Integrated human motion and life support system and control method thereof

Abstract

The invention discloses an integrated human motion and life support system and a control method thereof, and the system comprises a multi-axis mechanical arm which is provided with a plurality of joint freedom degrees, the output end of the multi-axis mechanical arm is connected to a human body wearing module, and the multi-axis mechanical arm is used for providing a human body static posture supporting mode and a dynamic motion assisting mode; the human body wearing module is used for integrating supporting, environment adjustment, health monitoring, excretion treatment and clothes replacement functions; the mounting platform module is used for bearing the multi-axis mechanical arm and adapting to different scenes; and the intelligent control module is in communication connection with the multi-axis mechanical arm, the human body wearing module and the mounting platform module and used for controlling all the modules to work cooperatively to achieve human body movement and life maintenance. The management and protection cost is reduced, the management and protection safety is improved, and the integrated function of movement assistance, rest supporting, health monitoring and intelligent management and protection is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent assistive device technology, and in particular to an integrated human movement and life support system and its control method. Background Technology

[0002] Currently, infant and toddler care faces challenges such as high labor costs and difficulties in safety monitoring. Existing infant and toddler care equipment is mostly single-function (e.g., cribs, automatic feeders), failing to achieve integrated "monitoring-feeding-excretion-exercise" functions and requiring frequent manual intervention, thus hindering the reduction of caregivers' workload. Furthermore, infants' physiological data and activity status require real-time manual observation, with insufficient remote monitoring and emergency response capabilities. For the elderly, as physical functions decline, they generally face mobility issues and reduced self-care abilities. Existing mobility aids (e.g., canes, electric wheelchairs) only assist walking and cannot support sitting, lying down, or sleeping, requiring additional items such as beds, chairs, and clothing, necessitating tasks like laundry, bed making, and cleaning. Moreover, health monitoring for the elderly often relies on individual devices (e.g., blood pressure monitors, blood glucose meters), lacking real-time dynamic monitoring and emergency response linkage functions, making it difficult to guarantee 24 / 7 safety. For adults and the general population, existing exercise and rest assistive devices are fragmented in function, failing to integrate "static rest - dynamic exercise - simulated experience," and lack modular adaptability to meet the needs of different groups (infants, the elderly, and adults), thus limiting their applicability. Existing technologies suffer from problems such as limited functionality, high maintenance costs, insufficient safety guarantees, and heavy burdens on daily life. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in the aforementioned technologies. Therefore, the objective of this invention is to propose an integrated human movement and life support system and its control method, which reduces care costs, improves care safety, and achieves integrated functions of movement assistance, rest support, health monitoring, and intelligent care.

[0004] To achieve the above objectives, embodiments of the present invention propose an integrated human movement and life support system, comprising: The multi-axis robotic arm has multiple joint degrees of freedom, and its output end is connected to a wearable module to provide static posture support mode and dynamic motion assistance mode for the human body. Wearable modules are used to integrate functions such as support, environmental regulation, health monitoring, excretion management, and clothing replacement. Install the platform module to support the multi-axis robotic arm and adapt to different scenarios; The intelligent control module communicates with the multi-axis robotic arm, wearable human body module, and installation platform module to control the coordinated work of each module to achieve human movement and life support.

[0005] According to some embodiments of the present invention, a multi-axis robotic arm includes a controller configured to switch between a static human posture support mode and a dynamic motion assistance mode; In the static posture support mode, the robotic arm joints are locked in a specific posture to maintain a preset posture; the preset postures include sitting, lying down, and reclining. In dynamic motion assistance mode, the system analyzes human movement intentions in real time and provides force compensation and trajectory correction through force sensor and inertial measurement unit data.

[0006] According to some embodiments of the present invention, a wearable module includes: Wearable body; The support module is located inside the wearable body and is used to provide support for the human body. The environmental control module is used to regulate the temperature, humidity, and air quality inside the wearable device. The health monitoring module is located inside the wearable device and is used to monitor health data. The excretion processing module is located on the inside of the wearable body at the corresponding position of the human excretion site, and is used to process human excretion.

[0007] According to some embodiments of the present invention, the support module includes an inflatable inner pad, which is equipped with a pressure sensor and an air pump. The air volume of the inflatable inner pad is adjusted by an intelligent control module based on the detection data of the pressure sensor and the detection data of the air pump.

