skeletal chain.Root
According to the teachings of the present invention, IK Solvers algorithm in the prior art can be applied in the present invention by those skilled in the art.
In ectoskeleton according to an embodiment of the present invention clothes, ectoskeleton clothes can also include lower limb exoskeleton, lower limb dermoskeleton
Bone includes following multiple ectoskeleton components: outside hip ectoskeleton component and two legs connecting respectively with hip ectoskeleton component
Skeletal members, each leg ectoskeleton component include shank ectoskeleton component and connect with the upper end of shank ectoskeleton component
Thigh ectoskeleton component.It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in lower limb exoskeleton, at least
One ectoskeleton joint installs measuring device.
Fig. 9 is the structural block diagram of the lower limb exoskeleton of ectoskeleton clothes according to another embodiment of the present invention.
In ectoskeleton according to an embodiment of the present invention clothes, lower limb exoskeleton 900 may also include multiple positioning devices 9110.
It is mounted at least one positioning device 9110 on each ectoskeleton component 910 of lower limb exoskeleton 900, for corresponding
The movement of ectoskeleton component 910 is positioned.Wherein, positioning device 9110 may include positioning and communicating module (not shown), use
In the location information that transmission positions the movement of corresponding ectoskeleton component 910.
It will be understood by those skilled in the art that positioning device 9110 can be directly installed on the lower limb exoskeleton of ectoskeleton clothes
On 900, each expansion connection module that external expanding unit is releasably attached on lower limb exoskeleton 900 can also be used as
On.
In ectoskeleton according to an embodiment of the present invention clothes, the positioning device on lower limb exoskeleton can be with upper limb ectoskeleton
On positioning device be identical.
In ectoskeleton according to an embodiment of the present invention clothes, it may include multiple used that positioning device, which is wearable,
Property sensor, the multiple inertial sensor are placed on the elbow joint of the arm of user to the position between palm, to obtain
Obtain the inertia sensing data at this.Wherein, the inertial sensor is multi-axial sensor, such as including gyroscope XYZ axis, acceleration
Nine axle sensors of degree meter XYZ axis and magnetometer XYZ axis, can obtain the inertia sensing data of various dimensions in this way, so as to
More accurately determine human body attitude.
It include positioning and communicating module in each positioning device in ectoskeleton according to an embodiment of the present invention clothes.Positioning
Communication module can be wire communication module or wireless communication module.The positioning that positioning and communicating module can obtain positioning device
Information is sent to any other information processing equipment that can be communicated with positioning and communicating module.For example, information processing equipment can be with
For simple information processing equipment, such as information processing chip, it is also possible to tablet computer, PAD, mobile phone, computer etc.
Complicated information processing equipment, the requirement that user can be handled according to actual information select suitable information processing equipment.
Ectoskeleton clothes according to an embodiment of the present invention can be by being located on each ectoskeleton component of lower limb exoskeleton
The lower extremity movement of the wearer of the external exoskeleton suit of positioning device positions, and can send outside for location information.When to wearing
The movement of wearer has carried out in the case where positioning and having learned that the limb size of user, can be preferably to the figure of user
It is emulated with movement.Ectoskeleton clothes of the invention are suitable for human-computer interaction, production of film and TV, health care, Entertainment, field
The every field such as exploration, production activity.
In ectoskeleton according to an embodiment of the present invention clothes, upper limb ectoskeleton can also include two lower limb lower end positioning dresses
It sets, in which: end positioning device is arranged at the lower end of shank ectoskeleton under each lower limb.Wherein, when user dresses outside upper and lower extremities
When bone, the knee joint that end positioning device is each attached to the one leg of user under each lower limb is somebody's turn to do to the position between ankle-joint
End positioning device in space positions knee joint to the position between ankle-joint under lower limb, to obtain lower limb lower end position
Information, wherein end positioning device includes communication module under each lower limb, for sending corresponding lower limb lower end position information.
When being emulated using state of the lower limb lower end position information to user, IK Solvers algorithm can be used, lower limb are based on
The ectoskeleton that lower end position information and measuring device measure takes the limb size of wearer, calculates the movement of wearer's lower limb
Posture, and then the lower limb posture of the user is emulated.Those skilled in the art are it is understood that IK Solvers algorithm is
A kind of position by first determining sub- bone, n grades of father's bone sites on skeletal chain where then reverse derives it, so that it is determined that
The method of whole skeletal chain.Introduction according to the present invention, those skilled in the art can be by IK Solvers in the prior art
Algorithm is applied in the present invention.
