Unmanned aerial vehicle operation upper limb assisting exoskeleton

Abstract

The invention relates to the technical field of power assisting equipment, in particular to an unmanned aerial vehicle operated upper limb power assisting exoskeleton which comprises an exoskeleton body, a main control device and a myoelectricity sensor. The exoskeleton body comprises a shoulder rest assembly matched with the shoulder and the back and arm assemblies matched with the arms, the two sides of the shoulder rest assembly are each provided with one arm assembly, and the two arm assemblies are connected through a first flexible connecting piece. The arm assembly is provided with a myoelectricity sensor, and signals of the myoelectricity sensor and rocker thrust signals of an unmanned aerial vehicle remote controller are transmitted to the master control device. The first fixing part and the second fixing part of the arm assembly are connected through the driving piece, the main control device can control the driving piece to drive the two to rotate relatively, and the rotating winding mechanism of the shoulder support assembly winds or releases the first connecting piece. The exoskeleton can accurately recognize operation intentions, cooperate with upper limb movement to provide targeted assistance, effectively relieve shoulder and elbow muscle loads, reduce arm shaking, delay fatigue and improve the control stability and operation durability of the unmanned aerial vehicle, and is suitable for long-time operation scenes such as electric power inspection and surveying and mapping.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisting equipment, and in particular to an upper limb power-assisting exoskeleton for operating a drone. Background Art

[0002] With the rapid development of drone technology, its application scenarios have expanded from its initial recreational aerial photography to a variety of professional fields, including surveying and mapping, power inspections, agricultural plant protection, and emergency rescue. In these professional scenarios, operators often need to control drones for long periods of time with high precision. For example, during power inspection missions, operators must control drones along power transmission lines for several hours, precisely avoiding obstacles and capturing equipment details. In surveying and mapping operations, drones must maintain stable flight along pre-set routes to obtain accurate data.

[0003] During this process, the operator's upper limbs must remain suspended for extended periods to control the remote control, frequently performing delicate movements such as pushing, pulling, and rotating. This constant muscle tension and repetitive movements can dramatically increase the load on the shoulder, elbow, and wrist muscles, leading to significant muscle fatigue. Long-term operation not only reduces the precision and efficiency of drone control, increasing the risk of mission failure, but can also lead to chronic muscle injuries such as frozen shoulder and tendonitis, seriously impacting the operator's health and career prospects.

[0004] Since its inception in the 1960s, exoskeleton technology, a mechanical device that enhances human movement and reduces muscle load, has been widely used in industrial assembly, medical rehabilitation, and other fields. By synergizing its mechanical structure with human movement, it can effectively share the body's load and assist in limb movement.

[0005] In the field of drone control, some attempts at exoskeletons have emerged in the prior art. For example, the force-tactile regeneration exoskeleton structure provided by Chinese invention patent publication number CN110096066A assists in controlling the drone's flight posture by detecting signals from upper limb movement pressing on a pressure strain gauge; and the wearable upper limb exoskeleton system for remote-controlled drone operation provided by Chinese utility model patent publication number CN209373435U uses upper limb exoskeleton movement as input for drone control. However, these prior arts focus more on using exoskeletons as a means of drone control input and fail to fully address the upper limb muscle load experienced by operators during prolonged drone control, providing effective support to reduce muscle fatigue and injury risks.

[0006] Therefore, there is an urgent need for an exoskeleton device that can accurately sense the operator's control intentions and provide targeted assistance to the upper limbs, thereby reducing the burden on the upper limb muscles when operating a drone for a long time. Summary of the Invention

[0007] The purpose of the present invention is to provide an upper limb assistance exoskeleton for drone operation. By installing myoelectric sensors in the arm components, the exoskeleton can sense the myoelectric signals of the human upper limbs in real time and simultaneously receive the joystick thrust signals from the drone remote control. Based on these two types of signals, the main control device can accurately identify the operator's operating intentions. On this basis, through the relative rotation of the first and second fixed parts driven by a driving member, and the winding or release control of the first connecting member by a rotating winding mechanism, the exoskeleton can coordinate with the movement of the human upper limbs, providing targeted assistance for arm flexion, extension, swinging, and other movements, effectively reducing the muscle load on the operator's shoulders and elbows during drone operation, thereby solving the technical problems pointed out in the background technology.