[0008] According to some embodiments of the present invention, an environmental control module includes: An air circulation module is used to regulate the temperature and humidity inside the wearer; the air circulation module includes a fan, a temperature sensor, a humidity sensor, a heater, and a condenser. An air filter is installed inside the wearer, at a location corresponding to the head, to filter the air.

[0009] According to some embodiments of the present invention, the wearable module further includes: The skin cleansing and moisturizing module is located inside the wearable body and is used to cleanse, dehumidify, and maintain constant temperature and moisture on local or all parts of the skin. The skin cleansing and moisturizing module includes: The micro-nozzle matrix is ​​evenly distributed inside the wearable body, covering the entire skin area, and is used to spray cleaning solution to clean the skin. The waste liquid collection port is located on the lower inner side of the wearable body and is used to collect waste liquid after cleaning. The air drying and dehumidification unit shares pipelines with the micro-nozzle matrix and is used to spray dry air after cleaning to regulate the humidity inside. The constant temperature and humidity circulation unit is used to activate the constant temperature and humidity internal circulation after the skin is cleansed and dehumidified, so as to maintain the humidity of the air inside the wearer within a preset range.

[0010] According to some embodiments of the present invention, the excretion treatment module includes: an automatically opening and closing collection chamber, which is driven by a shape memory alloy to achieve the opening and closing action; the collection chamber has a built-in cleaning nozzle and a water absorption assembly, which cleans the human excretion area based on the cleaning nozzle and performs water absorption treatment through the water absorption assembly.

[0011] According to some embodiments of the present invention, the installation platform module includes a platform adapted to different scenarios; the platform includes a fixed platform, a mobile platform, and a flight platform; the platform has a built-in motion simulation drive unit that can simulate various motion states; through the coordinated action of a multi-axis robotic arm and the installation platform module, it provides a variety of sports activities for the human body.

[0012] According to some embodiments of the present invention, an intelligent control module includes: The infant-specific care module includes an automatic feeder, a Bluetooth / infrared positioning module, a soothing module, and a first synchronization module. The automatic feeder contains a milk powder storage compartment and a metering delivery tube, delivering food at preset times and in preset quantities. The Bluetooth / infrared positioning module locates the device via a signal from the first guardian's terminal, driving the installation platform module to move within the first guardian's preset range. The soothing module plays music and controls the vibration of the wearable module when it detects that the infant's voice decibel level exceeds a preset decibel threshold. The first synchronization module is used to send the health monitoring results to the first guardian's terminal. The elderly-specific care module includes a walking assistance module, a rest module, and a second synchronization module. The walking assistance module provides a walking mode; the rest module provides a sleep mode; and the second synchronization module sends the health monitoring results to the second guardian terminal and the community emergency station.

[0013] According to some embodiments of the present invention, the control method for the integrated human motion and life support system described above includes: Based on a multi-axis robotic arm, it provides both static posture support mode and dynamic motion assistance mode for the human body; Based on the integration of support, environmental regulation, health monitoring, excretion treatment and clothing replacement functions in the wearable module; The installation platform module supports a multi-axis robotic arm and is adaptable to different scenarios; Based on the intelligent control module, it communicates and connects with the multi-axis robotic arm, wearable human body module and installation platform module to control the coordinated work of each module to achieve human movement and life maintenance.

[0014] This invention proposes an integrated human motion and life support system and its control method, integrating a multi-axis robotic arm, a wearable module, a mounting platform module, and an intelligent control module into one unit. This eliminates the need for additional equipment, significantly reducing manual operation steps and maintenance costs. It covers the core needs of motion and life support and is suitable for various population scenarios. The intelligent control module enables automatic coordination among the modules, improving reliability and reducing reliance on manual intervention.

[0015] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a block diagram of an integrated human movement and life support system according to an embodiment of the present invention; Figure 2 This is a block diagram of a wearable human body module according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of an integrated human movement and life support system according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the inner structure of a wearable module according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the control logic of an intelligent control module according to an embodiment of the present invention; Figure 6 This is a schematic diagram of an infant and toddler usage scenario according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a usage scenario for the elderly according to an embodiment of the present invention; Figure 8 This is a flowchart of a control method for an integrated human movement and life support system according to an embodiment of the present invention. Detailed Implementation

[0018] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] according to Figures 1-8 The integrated human movement and life support system and its control method proposed in this invention are described.

