Upper limb movement detection system and method based on visual fusion

Abstract

The present invention discloses an upper limb motion detection system and method based on visual fusion, belonging to the technical field of human motion detection; the upper limb motion detection system includes a visual acquisition module, a host computer module, a communication module, a slave computer module, a motion control module and a warning protection module; the present invention uses two cameras to respectively identify the coordinates of the human upper limb joint points at the intersection angle, and then through mathematical processing of the joint coordinates, the human upper limb motion information can be converted into a control instruction for application to the control of the terminal device, so as to realize the real-time control of the terminal device based on the human motion intention. The present invention converts the human shoulder, elbow and wrist joint coordinates obtained in the XOZ and YOZ planes into more easily detectable human upper limb joint angle motion information through coordinate system transformation and inverse kinematics solution, thereby avoiding the influence caused by individual differences and improving the accuracy of recognition.

Description

Technical Field

[0001] The present invention belongs to the technical field of human motion detection, and in particular relates to an upper limb motion detection system and method based on visual fusion. Background Art

[0002] Human movement intention and subjective decision-making are increasingly used in terminal equipment control, such as robotic arm control based on human movement intention. Human movement intention, as decision-making information for motion control, has an important impact on the results of terminal equipment tasks. Therefore, real-time detection of human movement intention and using it as an instruction for motion control strategy is of great significance to improving the control effect of terminal equipment. For example, in the field of medical rehabilitation, scientific rehabilitation training plays a very important role in the recovery of limb motor function. Upper limb exoskeletons are gradually used in rehabilitation training. Their main function is to drive the patient's limb movement through the exoskeleton mechanical arm, and to conduct motor function rehabilitation training for patients with limb movement disorders. Controlling the upper limb exoskeleton by detecting the limb movement information of the physiotherapist helps to improve the effect and safety of rehabilitation training.

[0003] Existing human motion intention detection is mainly based on bioelectric information and physical sensor information, but it has problems such as complicated operation process, inconvenient wearing, and easy to be affected by individual differences, and has certain shortcomings in practicality. Vision-based human detection technology can improve the above shortcomings, but the detection of human motion based on monocular vision has the problem of single-view recognition and easy information loss. Summary of the invention

[0004] Technical issues to be solved:

[0005] In order to avoid the shortcomings of the prior art, the present invention proposes an upper limb motion detection system and method based on visual fusion, which adopts two cameras to respectively identify the coordinates of the upper limb joints of the human body at cross angles, and then through mathematical processing of the joint coordinates, the upper limb motion information of the human body can be converted into control instructions for the control of the terminal device, thereby realizing real-time control of the terminal device of the person in the loop based on the human motion intention.

[0006] The technical solution of the present invention is: an upper limb motion detection system based on visual fusion, comprising a visual acquisition module, a host computer module, a communication module, a slave computer module, a motion control module and a warning protection module;

[0007] The visual acquisition module is used to acquire upper limb joint motion image data of the human body from different angles;

[0008] The upper computer module is used to process the acquired motion image data, obtain the motion angle of the human upper limb joints through coordinate transformation and inverse kinematics solution; send the acquired human upper limb joint angles to the lower computer module; perform alert monitoring on the human upper limb motion joint angles; and display the rotation angle of the motion control module driving motor fed back by the lower computer module;

[0009] The communication module is used to realize two-way information transmission between the upper computer module and the lower computer module;

[0010] The lower computer module is used to receive the human upper limb joint angle information sent by the upper computer module, and use it as control instruction information to control the motion control module; and to perform alert monitoring on the rotation angle of the motion control module drive motor;

[0011] The motion control module completes the corresponding function according to the control instruction sent by the lower computer module; the motor rotation angle is fed back to the lower computer module through the built-in encoder of the driving motor;

[0012] The warning and protection module is used to provide warning and protection for different motion control modules in different scenarios.

[0013] A further technical solution of the present invention is: the visual acquisition module is composed of two cameras placed at 90 degrees across, and the two cameras perform dual-thread image acquisition of human upper limb movement in XOZ and YOZ planes respectively.

[0014] There are no fixed requirements for the types and models of the two cameras in the visual acquisition module.