[0008] The present invention is achieved through the following technical solutions: an upper limb power-assisting exoskeleton for operating a drone, comprising an exoskeleton body, a main control device, a power module, and an electromyographic sensor; The exoskeleton body is composed of a shoulder support component adapted to the human shoulder and an arm component adapted to the human arm. An arm component is provided on each side of the front of the shoulder support component, and the arm component is connected to the shoulder support component through a first flexible connector. The arm assembly is provided with an electromyographic sensor, a signal output end of the electromyographic sensor is connected to a first signal input end of the main control device to send the induced electromyographic signal to the main control device, and a second signal input end of the main control device is connected to a signal output end of the drone remote control to receive a joystick thrust signal sent by the drone remote control; The arm assembly includes a first fixing portion adapted for the upper arm and a second fixing portion adapted for the forearm, the first fixing portion and the second fixing portion being connected via a driving member, a signal input end of the driving member being connected to a first signal output end of a main control device to receive a first control signal sent by the main control device and drive the first fixing portion and the second fixing portion to rotate relative to each other; The first flexible connection member includes a first connection member, the shoulder support assembly is provided with a rotary winding mechanism, a first end of the first connection member is connected to a second fixing portion, a second end of the first connection member is wound around a reel of the rotary winding mechanism, a signal input end of the rotary winding mechanism is connected to a second signal output end of a main control device to receive a second control signal sent by the main control device and drive the first connection member to be wound around the reel or released from the reel; The main control device, the myoelectric sensor, the rotary winding mechanism and the driving component are all electrically connected to the power module.

[0009] According to a preferred embodiment, the first flexible connector further includes a second connector, a first end of the second connector is connected to the first fixing portion, and a second end of the second connector is connected to the shoulder support assembly.

[0010] According to a preferred embodiment, the device further comprises a waist component adapted to the waist of a human body, wherein the waist component is connected to the shoulder support component via a second flexible connection member, and the second flexible connection member is configured to be adjustable in length.

[0011] According to a preferred embodiment, both the first flexible connector and the second flexible connector are made of nylon webbing.

[0012] According to a preferred embodiment, it also includes a support frame arranged on the front of the waist component, the lower end of the support frame is connected to the front of the waist component, and the upper end of the support frame is provided with a placement table adapted for the drone remote control.

[0013] According to a preferred embodiment, the lower end of the support frame is hinged to the front side of the waist component.

[0014] According to a preferred embodiment, the second flexible connecting member includes a third connecting member provided on the front of the shoulder rest assembly and a fourth connecting member provided on the back of the shoulder rest assembly, the third connecting member is a three-point structure, the upper ends of the three-point structure are respectively connected to the two sides of the front of the shoulder rest assembly, and the lower end of the three-point structure is connected to the front of the waist assembly.

[0015] According to a preferred embodiment, the first fixing part includes an upper arm module and a first arm ring connected to the upper arm module, the second fixing part includes a forearm module and a second arm ring connected to the forearm module, and the electromyographic sensor is arranged on the inner side of the first arm ring and / or the second arm ring.

[0016] According to a preferred embodiment, the upper arm module and the forearm module are configured to be adjustable in length.

[0017] According to a preferred embodiment, the main control device includes: A data receiving module, configured to receive the electromyographic signal and the rocker thrust signal; a preprocessing module, configured to preprocess and extract features of the electromyographic signal to obtain an electromyographic feature vector, and to preprocess and extract features of the rocker thrust signal to obtain a thrust feature vector; A prediction module, configured to fuse the myoelectric feature vector and the thrust feature vector using a multi-modal information fusion algorithm to identify the operation intention; a strategy generation module, which determines an exoskeleton control strategy based on the operation intention; An execution module is used to execute control based on the exoskeleton control strategy.