[0020] like Figure 1 and Figure 3 As shown, this embodiment of the invention proposes an integrated human movement and life support system, comprising: The multi-axis robotic arm has multiple joint degrees of freedom, and its output end is connected to a wearable module to provide static posture support mode and dynamic motion assistance mode for the human body. Wearable modules are used to integrate functions such as support, environmental regulation, health monitoring, excretion management, and clothing replacement. Install the platform module to support the multi-axis robotic arm and adapt to different scenarios; The intelligent control module communicates with the multi-axis robotic arm, wearable human body module, and installation platform module to control the coordinated work of each module to achieve human movement and life support.

[0021] The working principle of the above technical solution is as follows: A multi-axis robotic arm is fixedly connected to the back of the wearable module to support the human body wearing the module. In static posture support mode, the robotic arm locks the body's posture, supporting it in sitting, standing, lying, or sleeping positions without relying on external supports such as beds or chairs. In dynamic motion assistance mode, a visual sensor, pressure sensor, and motion trajectory analysis unit are configured to collect real-time human motion data (such as gait and limb movements), analyze and calculate the expected motion trajectory, and output auxiliary driving force to reduce the body's energy expenditure. Simultaneously, when a motion error is detected (such as weakness in the legs or gait deviation in the elderly), the system compensates for the movement force in real time, corrects the motion trajectory, and ensures safety. The multi-axis robotic arm's motion commands are issued by an intelligent control module with a response delay of ≤0.5s, ensuring the real-time nature of dynamic assistance. The wearable module adopts a lightweight, modular design and can be disassembled into parts such as the head, torso, and limbs, supporting full-body or partial wear (e.g., torso + lower limbs only). An installation platform module carries the multi-axis robotic arm and adapts to different scenarios; for example... Figure 5 As shown, the intelligent control module controls the coordinated work of various modules to achieve human movement and life maintenance.

[0022] The beneficial effects of the above technical solution are as follows: It integrates a multi-axis robotic arm, a wearable human body module, a mounting platform module, and an intelligent control module into one unit, eliminating the need for additional equipment, significantly reducing manual operation steps, and lowering maintenance costs. It covers the core needs of movement and life support, and is suitable for various population scenarios. The intelligent control module enables automatic coordination among the modules, improving reliability and reducing reliance on manual labor.

[0023] According to some embodiments of the present invention, a multi-axis robotic arm includes a controller configured to switch between a static human posture support mode and a dynamic motion assistance mode; In the static posture support mode, the robotic arm joints are locked in a specific posture to maintain a preset posture; the preset postures include sitting, lying down, and reclining. In dynamic motion assistance mode, the system analyzes human movement intentions in real time and provides force compensation and trajectory correction through force sensor and inertial measurement unit data.

[0024] The working principle of the above technical solution is as follows: In the static posture support mode, the controller calculates the target angles that each joint needs to be locked according to the preset posture parameters. The joint drive unit (such as an electromagnetic brake) locks each joint of the robotic arm at the target angle, while force sensors monitor the force state of the joints in real time, ensuring that the locked multi-axis robotic arm can stably bear the weight of the human body and avoid posture loosening due to force deviation. In the dynamic motion assistance mode, the controller receives data in real time from force sensors (detecting the force at the contact point between the human body and the robotic arm, such as the pushing force of the palm on the robotic arm) and inertial measurement units (detecting the acceleration and angular velocity of the human limbs, reflecting the movement trend); through motion intention parsing algorithms, such as those based on force-motion mapping models, the sensor data is converted into the expected human motion trajectory; for example, when the user intends to walk forward, parameters such as stride length and stride frequency are parsed; according to the expected human motion trajectory, the controller outputs force compensation commands and trajectory correction commands to the joint drive unit, realizing real-time assistance for human movement.

[0025] The beneficial effects of the above technical solution are as follows: by integrating and switching between the two modes through the controller, the same multi-axis robotic arm can provide dynamic assistance when the user is active, and can be locked into a static support structure when the user is resting, thereby improving the stability of static support and the accuracy of dynamic assistance.

