Unitized combined modeling method and system for wearable robot and human body, and medium
A modeling method and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of human injury, reduce the efficiency of human action, and restrict wearable robots, etc., and achieve the effect of great flexibility and scalability
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Embodiment 1
[0072] Such as figure 1 with figure 2 As shown, this embodiment provides a method for unitized joint modeling of a wearable robot and a human body, and the method includes the following steps:
[0073] S101. Divide human body units by body parts, divide the wearable robot into units, and set parameters included in each unit.
[0074] In this embodiment, human body units are defined by dividing human body parts, and wearable robot units are defined by classifying and dividing wearable robots, and attribute parameters, posture parameters and transfer point parameters are set. Both the human body and the wearable robot are modeled as a single or multi-quantity unit, and a unit is defined as a unit including three parameters: attribute parameters, pose parameters, and transfer point parameters. Attribute parameters are used to describe the parameters of some inherent attributes of the unit that do not change with time, including mass m (constant), moment of inertia I (3×3 matri...
Embodiment 2
[0110] Such as Figure 4 As shown, this embodiment provides a unitized joint modeling system of a wearable robot and a human body, the system includes a division module 401, a definition module 402, an initialization module 403, a traversal module 404, a preservation module 405, a return module 406 and Output module 407, the specific functions of each module are as follows:
[0111] The dividing module 401 is used to divide human body units by human body parts, divide the wearable robot into units, and set the parameters included in each unit.
[0112] The definition module 402 is used to define the connection of the transfer points between the units, and obtain the combined calculation model of the human body and the wearable robot.
[0113] The initialization module 403 is used to receive the attitude parameters of each unit through the calculation model, and initialize the calculation of each unit.
[0114] The traversal module 404 is configured to traverse each unit and ...
Embodiment 3
[0120] This embodiment provides a computer device, which may be a computer, such as Figure 5 As shown, it includes a processor 502 connected through a system bus 501, a memory, an input device 503, a display 504, and a network interface 505. The processor is used to provide computing and control capabilities. The memory includes a non-volatile storage medium 506 and internal Memory 507, the non-volatile storage medium 506 stores an operating system, computer programs and databases, the internal memory 507 provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium, and the processor 502 executes memory storage When using a computer program, realize the unitized joint modeling method of the above-mentioned embodiment 1, as follows:
[0121] Divide human body units by human body parts, divide wearable robots into units, and set the parameters included in each unit;
[0122] Define the connection of the transfer poi...
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