[0018] The technical solution of the upper limb power-assisting exoskeleton for drone operation provided by the present invention has at least the following advantages and beneficial effects: (1) By arranging an electromyographic sensor in the arm assembly, it can sense the electromyographic signals of the human upper limbs in real time and receive the joystick thrust signals of the drone remote controller at the same time. The main control device can accurately identify the operator's operating intention based on these two types of signals. On this basis, the driving member drives the first fixed part and the second fixed part to rotate relative to each other, and the rotating winding mechanism controls the winding or release of the first connecting member, so that the exoskeleton can coordinate with the movement of the human upper limbs, provide targeted assistance for the flexion, extension, swinging and other movements of the arm, and effectively reduce the operator's operating intention. (1) The shoulder and elbow muscle loads during drone control; (2) The shoulder support assembly and arm assembly of the exoskeleton body cooperate with each other to provide stable support for the upper limbs and reduce the shaking of the arms when the arms are suspended in the air. At the same time, the power assist function reduces the intensity of continuous muscle force and delays the occurrence of muscle fatigue, allowing operators to maintain precise operation for a long time, improving the stability of drone control and the durability of task execution. It is especially suitable for scenes that require long-term operations such as power inspection and aerial photography; (3) The arm assembly is connected to the shoulder support assembly through a first flexible connector. The flexible connection method can transmit power assistance without excessively restricting the natural range of motion of the human upper limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure of an upper limb power-assisted exoskeleton for operating a drone provided in Example 1 of the present invention; Figure 2 A schematic diagram of the control logic of the main control device provided in Example 5 of the present invention; Figure markings: 100-exoskeleton body, 110-shoulder support assembly, 111-rotating winding mechanism, 120-arm assembly, 121-first fixed part, 122-second fixed part, 123-driving member, 130-first flexible connecting member, 131-first connecting member, 132-second connecting member, 140-waist assembly, 150-second flexible connecting member, 151-third connecting member. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] Example 1 This embodiment provides an upper limb assist exoskeleton for drone operation. Figure 1 For the overall structure diagram of the upper limb assist exoskeleton for UAV operation, see Figure 1 As shown, the upper limb assisted exoskeleton for operating a drone includes an exoskeleton body 100, a main control device, a power module and an electromyographic sensor.

[0022] Among them, the exoskeleton body 100 serves as a mechanical structure for support and movement execution, and is composed of a shoulder support component 110 adapted to the human shoulder and back and an arm component 120 adapted to the human arm. The shoulder support component 110 can provide basic support for the overall structure. An arm component 120 is provided on each side of the front of the shoulder support component 110, and is connected to the arm component 120 through a first flexible connector 130, so that the exoskeleton can provide assistance to the user's arms at the same time; in addition, the arm component 120 is connected to the shoulder support component 110 through the first flexible connector 130. The flexible connection method can not only transmit assistance, but also will not excessively restrict the natural range of motion of the human upper limbs, thereby improving the flexibility of the exoskeleton.

[0023] This embodiment cooperates with the shoulder support assembly 110 and the arm assembly 120 to provide stable support for the upper limbs and reduce the shaking of the arms when they are suspended in the air. At the same time, the power assist function reduces the intensity of continuous muscle force and delays the occurrence of muscle fatigue, allowing the operator to maintain precise operation for a long time, thereby improving the stability of drone control and the durability of task execution. It is especially suitable for scenarios that require long-term operations such as power inspection and aerial photography.

[0024] Regarding signal acquisition and input, this embodiment provides an electromyographic sensor on the arm assembly 120 to detect the electromyographic signals of the upper limbs in real time; the signal output end of the electromyographic sensor is connected to the first signal input end of the main control device to send the sensed electromyographic signal to the main control device; further, the second signal input end of the main control device is connected to the signal output end of the drone remote control to receive the joystick thrust signal sent by the drone remote control, and then the user's operation intention can be analyzed based on the electromyographic signal and the joystick thrust signal. Compared with a single signal, the fusion of multiple information can effectively improve the recognition accuracy of the operation intention, and thus lay the foundation for the power-assisted control of the exoskeleton.