[0026] like Figure 2 and Figure 4 As shown, according to some embodiments of the present invention, a wearable module includes: Wearable body; The support module is located inside the wearable body and is used to provide support for the human body. The environmental control module is used to regulate the temperature, humidity, and air quality inside the wearable device. The health monitoring module is located inside the wearable device and is used to monitor health data. The excretion processing module is located on the inside of the wearable body at the corresponding position of the human excretion site, and is used to process human excretion.

[0027] The working principle of the above technical solution is as follows: The wearable body functions as a clothing replacement, with an outer layer made of waterproof and breathable fabric and an inner layer made of skin-friendly material. Once worn, it can replace traditional clothing without the need for additional garments. A support module, located inside the wearable body, provides support for the body; an environmental regulation module regulates the temperature, humidity, and air quality inside the wearable body; a health monitoring module, located inside the wearable body, monitors health data; and an excretion treatment module, located inside the wearable body at the corresponding location of the body's excretory organs, handles bodily waste.

[0028] The beneficial effects of the above technical solution are as follows: Through dynamic pressure adjustment of the support module and precise temperature and humidity control of the environmental regulation module, the internal environment of the wearable device is always adapted to the needs of the human body, improving comfort and safety. Health data monitoring based on the health monitoring module facilitates timely detection of abnormalities and improves the accuracy of monitoring. Based on the excretion treatment module, it reduces the number of times caregivers need to get up at night and the amount of cleaning work, while also avoiding the risk of skin infections caused by excrement residue.

[0029] According to some embodiments of the present invention, the support module includes an inflatable inner pad, which is equipped with a pressure sensor and an air pump. The air volume of the inflatable inner pad is adjusted by an intelligent control module based on the detection data of the pressure sensor and the detection data of the air pump.

[0030] The working principle and beneficial effects of the above technical solution are as follows: The inflatable inner pad is divided into multiple independent inflation units (such as partitioned units corresponding to the buttocks, back, and legs), each equipped with a pressure sensor; simultaneously, the air pump has built-in speed and output pressure sensors. Both types of sensors collect data in real time. The pressure sensors detect the current pressure value of each inner pad unit, while the air pump sensors provide feedback on their own operating status, and all data is transmitted to the intelligent control module. The intelligent control module has built-in preset pressure thresholds for different groups of people and different postures; for example, in the infant scenario: all pressure ≤ 5 kPa. The intelligent control module compares the collected real-time pressure data with the preset thresholds to determine the current state: if the pressure of a unit is below the threshold, it is determined that inflation is needed; if it is above the threshold or the pressure distribution deviation exceeds the range, it is determined that deflation is needed; if both pressure and distribution meet the thresholds, it is determined that no adjustment is needed. The intelligent control module sends commands to the air pump based on the judgment result: when inflation is needed, the air pump starts running in the forward direction, delivering gas to the target inner pad unit, while the pressure sensor continuously reports pressure changes; when the pressure reaches a preset threshold, the control module commands the air pump to stop; when deflation is needed, the air pump starts running in the reverse direction, or opens the deflation valve of the inner pad unit, until the pressure drops to the threshold range. Through dynamic pressure regulation, the inner pad pressure is always maintained within a safe and comfortable range, and it can adjust in real time according to changes in body posture, significantly reducing the risk of pressure sores and skin damage. Through multi-unit zone adjustment, the support fit and comfort are improved.

[0031] According to some embodiments of the present invention, an environmental control module includes: An air circulation module is used to regulate the temperature and humidity inside the wearer; the air circulation module includes a fan, a temperature sensor, a humidity sensor, a heater, and a condenser. An air filter is installed inside the wearer, at a location corresponding to the head, to filter the air.

[0032] The working principle of the above technical solution is as follows: The air circulation module regulates the internal temperature (control range 20-28℃) and humidity (control range 40%-60%) of the wearable body in real time. Air is filtered using an air filter with a filtration accuracy ≥ PM2.5. Before entering the wearable body, external air passes through the air filter to intercept dust, particulate matter, and other impurities. A portion of the purified air is directly delivered to the head breathing area to meet the body's respiratory needs, while the other portion is diffused to other areas within the wearable body by the airflow from the air circulation module, ensuring a clean overall microenvironment.

[0033] The beneficial effects of the above technical solution are: by actively regulating the temperature and humidity inside the wearable device to maintain a comfortable range, it is suitable for infants, the elderly, and other groups who need to wear it for extended periods. By focusing the air filter on the head's breathing area, it prioritizes ensuring clean breathing air and prevents pollutants from entering the body through respiration. Based on automated regulation, it reduces manual intervention and lowers the complexity of use.