Figure 10 is the structural block diagram of body analogue system according to another embodiment of the present invention.
As shown in Figure 10, body analogue system 10 according to another embodiment of the present invention includes that ectoskeleton takes 11 and emulation dress
Set 12.It may include multiple ectoskeleton components and multiple attachment devices for being set on multiple ectoskeleton components that ectoskeleton, which takes 11,
Wherein: multiple attachment devices include at least one expansion connection module and at least one measuring device.Wherein, each expansion interface
Module is connected for external expanding unit, when external expanding unit is connected to corresponding expansion connection module, external extension
Device is removably attached on expansion connection module.Wherein, at least one measuring device is used to measure the ectoskeleton clothes
The size of the limbs of wearer, measuring device includes measurement communication module, for sending wearing for the ectoskeleton measured clothes
The size of the limbs of wearer.Simulator 12 takes the ruler of the limbs of 10 wearer from least one measuring device acquisition ectoskeleton
It is very little.Wherein, simulator 12 takes the size of the limbs of 10 wearer using ectoskeleton, calculates the size of user's entirety, in turn
The body of user is emulated.
It will be understood by those skilled in the art that the ectoskeleton clothes in analogue system in Figure 10 may include above by reference to figure
The ectoskeleton clothes of 1 to Fig. 9 description.It will be understood by those skilled in the art that simulator in analogue system in Figure 10 can be with
It is simulator in the prior art, that is, in the case where the limb size that the measuring device obtained on ectoskeleton clothes measures,
Simulator can be emulated based on the body etc. to user such as existing program, algorithm.Further, when simulator obtains
It, can external exoskeleton suit when the location information of each ectoskeleton component of the external exoskeleton suit of positioning device on ectoskeleton clothes
The state of wearer emulates.
In an application scenarios of body analogue system according to an embodiment of the present invention, there is measurement on ectoskeleton clothes
The size of the user's limbs measured is sent simulator by the measuring device of communication module, and the external exoskeleton suit of simulator is worn
The body of wearer emulates.At this point, being equipped with game paddle, such as net game on an expansion connection module of ectoskeleton clothes
Racket, other expansion interfaces are mounted with the external expanding unit such as positioning device.Positioning device is moved external exoskeleton suit wearer's
The location information of work is sent to simulator, and simulator takes the ectoskeleton that body emulation has been carried out based on unit information
Wearer carries out Attitude Simulation.In the case where body emulation and Attitude Simulation has been carried out, as the wearer of ectoskeleton clothes
When carrying out the tennis tournament of virtual reality using game tennis racket, the body and movement posture of user can be fictionalized truly
Come, therefore can be realized the High Precision Simulation to user's body, and improve the sense of reality of the tennis tournament of this virtual reality.
Body analogue system according to an embodiment of the present invention, can be by including ectoskeleton clothes and simulator: ectoskeleton
Clothes include at least one measuring device, the size of the limbs of the wearer for measuring ectoskeleton clothes, wherein measuring device includes
Communication module is measured, the size of the limbs of the wearer for sending the ectoskeleton measured clothes；Simulator from least one
Measuring device obtains the size of the limbs of the wearer of ectoskeleton clothes, wherein simulator uses the wearer's of ectoskeleton clothes
The size of limbs, calculates the size of user's entirety, and then emulates to the body of the user, so that it is not necessarily to manual measurement,
It can be obtained the size of the limbs of the wearer of ectoskeleton clothes, and the limbs ruler measured can be sent by measurement communication module
It is very little, and then realize the emulation to user's entirety.This avoids need to carry out user's limbs manual measurement, and general in the prior art
Measurement receipt is input manually into the cumbersome of system.In addition, the body analogue system uses the dermoskeleton according to the embodiment of the present disclosure
The size of the limbs of the wearer of the measurement of bone clothes and the ectoskeleton clothes sent, can emulate the body of user, be not necessarily to
The limb size of manual measurement and input user, simplifies operation.Body analogue system according to the present invention can be used for realizing standard
Really efficient man-machine real-time, interactive, certain those skilled in the art it is understood that the human-computer interaction be also possible to it is non real-time
Situation.Ectoskeleton clothes of the invention and body analogue system be suitable for human-computer interaction, production of film and TV, health care, Entertainment,
The every field such as ground observation, production activity.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (9)
1. a kind of ectoskeleton clothes, which is characterized in that the ectoskeleton clothes include multiple ectoskeleton components and are set to the multiple
Multiple attachment devices on ectoskeleton component, in which:
The multiple attachment device includes at least one expansion connection module and at least one measuring device；
Wherein, each expansion connection module is connected for external expanding unit, when external expanding unit is connected to corresponding expansion
When opening up interface module, the external expanding unit is removably attached on the expansion connection module；
Wherein, at least one described measuring device is used to measure the size of the limbs of the wearer of the ectoskeleton clothes；
The measuring device includes measurement communication module, the limbs of the wearer for sending the ectoskeleton measured clothes
Size.