[0025] Regarding the control of the execution component, the arm assembly 120 of this embodiment includes a first fixed part 121 adapted to the upper arm and a second fixed part 122 adapted to the forearm. The first fixed part 121 and the second fixed part 122 are connected through a driving member 123. The signal input end of the driving member 123 is connected to the first signal output end of the main control device to receive the first control signal sent by the main control device, and drive the first fixed part 121 and the second fixed part 122 to rotate relative to each other, assisting the elbow to complete flexion and extension movements and providing additional torque.

[0026] The first flexible connecting member 130 includes a first connecting member 131, and a rotating winding mechanism 111 is provided on the shoulder support assembly 110. The first end of the first connecting member 131 is connected to the second fixing portion 122, and the second end of the first connecting member 131 is wound around the winding wheel of the rotating winding mechanism 111. The signal input end of the rotating winding mechanism 111 is connected to the second signal output end of the main control device to receive the second control signal sent by the main control device and drive the first connecting member 131 to be wound around the winding wheel or released from the winding wheel.

[0027] When wrapping, tightening the first connecting piece 131 can provide upward and backward pulling force for the forearm, assisting in completing the arm lifting action; when releasing, loosening the first connecting piece 131 can cooperate with the natural drooping and forward extension of the arm, thereby enabling the exoskeleton to coordinate with the movement of the human upper limb, providing targeted assistance for the flexion, extension, and swinging of the arm, and effectively reducing the muscle load on the operator's shoulders and elbows during the operation of the drone.

[0028] In addition, the main control device, the myoelectric sensor, the rotating winding mechanism 111 and the driving member 123 are all electrically connected to the power module, and the power module provides power.

[0029] Example 2 This embodiment is based on the technical solution provided in Example 1, and further describes the structure of the first flexible connector 130: In this embodiment, the first flexible connector 130 also includes a second connector 132, which is used to fix and support the arm assembly 120, and directly transfer the upper arm load to the shoulder support assembly 110, so as to avoid the load being borne entirely by the shoulder muscles and realize segmented unloading.

[0030] Specifically, the first end of the second connecting member 132 is connected to the first fixing portion 121, and the second end of the second connecting member 132 is connected to the shoulder support assembly 110; when the operator raises the arm, the first connecting member 131 is tightened by the rotating winding mechanism 111 to provide tension, and the second connecting member 132 simultaneously bears part of the upper arm gravity, reducing the load on the shoulder muscles; when the arm naturally hangs down, the second connecting member 132 remains relaxed, does not restrict the natural movement of the upper arm, and only provides elastic support at the moment of force.

[0031] Example 3 This embodiment is based on the technical solution provided in Example 1, and the structure of the exoskeleton body 100 is further described as follows: In this embodiment, the exoskeleton body 100 also includes a waist component 140 that adapts to the human waist, and a support frame arranged on the front of the waist component 140; the waist component 140 is annular or semi-annular, made of lightweight material, and has a flexible padding on the inside, such as sponge or breathable fabric, to adapt to different waist sizes and improve wearing comfort.

[0032] Furthermore, the waist component 140 is connected to the shoulder support component 110 via a second flexible connector 150 to transfer the load of the upper body to the waist and share the pressure on the shoulders.

[0033] The second flexible connection member 150 is configured to be adjustable in length, for example, by a Japanese buckle, etc., so as to adapt to users of different heights and shoulder widths, or adjust the tightness according to the operating posture.

[0034] In a preferred implementation of this embodiment, the first flexible connector 130 and the second flexible connector 150 are both made of nylon webbing, which can provide mechanical support while achieving lightweight and reducing the burden of wearing without interfering with the natural movement of the human body.

[0035] The lower end of the support frame is connected to the front of the waist component 140, and the upper end of the support frame is provided with a placement platform adapted to the drone remote control.