[0034] According to some embodiments of the present invention, a health monitoring module includes physiological sensors for monitoring health data, including heart rate, blood pressure, body temperature, and respiratory rate.

[0035] The working principle of the above technical solution is as follows: the physiological sensors include a photoplethysmography (PPG) sensor for heart rate detection; a strain signal from a chest and abdominal sensor to assist in identifying respiratory rate; an oscillometric blood pressure sensor for blood pressure detection; and a contact-type NTC thermistor sensor for body temperature detection.

[0036] The beneficial effects of the above technical solution are: simultaneous monitoring of four core health indicators, namely heart rate, blood pressure, body temperature, and respiratory rate; the intelligent control module can combine multiple parameters for comprehensive judgment, reducing the limitations of single data and improving the accuracy of health risk assessment.

[0037] According to some embodiments of the present invention, the wearable module further includes: The skin cleansing and moisturizing module is located inside the wearable body and is used to cleanse, dehumidify, and maintain constant temperature and moisture on local or all parts of the skin. The skin cleansing and moisturizing module includes: The micro-nozzle matrix is ​​evenly distributed inside the wearable body, covering the entire skin area, and is used to spray cleaning solution to clean the skin. The waste liquid collection port is located on the lower inner side of the wearable body and is used to collect waste liquid after cleaning. The air drying and dehumidification unit shares pipelines with the micro-nozzle matrix and is used to spray dry air after cleaning to regulate the humidity inside. The constant temperature and humidity circulation unit is used to activate the constant temperature and humidity internal circulation after the skin is cleansed and dehumidified, so as to maintain the humidity of the air inside the wearer within a preset range.

[0038] The working principle of the above technical solution is as follows: The micro-sprayer matrix uses miniature high-pressure sprayers, evenly distributed at a density of one per 10cm² on the inner side of the wearable body, covering the torso, limbs, and other areas, forming a full-coverage spray network. It supports the individual activation of local sprayers (such as the upper limbs or back) or the activation of all sprayers to adapt to different cleaning needs. The cleaning fluid delivery, dry air delivery, and constant temperature and humidity airflow delivery share a set of corrosion-resistant hoses. Function switching is achieved by switching valves, reducing the space occupied by the pipeline. A sealed waste liquid collection interface is set on the lower inner side of the wearable body (corresponding to the buttocks and legs). The interface has a built-in negative pressure adsorption unit to quickly collect cleaning waste liquid and introduce it into an external storage tank to avoid waste liquid residue. After cleaning, the intelligent control module closes the cleaning fluid valve and activates the air drying and dehumidification unit, spraying 30-35℃ dry air through the shared pipeline to continuously dehumidify until the inner air humidity is ≤50%. Then, it switches to the constant temperature and humidity mode, circulating 22-26℃ air with 40%-60% humidity through the pipeline. The constant temperature and moisturizing airflow maintains skin comfort; the skin cleansing and moisturizing module can be preset with the cleansing time (such as a fixed time each day) through the intelligent control module, or can be started remotely by the caregiver. The temperature of the cleansing solution and the spray pressure can be adapted to the individual.

[0039] The beneficial effects of the above technical solution are as follows: Through fully automated operation of the entire process—automatic cleaning, waste liquid collection, air drying and dehumidification, and constant temperature humidification—human body cleaning can be completed without manual assistance, significantly reducing the burden of manual care and lowering nursing costs. Based on the application scenario of wearable modules replacing clothing and being worn long-term, it ensures skin hygiene and health during prolonged wear, reduces the risk of infection, maintains skin comfort, improves wearing comfort, and adapts to the skin care needs of different groups.

[0040] According to some embodiments of the present invention, the excretion treatment module includes: an automatically opening and closing collection chamber, which is driven by a shape memory alloy to achieve the opening and closing action; the collection chamber has a built-in cleaning nozzle and a water absorption assembly, which cleans the human excretion area based on the cleaning nozzle and performs water absorption treatment through the water absorption assembly.