[0015] A further technical solution of the present invention is that the host computer module adopts a method for accurately obtaining the motion state of the upper limbs of the human body based on the joint angle, which can avoid the influence caused by individual differences when the coordinate change of the joint point is used as the control instruction. The operation steps are as follows:

[0016] Step 1: Obtain joint coordinates and perform coordinate conversion. After filtering the image information obtained by the visual module, obtain the shoulder joint coordinates (x'1, z'1), (y"1, z"1), elbow joint coordinates (x'2, z'2), (y"2, z"2) and wrist joint coordinates (x'3, z'3), (y"3, z"3) in the XOZ and YOZ planes respectively through the bone point recognition method, and perform coordinate conversion to obtain their spatial coordinates (x s ,y s ,z s ),(x e ,y e ,z e ),(x w ,y w,z w ), where the coordinate transformation equation is:

[0017]

[0018] Step 2: After the spatial coordinates of the shoulder, elbow and wrist joints are acquired, in order to avoid the influence of individual differences when the coordinate changes of the joint points are used as control instructions, the coordinate changes of the joint points during the upper limb movement are converted into joint angle changes; by calculating the Euclidean distance between the joint points and using the trigonometric cosine theorem to solve the inverse kinematics, the shoulder joint internal and external rotation angle θ1, the shoulder joint flexion and extension angle θ2, the elbow joint abduction and adduction angle θ3 and the elbow joint flexion and extension angle θ4 are obtained. The calculation formula is:

[0019]

[0020] Among them, dse, dew, and dsw are the spatial distances between the shoulder-elbow joint, the elbow-wrist joint, and the shoulder-wrist joint, respectively.

[0021] A further technical solution of the present invention is that the communication module includes wired and wireless communication modes, which are selected according to the actual application scenario. For example, a full-duplex remote communication mode based on the WebSocket communication protocol is used, and after the upper computer module and the lower computer module log in and authenticate, the information between the upper computer module and the lower computer module can be transmitted in two-way real time, and one upper computer can synchronously control multiple lower computers.

[0022] A further technical solution of the present invention is: the lower computer module receives the joint angle information sent by the upper computer module, and uses it as a control instruction to control the motion control module; performs alert monitoring on the rotation angle of the motion control module drive motor; and sends the rotation angle of the motion control module drive motor to the upper computer module for display.

[0023] A further technical solution of the present invention is: the motion control module is a terminal control device, which is used to complete corresponding functions according to the control instructions of the lower computer module; the motion control module is a four-degree-of-freedom upper limb rehabilitation exoskeleton, which includes four innfos drive motors, which can drive the patient's upper limbs to achieve internal and external rotation of the shoulder joint, flexion and extension of the shoulder joint, abduction and adduction of the elbow joint, and flexion and extension of the elbow joint, and the rotation angle of each motor can be obtained through its built-in encoder.

[0024] The motion control module is a terminal control device and can be different control carriers in different scenarios, such as an exoskeleton robot, a medical detection platform, etc.

[0025] A further technical solution of the present invention is: the warning protection module can select active / passive or active and passive combined protection mode, which is used to perform warning protection on different motion control modules in different scenarios; active protection is that in some scenarios, the operator actively terminates the control process according to the scenario judgment, and passive protection is that when the angle monitored by the upper computer module and the lower computer module during warning monitoring exceeds the warning angle value set in the scenario, the system automatically stops.

[0026] A detection method for an upper limb movement detection system based on visual fusion, the specific steps are as follows:

[0027] Step 1: Complete the camera environment construction, adjust the human body posture, and complete the initialization coordinate alignment;

[0028] Step 2: The visual acquisition module acquires human upper limb motion image data with cross-angle dual threads; the host computer module performs filtering processing on the acquired image data, obtains human joint coordinates through skeleton point tracking technology, and then performs coordinate transformation and inverse kinematics solution on the joint point coordinates, converting the coordinate changes of the upper limb motion joint points into changes in joint angles; at the same time, the host computer module performs alert monitoring on the human upper limb motion joint angles, and displays the rotation angle of the motion control module drive motor fed back by the lower computer module;

[0029] Step 3: completing the information transmission between the host computer module and the slave computer module through the communication module; the slave computer module uses the joint angle information sent by the host computer module as a control instruction to realize the control of the motion control module terminal control carrier based on human body movement, and at the same time monitors the rotation angle of the motion control module drive motor, and sends the monitored rotation angle of the drive motor to the host computer module;

[0030] Step 4: The motion control module receives the control instruction of the lower computer module, completes the corresponding function by rotating the motors of each joint, and detects the rotation angle of the motor through the built-in encoder of the drive motor and feeds it back to the lower computer module;

[0031] Step 5: During the operation of the motion control module, the warning protection module selects active / passive or active-passive coordinated protection functions according to the specific implementation method to protect the motion control module and the operation task.