[0036] The support frame is made of a lightweight, rigid material, such as aluminum alloy or high-strength plastic. The connection point between the lower end and the front of the waist assembly 140 is located near the waist and abdomen to ensure support stability. The upper placement platform is designed to be adjustable in size to accommodate different models of remote controls. The height of the placement platform is designed to suit the operator's natural operating posture, allowing the elbow to be naturally bent when the forearm is placed on it, reducing the muscle load during mid-air operation. In some embodiments, the height of the support frame is adjustable. The specific adjustment method is not specifically limited here, and a telescopic sleeve or other structure can be used to achieve telescopic adjustment.

[0037] Specifically, this embodiment transfers the weight of the remote control from the hand to the waist assembly 140 through the support frame, using the load-bearing capacity of the waist and torso to replace the continuous support of the arm, while providing a stable support surface for hand operation; on the one hand, it can reduce the load on the wrist and forearm muscles (such as the radial flexor carpi and brachioradialis), effectively alleviating wrist fatigue caused by long-term grip; on the other hand, the fixed placement table makes the position of the remote control relatively stable, reducing the risk of accidental touch due to hand shaking during operation, while freeing up some hand strength, allowing the operator to focus more on movement control rather than load bearing. In addition, the combination of the support frame and the waist assembly 140 can also cooperate with the shoulder support assembly 110 and the arm assembly 120 to form a complete support system, further optimizing the whole body load distribution and improving the practicality of the equipment in long-term operation scenarios.

[0038] In some embodiments, the lower end of the support frame is hinged to the front side of the waist component 140 so that the support frame can be rotated and adjusted around the hinge point. The tilt angle can then be flexibly adjusted according to the operator's operating posture, such as standing upright or leaning forward when bending over, to ensure that the upper placement table is always in a position convenient for hand manipulation, thereby avoiding operational inconvenience caused by changes in body posture.

[0039] The second flexible connector 150 includes a third connector 151 provided on the front of the shoulder support assembly 110 and a fourth connector provided on the back of the shoulder support assembly 110; wherein, the third connector 151 serves as a front connection structure, adopts a three-point structure, and forms a stable triangular support through three connection points; the upper ends of the three-point structure are respectively connected to the two sides of the front of the shoulder support assembly 110, corresponding to the position of the shoulders of the human body, and the lower end of the three-point structure is connected to the front of the waist assembly 140, and the line connecting the three points is an inverted triangle, which can evenly transfer the load on the front of the shoulder support assembly 110 to the waist.

[0040] Specifically, the third and fourth connecting parts at the front and rear cooperate to form a flexible wrapping of the torso, which enhances the fit of the exoskeleton to the human body. This can improve the stability of the shoulder support assembly 110 and reduce the left and right shaking during operation. On the other hand, by evenly distributing the pressure, it can avoid the discomfort caused by excessive local pressure on the waist and improve the tolerance for long-term wearing. In addition, the three-point structure can adapt to different body shapes, and by adjusting the length of the nylon webbing, it can adapt to different shoulder widths and waist and abdomen dimensions, further enhancing the versatility of the exoskeleton.

[0041] Example 4 This embodiment further describes the structure of the arm assembly 120 based on the technical solution provided in Example 1: In this embodiment, the first fixing part 121 includes an upper arm module and a first arm ring connected to the upper arm module, the second fixing part 122 includes a forearm module and a second arm ring connected to the forearm module, and the electromyographic sensor is arranged on the inner side of the first arm ring and / or the second arm ring.

[0042] The upper arm module and forearm module are support structures, encasing the bones and muscles of the upper arm and forearm, respectively. The first and second arm loops are circular or semi-circular restraints, with flexible padding inside. Velcro or buckles adjust the tightness to fit the limb, ensuring a stable connection between the fixed part and the arm without affecting blood circulation. Myoelectric sensors are placed inside the arm loops, directly contacting the skin of the upper arm (such as the biceps and triceps) and / or forearm (such as the extensor carpi radialis longus and flexor carpi ulnaris), accurately capturing the weak electrical signals generated by muscle activity.