2. ectoskeleton clothes according to claim 1, which is characterized in that the ectoskeleton clothes further include power circuit, described
Power circuit, which is connected to, is set to the internal or external power supply of ectoskeleton clothes, a part in the multiple attachment device or
The power supply is all connected to by the power circuit.
3. ectoskeleton clothes according to claim 1 or 2, which is characterized in that the ectoskeleton clothes further include communication line, institute
It states communication line and is connected to and be set to the internal or external processing unit of ectoskeleton clothes, one in the multiple attachment device
It is connect partially or completely through the communication line with the processing unit.
4. ectoskeleton clothes according to claim 1, which is characterized in that the ectoskeleton clothes further include power supply and communication line
Road, the power supply and communication line, which are connected to, to be set to the internal or external power supply of the ectoskeleton clothes and is set to the dermoskeleton
Bone takes internal or external processing unit, part or all in the multiple attachment device passes through the power supply and communication line
Road is connected to the power supply and the processing unit.
5. ectoskeleton clothes according to claim 1, which is characterized in that when at least one described expansion connection module is multiple
When expansion connection module, the multiple expansion connection module includes two kinds of different expansion connection modules of size, wherein the first
Size of the size of expansion connection module less than second of expansion connection module.
6. ectoskeleton clothes according to claim 1, which is characterized in that be ectoskeleton at each ectoskeleton component interconnection
Joint, wherein the measuring device is installed on the ectoskeleton joint, and with the ectoskeleton joint at least one outside
Skeletal members are in conjunction with the size to measure the limbs for the wearer that the ectoskeleton takes.
7. ectoskeleton clothes according to claim 6, which is characterized in that at least one ectoskeleton component is in the measuring device
The ectoskeleton joint at place is flexible, to measure the limbs of the wearers of the ectoskeleton clothes in conjunction with the measuring device
Size.
8. ectoskeleton clothes according to claim 6, which is characterized in that the ectoskeleton clothes further include upper limb ectoskeleton, institute
Stating upper limb ectoskeleton includes following multiple ectoskeleton components: shoulder ectoskeleton component and respectively with the shoulder ectoskeleton component connect
The two arm ectoskeleton components connect, every arm ectoskeleton component include forearm ectoskeleton component and with the forearm dermoskeleton
The upper arm ectoskeleton component of the rear end connection of bone component,
It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in the upper limb ectoskeleton, outside at least one
Skeletal joint installs the measuring device.
9. ectoskeleton clothes according to claim 6, which is characterized in that the ectoskeleton clothes further include lower limb exoskeleton, institute
Stating lower limb exoskeleton includes following multiple ectoskeleton components: hip ectoskeleton component and respectively with the hip ectoskeleton component connect
The two leg ectoskeleton components connect, each leg ectoskeleton component include shank ectoskeleton component and with the shank dermoskeleton
The thigh ectoskeleton component of the upper end connection of bone component,
It wherein, is ectoskeleton joint at each ectoskeleton component interconnection in the lower limb exoskeleton, outside at least one
Skeletal joint installs the measuring device.
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| WO2018035875A1 (en) * | 2016-08-26 | 2018-03-01 | 北京神秘谷数字科技有限公司 | Exoskeleton suit |
| CN108355346A (en) * | 2018-04-25 | 2018-08-03 | 袁午 | A kind of VR equipment |
| CN117428742B (en) * | 2023-12-07 | 2024-08-02 | 中国人民解放军东部战区空军医院 | Hybrid power exoskeleton for battlefield rescue |
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| CN103722550A (en) * | 2014-01-17 | 2014-04-16 | 上海交通大学 | Embedded type system of outer skeleton robot |
| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
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| WO2011032363A1 (en) * | 2009-09-19 | 2011-03-24 | Quan Xiao | Method and apparatus of variable g force experience and create immersive vr sensations |
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| CN103722550A (en) * | 2014-01-17 | 2014-04-16 | 上海交通大学 | Embedded type system of outer skeleton robot |
| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
| CN104385272A (en) * | 2014-09-23 | 2015-03-04 | 四川师范大学 | Multifunctional education robot system |
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