[0032] Beneficial Effects

[0033] The beneficial effects of the present invention are:

[0034] 1. The two cameras used in the present invention have no fixed requirements and can be merged into spatial coordinates after coordinate transformation, which is universal in practical applications;

[0035] 2. The present invention uses two cameras to capture human upper limb image data from cross-viewing angles. The data contains most of the motion features of human upper limb motion. Comprehensively utilizing these data to identify human motion can overcome the limitations of single-viewing angle recognition methods, and is particularly suitable for improving the problem of inaccurate joint angle recognition when the arm is retracted and extended toward the camera direction;

[0036] 3. The present invention converts the human shoulder, elbow and wrist joint coordinates obtained in the XOZ and YOZ planes into more easily detectable human upper limb joint angle motion information through coordinate system transformation and inverse kinematics solution, thereby avoiding the influence of individual differences and improving the accuracy of recognition.

[0037] 4. When the present invention realizes the control of terminal control carriers such as exoskeleton mechanical arms, medical detection platforms, etc., active / passive or active and passive combined protection modes can be selected. Active protection means that in some scenarios, the operator actively terminates the process based on scenario judgment. Passive protection means that when the angle monitored by the upper computer module and the lower computer module during warning monitoring exceeds the warning angle value set in the scenario, the system automatically stops.

[0038] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The figure is an overall block diagram of a human upper limb motion detection system based on visual fusion according to Embodiment 1 of the present invention;

[0040] Figure 2 This is a schematic diagram of the placement of the camera of the visual acquisition module in Example 1 of the present invention;

[0041] Figure 3 Schematic diagram of the coordinate system for solving the inverse kinematics of the joint angle in Example 1 of the present invention;

[0042] Figure 4 This is a sequence diagram of information transmission in a full-duplex remote communication mode based on the WebSocket communication protocol in Example 1 of the present invention;

[0043] Figure 5 This is a structural diagram of a four-degree-of-freedom upper limb rehabilitation exoskeleton in Example 1 of the present invention;

[0044] Figure 6 This is a flow chart of the upper limb movement detection method based on visual fusion in Example 2 of the present invention. DETAILED DESCRIPTION

[0045] The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0046] Example 1

[0047] The purpose of this embodiment 1 is to provide an upper limb movement detection system based on visual fusion.

[0048] The upper limb motion detection system based on visual fusion proposed in the present invention includes: a visual acquisition module, a host computer module, a communication module, a slave computer module, a motion control module and a warning protection module; in this embodiment, in order to facilitate a more detailed description of the present invention, the camera in the visual acquisition module is selected as a two-dimensional plane camera, the communication module is selected as a remote communication method based on the WebSocket communication protocol, and the motion control module is selected as an upper limb rehabilitation exoskeleton.

[0049] First, the visual acquisition module acquires images of human upper limb motion; then the host computer module performs Kalman filtering, upper limb joint bone point coordinate identification, coordinate conversion and inverse kinematics solution on the acquired image information to obtain the human upper limb joint motion angle; finally, the lower computer module receives the joint angle information sent by the host computer module through a remote communication method based on the WebSocket communication protocol, and uses it as a control instruction to complete the control of the upper limb rehabilitation exoskeleton of the motion control module, thereby realizing the patient's upper limb rehabilitation training; in the process of controlling the upper limb rehabilitation exoskeleton of the motion control module based on the human upper limb movement intention, the system has reverse transmission of information, the purpose of which is to provide judgment information for the system to execute the warning protection function. The specific process is as follows Figure 1 shown.

[0050] The visual acquisition module is composed of two cameras placed at 90 degrees across each other. The two cameras acquire dual-thread images of the therapist's upper limb movements in the XOZ and YOZ planes respectively. The specific placement of the cameras is based on the position of the human body coordinate system. Figure 2 shown.