[0043] Specifically, this embodiment ensures stable contact between the electromyographic sensor and the skin through the close fit of the armband, reduces interference during signal acquisition, thereby improving the accuracy and stability of the electromyographic signal, and providing a reliable data basis for the subsequent main control device to identify the operation intention.

[0044] The upper arm module and forearm module are configured to be adjustable in length. The upper arm module, which supports the upper arm in the first fixed portion 121, can be adjusted in length using telescopic sleeves, multi-section clips, or slide rails to accommodate varying arm lengths. The forearm module, which supports the forearm in the second fixed portion 122, also utilizes a similar telescopic adjustment mechanism to accommodate varying arm lengths, further enhancing the exoskeleton's versatility.

[0045] Example 5 This embodiment further explains the design of the main control device based on the technical solution provided in any one of Embodiments 1 to 4: See also Figure 2 As shown, in this embodiment, the main control device includes: Data receiving module, used to receive electromyographic signals and joystick thrust signals; The preprocessing module is used to preprocess and extract features of the electromyographic signal to obtain the electromyographic feature vector, and to preprocess and extract features of the rocker thrust signal to obtain the thrust feature vector; The prediction module is used to fuse the myoelectric feature vector and the thrust feature vector using a multi-mode information fusion algorithm to identify the operation intention; The strategy generation module determines the exoskeleton control strategy based on the operation intention; The execution module is used to execute control based on the exoskeleton control strategy.

[0046] This realizes the complete process from signal acquisition and processing to final control, enabling the exoskeleton to accurately respond to the operator's operating intentions, provide assistance that is more tailored to the needs, and further improve the stability and efficiency of drone control.

[0047] Example 6 This embodiment is based on the technical solution provided in Example 5, and further explains the specific means by which each functional module implements its function: Regarding the preprocessing module, the preprocessing and feature extraction of electromyographic signals include the following specific steps: Step S01: noise reduction processing: The moving mean filtering algorithm is used to eliminate high-frequency noise.

[0048] Step S02: Threshold decomposition: A threshold is used to distinguish between motion segments (during operation) and non-motion segments (when stationary).

[0049] Step S03: Perform feature extraction on the electromyographic signal after threshold decomposition: Extracting time domain features: The time domain features extracted in this embodiment include absolute mean, variance, and root mean square, which will not be described in detail here.

[0050] Preprocessing and feature extraction of the stick thrust signal includes the following specific steps: Step S04: noise reduction and signal separation processing: The thrust signal contains operational jitter noise. This embodiment uses singular value decomposition to separate effective features from the noise.

[0051] Step S05: Perform feature extraction on the rocker thrust signal after noise reduction and signal separation processing: Extracting time-domain features. In this embodiment, the extracted time-domain features include thrust peak value, thrust change rate, thrust duration, and thrust integral. The thrust peak value is the maximum value of the thrust in the X or Y direction within a single operation cycle, for example, during a single stick push action. It reflects the magnitude of the operation force, with a larger peak value indicating a stronger intention. The thrust change rate is the rate of change of the thrust over time, i.e., the first-order derivative of the thrust signal, reflecting the speed of the operation. A larger thrust change rate indicates a more rapid adjustment is required, such as a sudden push during obstacle avoidance, while a smaller thrust change rate indicates fine-tuning. The thrust duration is the duration that the thrust value exceeds the stick activation threshold. It reflects the persistence of the operation. A longer duration indicates a need for stable adjustment, such as maintaining heading during cruising, while a shorter duration indicates instantaneous correction, such as eliminating minor offsets. The thrust integral is the area enclosed by the stick thrust signal and the time axis within a single operation cycle. It reflects the strength and duration of the stick thrust, distinguishing between fine and coarse adjustments.

[0052] Regarding the prediction module, a multi-modal information fusion algorithm is used to fuse the electromyographic feature vector and the thrust feature vector. The recognition of the operation intention includes the following specific steps: Step S11: Calculate the signal similarity ratio to quantify the correlation between the electromyographic signal and the thrust signal.