[0041] The working principle of the above technical solution is as follows: Pressure and humidity sensors are installed around the collection chamber (where the human excretory area is in contact with the body) to monitor human excretion behavior in real time. When the sensors detect a sudden increase in weight ≥50g (corresponding to the weight of excrement) or humidity exceeding the normal range, they immediately send a trigger signal to the intelligent control module. After receiving the signal, the intelligent control module sends an "open" command to the shape memory alloy drive component of the collection chamber. When the shape memory alloy is energized, it undergoes a preset deformation due to the increase in temperature (such as changing from a contracted state to an extended state), causing the collection chamber door to open outward, forming a closed excrement collection space and preventing excrement from leaking into the inside of the wearable body. After collection is completed, the intelligent control module simultaneously activates the cleaning nozzle built into the collection chamber to rinse the human excretory area, and the water absorption component absorbs the water.

[0042] The beneficial effects of the above technical solution are: it significantly reduces the number of steps required for caregivers, enabling excretion care. Through rinsing and absorption, residual excrement can be thoroughly removed, ensuring hygiene and safety for long-term wear.

[0043] According to some embodiments of the present invention, the installation platform module includes a platform adapted to different scenarios; the platform includes a fixed platform, a mobile platform, and a flight platform; the platform has a built-in motion simulation drive unit that can simulate various motion states; through the coordinated action of a multi-axis robotic arm and the installation platform module, it provides a variety of sports activities for the human body.

[0044] The working principle of the above technical solution is as follows: a fixed platform (such as a home fixed base), a mobile platform (such as a wheeled mobile base or a tracked mobile base), or a flight platform (such as a multi-rotor drone carrier base), which can be switched according to the usage scenario. The platform has a built-in motion simulation drive unit, which can simulate the movement states of riding a bicycle, riding a horse, or sitting in a car. Through the coordinated movement of the multi-axis robotic arm and the platform, it provides a diverse movement experience for the human body.

[0045] The beneficial effects of the above technical solution are: breaking through the single-scene limitation of traditional platforms, achieving full-scene coverage, and through the collaboration of motion simulation drive unit and robotic arm, it can simulate various sports such as cycling, riding in a car, and walking, making it convenient for users to exercise.

[0046] like Figures 6-7 As shown, according to some embodiments of the present invention, the intelligent control module includes: The infant-specific care module includes an automatic feeder, a Bluetooth / infrared positioning module, a soothing module, and a first synchronization module. The automatic feeder contains a milk powder storage compartment and a metering delivery tube, delivering food at preset times and in preset quantities. The Bluetooth / infrared positioning module locates the device via a signal from the first guardian's terminal, driving the installation platform module to move within the first guardian's preset range. The soothing module plays music and controls the vibration of the wearable module when it detects that the infant's voice decibel level exceeds a preset decibel threshold. The first synchronization module is used to send the health monitoring results to the first guardian's terminal. The elderly-specific care module includes a walking assistance module, a rest module, and a second synchronization module. The walking assistance module provides a walking mode; the rest module provides a sleep mode; and the second synchronization module sends the health monitoring results to the second guardian terminal and the community emergency station.

[0047] The working principle of the above technical solution is as follows: The infant-specific care module realizes intelligent care and integrates an automatic feeder (which can store milk powder and water and feed in a fixed amount according to a preset time). Specifically: The first caregiver presets the feeding time (e.g., once every 3 hours) and feeding amount (e.g., 150ml of milk) through the care APP installed on the first caregiver's terminal. When the time comes, the automatic feeder starts and delivers milk to the infant's mouth through a tube; the first caregiver's position is located through the Bluetooth / infrared positioning module, which drives the installation platform module to move to the first caregiver's preset range; when the pressure sensor in the human wearable module detects the infant's excretion (weight change ≥50g), the controller starts the collection chamber to close, the cleaning nozzle sprays 37℃ warm water to rinse, and then the water absorption component absorbs the water. The soothing module plays music and controls the vibration of the wearable module when it detects that the infant's voice decibel level exceeds a preset threshold. The first synchronization module sends the health monitoring results to the first guardian's terminal. It also transmits the infant's video feed (captured by the head camera of the wearable module) and physiological data to the first guardian's terminal in real time, allowing the first guardian to remotely view and issue control commands (such as adjusting feeding amounts or activating cleaning functions). The first guardian can be the infant's father or mother. A dedicated care module for the elderly includes a walking assistance module, which uses multi-axis robotic arm force compensation to assist the elderly in walking, climbing stairs, getting up and sitting down, and improving their mobility. Specifically, in "Walking Mode," visual sensors collect gait data, and a multi-axis robotic arm outputs auxiliary force (5-10N per step) to reduce the burden on the legs. When weakness in the elderly person's legs is detected (a sudden drop in foot pressure detected by pressure sensors), the multi-axis robotic arm immediately increases support to prevent falls. In "Sleep Mode," the multi-axis robotic arm adjusts the wearable module to a supine position, the mounting platform module maintains stability, the air circulation module adjusts the temperature to 24℃ and humidity to 50%, and the filter is activated to ensure comfortable sleep. The second synchronization module monitors heart rate and blood pressure in real time via physiological sensors. When the heart rate is detected to be ≤50 beats / minute, the controller automatically sends rescue information to the second guardian terminal and the community emergency station (including the elderly person's real-time location, obtained via the platform's GPS). Simultaneously, the oxygen interface within the wearable module is activated (allowing for connection to an external oxygen cylinder), and the wearable module is adjusted to a semi-sitting position to assist breathing. The second guardian can be the elderly person's child.