[0051] The host computer module performs Kalman filtering and bone point recognition on the image information collected by the visual acquisition module, and obtains the shoulder joint coordinates (x'1, z'1), (y1", z"1), elbow joint coordinates (x'2, z'2), (y"2, z"2) and wrist joint coordinates (x'3, z'3), (y"3, z"3) in the XOZ and YOZ planes respectively; then performs coordinate conversion on the joint coordinates to obtain their spatial coordinates (x s ,y s ,z s ),(x e ,y e ,z e ),(x w ,y w ,z w), by calculating the Euclidean distance between joint points and using the trigonometric cosine theorem, the inverse kinematics of the joint angle is solved. The angle coordinate system is as follows Figure 3 As shown, the shoulder joint internal and external rotation angle θ1, shoulder joint flexion and extension angle θ2, elbow joint abduction and adduction angle θ3 and elbow joint flexion and extension angle θ4 are obtained; and during the operation of the system, the above-mentioned human upper limb movement joint angles are monitored for vigilance; at the same time, the driving motor rotation angle and the upper limb joint movement angle fed back by the lower computer module are displayed, with the purpose of providing physical therapists with the kinematic data of the patient's exercise training to monitor the training process and implement active protection functions.

[0052] The communication module, in this embodiment, is a full-duplex remote communication method based on the WebSocket communication protocol, which is used for information transmission between the host computer module and the slave computer module; after the physiotherapist and the patient log in and authenticate their identities, the host computer module sends the acquired physiotherapist joint motion angles (θ1, θ2, θ3, θ4) to the slave computer module via the server / messagecenter, and the slave computer module feeds back the rotation angles (θ'1, θ'2, θ'3, θ'4) of each drive motor of the motion control module to the host computer module, thereby realizing real-time communication between the two parties; and this communication method supports a one-to-many communication mode, which can be used for a physiotherapist to provide rehabilitation training guidance to multiple patients at the same time. The specific communication sequence of this communication method is as follows: Figure 4 shown.

[0053] The lower computer module is used to receive the joint angle information sent by the upper computer module via the communication module, and use it as a control instruction to control the motion control module, so as to drive the patient's upper limbs to complete rehabilitation training movements through the drive motor of the motion control module; at the same time, the rotation angle of the motion control module drive motor is fed back to the upper computer module.

[0054] The motion control module, in this embodiment, is a four-degree-of-freedom upper limb rehabilitation exoskeleton with adjustable arm length, including four drive motors: shoulder joint innfos motor 1, shoulder joint innfos motor 2, elbow joint innfos motor 3, and elbow joint innfos motor 4. After the lower computer module sends a control instruction, the drive motor rotates a corresponding angle to drive the patient's upper limbs to complete the rehabilitation training movements; when the drive motor rotates, its built-in encoder records the rotation angle and feeds it back to the lower computer module. The specific structure of the four-degree-of-freedom upper limb rehabilitation exoskeleton is as follows: Figure 5 shown.

[0055] The warning protection module can select active / passive or active and passive combination dual protection mode. Active protection is set in the host computer module and the slave computer module, so that the physiotherapist can actively judge the emergency stop by observing the rotation angle of the motion control module drive motor displayed by the host computer module, or the patient can actively judge the emergency stop through his own training process; passive protection is that when the host computer module and the slave computer module perform warning monitoring, if the monitored angles (θ1, θ2, θ3, θ4) and (θ'1, θ'2, θ'3, θ'4) exceed the warning angle values ​​set in the scene, the system stops automatically.

[0056] In this embodiment, the host computer module performs XOZ plane coordinate conversion based on the YOZ plane coordinate system, and can merge the two-dimensional coordinates into three-dimensional coordinates through coordinate conversion.

[0057]

[0058] In this embodiment, the joint angles in the host computer module are defined as follows: the shoulder joint internal and external rotation angle θ1 is the angle between the upper arm and the vertical direction of the body (negative Z axis) when the upper arm is raised or retracted toward the outside of the limb (negative Y axis); the shoulder joint flexion and extension angle θ2 is the angle between the upper arm and the vertical direction of the body (negative Z axis) when the upper arm is raised or retracted toward the front of the body (X axis); the elbow joint abduction and adduction angle θ3 is the angle between the forearm and the straight direction of the forearm when the forearm is bent or straightened along the elbow end toward the inside of the arm; the elbow joint flexion and extension angle θ4 is the angle between the forearm and the direction of the upper arm when the forearm is bent or straightened along the elbow end.