[0053] Step S12: setting a judgment threshold. When the signal similarity ratio is greater than the judgment threshold, the SVM algorithm is used for identification. When the signal similarity ratio is less than the judgment threshold, the FCM algorithm is used for clustering. Detailed description is omitted here. Step S13: Fusing the outputs of SVM and FCM to obtain a fused feature vector; Step S14: confirming the operation intention based on the fused feature vector; In this embodiment, the operation intention is divided into three types: static maintenance, fine adjustment and rapid coarse adjustment, which are specifically identified as follows: When the muscle force intention and thrust expression in the fused feature vector are at a low level, the thrust peak is small and the thrust change rate is close to 0, it is determined to be a static arm-raising scenario of the drone cruising / hovering, and the operation intention is determined to be static maintenance; When the muscle force intention and thrust expression in the fused feature vector are at a medium level, the thrust peak is medium, and the thrust change rate is slow, it is determined to be a UAV attitude fine correction scenario, and the operation intention is determined to be fine tuning; When both the muscle force intention and thrust expression in the fused feature vector are high, the thrust peak is large, and the thrust change rate shows a rapid change in thrust, it is determined to be a fast operation scenario such as emergency obstacle avoidance of the drone, and the operation intention is determined to be a rapid coarse adjustment; Regarding the strategy generation module, based on the operation intention, the exoskeleton control strategy is determined as follows: For static maintenance, the control strategy is specifically as follows: the driving member 123 outputs a constant low torque to maintain the relative angle between the first fixing part 121 and the second fixing part 122 stable, thereby reducing the continuous force load on the elbow muscles; the rotating winding mechanism 111 applies a constant preload to the first connecting member 131, providing an upward supporting pull for the forearm through a slightly tightened state, thereby offsetting part of the forearm's gravity and reducing the static load on the shoulder's arm-lifting muscles.

[0054] For fine adjustment, the control strategy is as follows: the driving member 123 outputs a dynamically matched low torque according to the slight changes in the electromyographic signal, assisting the elbow to complete a small angle rotation, providing power without interfering with the accuracy of fine movements; the rotating winding mechanism 111 dynamically releases or slightly tightens the first connecting member 131 according to the direction of forearm movement. When the forearm is fine-tuned forward, the connecting member is slowly released to cooperate with the movement; when the forearm is fine-tuned backward, it is slightly tightened to provide auxiliary pulling force.

[0055] For rapid coarse adjustment, the control strategy is specifically as follows: the driving part 123 outputs high torque instantly according to the strong force characteristics of the electromyographic signal, drives the first fixed part 121 and the second fixed part 122 to quickly complete a large-angle relative rotation, assists the elbow to flex and extend quickly, provides additional power for the arm movement, and improves the operation speed; the rotating winding mechanism 111 quickly tightens or releases the first connecting part 131 according to the direction of movement. When the arm needs to be raised quickly, the winding wheel rotates at high speed to tighten the connecting part to provide a strong upward pulling force; when the arm needs to be lowered quickly, the winding wheel quickly releases the connecting part to reduce the movement resistance and cooperate with the arm to exert force quickly.

[0056] Through the above-mentioned differentiation strategy, the exoskeleton can accurately match different operational intentions, while reducing muscle load and ensuring operational stability and flexibility.