[0048] The beneficial effects of the above technical solutions are: reducing the burden of infant and toddler care, achieving fully automated care through artificial intelligence, ensuring infant and toddler safety, and synchronizing data with guardians; assisting the elderly in compensating for physical functions, improving mobility and self-care abilities, reducing reliance on traditional daily necessities (beds, chairs, clothing), and lowering the cost of daily chores; achieving integrated "movement-rest-health monitoring" for the human body, supporting static posture maintenance (sitting, lying down, sleeping), dynamic movement assistance (walking, running), and simulated exercise experiences (cycling, horseback riding, riding in a car); possessing real-time health monitoring and emergency rescue functions, adapting to various installation platforms such as fixed, mobile, and flying installations, and modularly expanding functions according to user needs.

[0049] For infants and toddlers, a lightweight full-body wearable module (weight ≤3kg) is selected, paired with a wheeled mobile platform and a 6-axis robotic arm. The inflation volume of the inflatable inner pad inside the wearable module is adjusted to a contact pressure ≤5kPa (to ensure infants and toddlers' comfort). For the elderly, a reinforced full-body wearable module (load-bearing capacity ≥100kg) is selected, paired with a tracked mobile platform and an 8-axis robotic arm. The inflation volume of the inflatable inner pad is adjusted according to the elderly person's body contour to ensure uniform pressure on the back, buttocks, and other stress-bearing areas.

[0050] like Figure 3 As shown, according to some embodiments of the present invention, the control method of the integrated human movement and life support system described above includes steps S1-S4: S1. Based on a multi-axis robotic arm, it provides static posture support mode and dynamic motion assistance mode for the human body; S2. Based on the human wearable module, it integrates support, environmental regulation, health monitoring, excretion treatment and clothing replacement functions; S3. Based on the installation platform module, it supports a multi-axis robotic arm and is adapted to different scenarios; S4. Based on the intelligent control module, it communicates and connects with the multi-axis robotic arm, human wearable module and installation platform module to control the coordinated work of each module to achieve human movement and life maintenance.

[0051] The beneficial effects of the above technical solution are as follows: It integrates a multi-axis robotic arm, a wearable human body module, a mounting platform module, and an intelligent control module into one unit, eliminating the need for additional equipment, significantly reducing manual operation steps, and lowering maintenance costs. It covers the core needs of movement and life support, and is suitable for various population scenarios. The intelligent control module enables automatic coordination among the modules, improving reliability and reducing reliance on manual labor.

[0052] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An integrated human movement and life support system, characterized in that, include: The multi-axis robotic arm has multiple joint degrees of freedom, and its output end is connected to a wearable module to provide static posture support mode and dynamic motion assistance mode for the human body. Wearable modules are used to integrate functions such as support, environmental regulation, health monitoring, excretion management, and clothing replacement. Install the platform module to support the multi-axis robotic arm and adapt to different scenarios; The intelligent control module communicates with the multi-axis robotic arm, wearable human body module, and installation platform module to control the coordinated work of each module to achieve human movement and life support.

2. The integrated human movement and life support system as described in claim 1, characterized in that, The multi-axis robotic arm includes a controller configured to switch between a static human posture support mode and a dynamic motion assistance mode. In the static posture support mode, the robotic arm joints are locked in a specific posture to maintain a preset posture; the preset postures include sitting, lying down, and reclining. In dynamic motion assistance mode, the system analyzes human movement intentions in real time and provides force compensation and trajectory correction through force sensor and inertial measurement unit data.