[0059] In this embodiment, the upper computer module calculates the shoulder joint internal and external rotation angle θ1, shoulder joint flexion and extension angle θ2, elbow joint abduction and adduction angle θ3, and elbow joint flexion and extension angle θ4 in the following manner:

[0060]

[0061] Among them, d se d ew d sw They are the spatial distances between the shoulder and elbow joints, the elbow and wrist joints, and the shoulder and wrist joints.

[0062] In this embodiment, the warning angle values ​​of the passive protection mode in the warning protection module are set as follows: the warning angle of the shoulder joint internal and external rotation angle θ1 and the shoulder joint motor 1 rotation angle θ'1 is -2°~175°; the warning angle of the shoulder joint flexion and extension angle θ2 and the shoulder joint motor 2 rotation angle θ'2 is -2°~175°; the warning angle of the elbow joint abduction and adduction angle θ3 and the elbow joint motor 3 rotation angle θ'3 is -2°~85°; the warning angle of the elbow joint flexion and extension angle θ4 and the elbow joint motor 4 rotation angle θ'4 is -2°~110°.

[0063] Example 2

[0064] In this embodiment, a method for upper limb motion detection based on visual fusion is proposed. The method is based on the proposed upper limb motion detection system based on visual fusion, and the specific operation steps are as follows.

[0065] Step 1: Complete the camera environment construction and communication construction; the host computer is turned on and the human body posture is adjusted, and the initial coordinate system is aligned through the visual acquisition module and the host computer module;

[0066] Step 2: The visual acquisition module acquires human upper limb motion image data with cross-angle dual threads; the host computer module performs filtering processing on the acquired image data, obtains human joint coordinates through skeleton point tracking technology, and then performs coordinate transformation on the joint point coordinates to obtain the spatial coordinates of the shoulder, elbow and wrist joints of the human upper limbs, performs inverse kinematics solution with the spatial coordinates of the joint points, and converts the coordinate changes of the upper limb motion joint points into changes in the joint angles; and performs alert monitoring on the human upper limb motion joint angles, and displays the rotation angle of the motion control module drive motor fed back by the lower computer module;

[0067] Step 3: completing the information transmission between the host computer module and the slave computer module through the communication module; the slave computer module uses the joint angle information sent by the host computer module as a control instruction to realize the control of the motion control module terminal control carrier based on human body movement; at the same time, the rotation angle of the motion control module drive motor is monitored, and the monitored rotation angle of the drive motor is sent to the host computer module;

[0068] Step 4: The motion control module receives the control instruction of the lower computer module, and completes the corresponding function by rotating the motors of each joint; at the same time, the built-in encoder of the drive motor detects the rotation angle of the motor and feeds it back to the lower computer module;

[0069] Step 5: During the operation of the motion control module, the warning protection module selects active / passive or active-passive coordinated protection functions according to the specific implementation method to protect the motion control module and the operation task.

[0070] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. An upper limb motion detection system based on visual fusion, characterized in that: It includes visual acquisition module, host computer module, communication module, slave computer module, motion control module and warning protection module; The visual acquisition module is used to acquire upper limb joint motion image data of the human body from different angles; The upper computer module is used to process the acquired motion image data, obtain the motion angle of the human upper limb joints through coordinate transformation and inverse kinematics solution; and send the acquired human upper limb joint angles to the lower computer module; Perform alert monitoring on the angles of the upper limb motion joints of the human body; display the rotation angle of the motion control module driving motor fed back by the lower computer module; The communication module is used to realize two-way information transmission between the upper computer module and the lower computer module; The lower computer module is used to receive the human upper limb joint angle information sent by the upper computer module, and use it as control instruction information to control the motion control module; and to perform alert monitoring on the rotation angle of the motion control module drive motor; The motion control module completes the corresponding function according to the control instruction sent by the lower computer module; the motor rotation angle is fed back to the lower computer module through the built-in encoder of the driving motor; The warning and protection module is used to provide warning and protection for different motion control modules in different scenarios.

2. The upper limb motion detection system based on visual fusion according to claim 1, characterized in that: The visual acquisition module is composed of two cameras placed at 90 degrees across each other, and the two cameras perform dual-thread image acquisition of human upper limb movements in the XOZ and YOZ planes respectively.