[0057] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An upper limb assist exoskeleton for drone operation, characterized in that: It includes an exoskeleton body (100), a main control device, a power module and an electromyographic sensor; The exoskeleton body (100) is composed of a shoulder support assembly (110) adapted to the human shoulder and an arm assembly (120) adapted to the human arm, an arm assembly (120) is provided on each side of the front of the shoulder support assembly (110), and the arm assembly (120) is connected to the shoulder support assembly (110) via a first flexible connector (130); The arm assembly (120) is provided with an electromyographic sensor, a signal output end of the electromyographic sensor is connected to a first signal input end of a main control device to send a sensed electromyographic signal to the main control device, and a second signal input end of the main control device is connected to a signal output end of a drone remote controller to receive a rocker thrust signal sent by the drone remote controller; The arm assembly (120) comprises a first fixing portion (121) adapted to the upper arm and a second fixing portion (122) adapted to the forearm, the first fixing portion (121) and the second fixing portion (122) being connected via a driving member (123), a signal input end of the driving member (123) being connected to a first signal output end of a main control device to receive a first control signal sent by the main control device and drive the first fixing portion (121) and the second fixing portion (122) to rotate relative to each other; The first flexible connecting member (130) includes a first connecting member (131), a rotating winding mechanism (111) is provided on the shoulder support assembly (110), a first end of the first connecting member (131) is connected to the second fixing portion (122), a second end of the first connecting member (131) is wound around the winding wheel of the rotating winding mechanism (111), a signal input end of the rotating winding mechanism (111) is connected to a second signal output end of a main control device to receive a second control signal sent by the main control device, and drive the first connecting member (131) to be wound around the winding wheel or released from the winding wheel; The main control device, the myoelectric sensor, the rotary winding mechanism (111) and the driving member (123) are all electrically connected to the power module.

2. The upper limb assist exoskeleton for drone operation according to claim 1, characterized in that: The first flexible connecting member (130) further includes a second connecting member (132), wherein a first end of the second connecting member (132) is connected to the first fixing portion (121), and a second end of the second connecting member (132) is connected to the shoulder support assembly (110).

3. The upper limb assist exoskeleton for drone operation according to claim 1, characterized in that: The invention also includes a waist component (140) adapted to the waist of a human body, wherein the waist component (140) is connected to the shoulder support component (110) via a second flexible connection member (150), and the second flexible connection member (150) is configured to be adjustable in length.

4. The upper limb assist exoskeleton for drone operation according to claim 3, characterized in that: The first flexible connecting member (130) and the second flexible connecting member (150) are both made of nylon webbing.

5. The upper limb assist exoskeleton for drone operation according to claim 3, characterized in that: It also includes a support frame arranged on the front of the waist component (140), the lower end of the support frame is connected to the front of the waist component (140), and the upper end of the support frame is provided with a placement table adapted to the drone remote control.

6. The upper limb assist exoskeleton for drone operation according to claim 5, characterized in that: The lower end of the support frame is hinged to the front side of the waist component (140).

7. The upper limb assist exoskeleton for drone operation according to claim 4, characterized in that: The second flexible connecting member (150) includes a third connecting member (151) provided on the front of the shoulder support assembly (110) and a fourth connecting member provided on the back of the shoulder support assembly (110), wherein the third connecting member (151) is a three-point structure, wherein the upper ends of the three-point structure are respectively connected to the two sides of the front of the shoulder support assembly (110), and the lower end of the three-point structure is connected to the front of the waist assembly (140).

8. The upper limb assist exoskeleton for drone operation according to claim 1, wherein: The first fixing part (121) includes an upper arm module and a first arm ring connected to the upper arm module, the second fixing part (122) includes a forearm module and a second arm ring connected to the forearm module, and the myoelectric sensor is arranged on the inner side of the first arm ring and / or the second arm ring.

9. The upper limb assist exoskeleton for drone operation according to claim 8, characterized in that: The upper arm module and the forearm module are configured to be adjustable in length.

10. The upper limb assist exoskeleton for drone operation according to any one of claims 1 to 9, characterized in that: The main control device comprises: A data receiving module, configured to receive the electromyographic signal and the rocker thrust signal; a preprocessing module, configured to preprocess and extract features of the electromyographic signal to obtain an electromyographic feature vector, and to preprocess and extract features of the rocker thrust signal to obtain a thrust feature vector; A prediction module, configured to fuse the myoelectric feature vector and the thrust feature vector using a multi-modal information fusion algorithm to identify the operation intention; a strategy generation module, which determines an exoskeleton control strategy based on the operation intention; An execution module is used to execute control based on the exoskeleton control strategy.

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