3. The integrated human movement and life support system as described in claim 1, characterized in that, Wearable module, including: Wearable body; The support module is located inside the wearable body and is used to provide support for the human body. The environmental control module is used to regulate the temperature, humidity, and air quality inside the wearable device. The health monitoring module is located inside the wearable device and is used to monitor health data. The excretion processing module is located on the inside of the wearable body at the corresponding position of the human excretion site, and is used to process human excretion.

4. The integrated human movement and life support system as described in claim 3, characterized in that, The support module includes an inflatable inner pad, which is equipped with a pressure sensor and an air pump. The intelligent control module adjusts the inflation amount of the inflatable inner pad based on the detection data from the pressure sensor and the air pump.

5. The integrated human movement and life support system as described in claim 3, characterized in that, The environmental control module includes: An air circulation module is used to regulate the temperature and humidity inside the wearer; the air circulation module includes a fan, a temperature sensor, a humidity sensor, a heater, and a condenser. An air filter is installed inside the wearer, at a location corresponding to the head, to filter the air.

6. The integrated human movement and life support system as described in claim 3, characterized in that, The wearable module also includes: The skin cleansing and moisturizing module is located inside the wearable body and is used to cleanse, dehumidify, and maintain constant temperature and moisture on local or all parts of the skin. The skin cleansing and moisturizing module includes: The micro-nozzle matrix is ​​evenly distributed inside the wearable body, covering the entire skin area, and is used to spray cleaning solution to clean the skin. The waste liquid collection port is located on the lower inner side of the wearable body and is used to collect waste liquid after cleaning. The air drying and dehumidification unit shares pipelines with the micro-nozzle matrix and is used to spray dry air after cleaning to regulate the humidity inside. The constant temperature and humidity circulation unit is used to activate the constant temperature and humidity internal circulation after the skin is cleansed and dehumidified, so as to maintain the humidity of the air inside the wearer within a preset range.

7. The integrated human movement and life support system as described in claim 3, characterized in that, The excretion treatment module includes: an automatically opening and closing collection chamber, which is driven by a shape memory alloy to achieve the opening and closing action; the collection chamber has a built-in cleaning nozzle and a water absorption component, which cleans the human excretion area by the cleaning nozzle and absorbs water by the water absorption component.

8. The integrated human movement and life support system as described in claim 1, characterized in that, The installation platform module includes platforms adapted to different scenarios; the platforms include fixed platforms, mobile platforms, and flying platforms; the platforms have built-in motion simulation drive units that can simulate various motion states; through the coordinated movements of the multi-axis robotic arm and the installation platform module, a variety of sports activities are provided for the human body.

9. The integrated human movement and life support system as described in claim 1, characterized in that, The intelligent control module includes: The infant-specific care module includes an automatic feeder, a Bluetooth / infrared positioning module, a soothing module, and a first synchronization module. The automatic feeder contains a milk powder storage compartment and a metering delivery tube, delivering food at preset times and in preset quantities. The Bluetooth / infrared positioning module locates the device via a signal from the first guardian's terminal, driving the installation platform module to move within the first guardian's preset range. The soothing module plays music and controls the vibration of the wearable module when it detects that the infant's voice decibel level exceeds a preset decibel threshold. The first synchronization module is used to send the health monitoring results to the first guardian's terminal. The elderly-specific care module includes a walking assistance module, a rest module, and a second synchronization module. The walking assistance module provides a walking mode; the rest module provides a sleep mode; and the second synchronization module sends the health monitoring results to the second guardian terminal and the community emergency station.

10. The control method for the integrated human motion and life support system as described in any one of claims 1-9, characterized in that, include: Based on a multi-axis robotic arm, it provides both static posture support mode and dynamic motion assistance mode for the human body; Based on the integration of support, environmental regulation, health monitoring, excretion treatment and clothing replacement functions in the wearable module; The installation platform module supports a multi-axis robotic arm and is adaptable to different scenarios; Based on the intelligent control module, it communicates and connects with the multi-axis robotic arm, wearable human body module and installation platform module to control the coordinated work of each module to achieve human movement and life maintenance.

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