3. The upper limb movement detection system based on visual fusion according to claim 1, characterized in that: The host computer module adopts a method for accurately obtaining the motion state of the human upper limbs based on the joint angle, and the specific steps are as follows: Step 1: Obtain joint coordinates and perform coordinate conversion. After filtering the image information obtained by the visual module, obtain the shoulder joint coordinates (x′1, z′1), (y″1, z″1), elbow joint coordinates (x′2, z′2), (y″2, z″2) and wrist joint coordinates (x′3, z′3), (y″3, z″3) in the XOZ and YOZ planes respectively through the bone point recognition method, and perform coordinate conversion to obtain their spatial coordinates (x s ,y s ,z s ),(x e ,y e ,z e ),(x w ,y w ,z w ), where the coordinate transformation equation is: Step 2: After the spatial coordinates of the shoulder, elbow and wrist joints are acquired, in order to avoid the influence of individual differences when the coordinate changes of the joint points are used as control instructions, the coordinate changes of the joint points during the upper limb movement are converted into joint angle changes; by calculating the Euclidean distance between the joint points and using the trigonometric cosine theorem to solve the inverse kinematics, the shoulder joint internal and external rotation angle θ1, the shoulder joint flexion and extension angle θ2, the elbow joint abduction and adduction angle θ3 and the elbow joint flexion and extension angle θ4 are obtained. The calculation formula is: Among them, dse, dew, and dsw are the spatial distances between the shoulder-elbow joint, the elbow-wrist joint, and the shoulder-wrist joint, respectively.

4. The upper limb movement detection system based on visual fusion according to claim 1, characterized in that: The communication module includes wired or wireless communication modes, which are selected according to the actual application scenario.

5. The upper limb movement detection system based on visual fusion according to claim 4, characterized in that: The communication module uses a full-duplex remote communication method based on the WebSocket communication protocol. After the upper computer module and the lower computer module log in and authenticate their identities, the information between the upper computer module and the lower computer module is transmitted in real time in both directions, and the synchronous control of multiple lower computers by one upper computer is realized at the same time.

6. The upper limb movement detection system based on visual fusion according to claim 1, characterized in that: The lower computer module receives the joint angle information sent by the upper computer module, and uses it as a control instruction to control the motion control module; performs alert monitoring on the rotation angle of the motion control module drive motor; and sends the rotation angle of the motion control module drive motor to the upper computer module for display.

7. The upper limb movement detection system based on visual fusion according to claim 1, characterized in that: The motion control module is a four-degree-of-freedom upper limb rehabilitation exoskeleton, including four innfos drive motors, which can drive the patient's upper limbs to achieve internal and external rotation of the shoulder joint, shoulder flexion and extension, elbow abduction and adduction, and elbow flexion and extension, and obtain the rotation angle of each motor through its built-in encoder.

8. The upper limb movement detection system based on visual fusion according to claim 1, characterized in that: The warning protection module selects active, passive or a combination of active and passive protection modes; active protection means that in some scenarios, the operator actively ends the control process based on the scenario judgment; passive protection means that when the angle monitored by the upper computer module and the lower computer module during warning monitoring exceeds the warning angle value set in the scenario, the system automatically stops.

9. A detection method for an upper limb movement detection system based on visual fusion according to any one of claims 1 to 8, characterized in that The specific steps are as follows: Step 1: Complete the camera environment construction, adjust the human body posture, and complete the initialization coordinate alignment; Step 2: The visual acquisition module acquires human upper limb motion image data with cross-angle dual threads; the host computer module performs filtering processing on the acquired image data, obtains human joint coordinates through skeleton point tracking technology, and then performs coordinate transformation and inverse kinematics solution on the joint point coordinates, converting the coordinate changes of the upper limb motion joint points into changes in joint angles; at the same time, the host computer module performs alert monitoring on the human upper limb motion joint angles, and displays the rotation angle of the motion control module drive motor fed back by the lower computer module; Step 3: completing the information transmission between the host computer module and the slave computer module through the communication module; the slave computer module uses the joint angle information sent by the host computer module as a control instruction to realize the control of the motion control module terminal control carrier based on human body movement, and at the same time monitors the rotation angle of the motion control module drive motor, and sends the monitored rotation angle of the drive motor to the host computer module; Step 4: The motion control module receives the control instruction of the lower computer module, completes the corresponding function by rotating the motors of each joint, and detects the rotation angle of the motor through the built-in encoder of the drive motor and feeds it back to the lower computer module; Step 5: During the operation of the motion control module, the warning protection module selects active / passive or active-passive coordinated protection functions according to the specific implementation method to protect the motion control module and the operation task.

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