Bionic spine waist carrying exoskeleton based on origami mechanism and its control method

Abstract

The present invention discloses a bionic spinal lumbar transport exoskeleton based on an origami mechanism and a control method thereof. The transport exoskeleton is mainly composed of three parts, namely: a bionic spinal unit, a rope drive unit and a human-machine contact unit. The human-machine contact unit is used to connect and fix the transport exoskeleton on the human body, and the rope drive unit is used to provide auxiliary power to the bionic spinal unit to restore from a bent state to a vertical state. The bionic spinal unit is composed of a plurality of bionic vertebral fracture paper mechanisms connected in series. The bionic exoskeleton controls tension through rope drive, so that the exoskeleton can effectively assist the back, reduce the spinal load of the transporter, reduce waist injuries, and protect the health of the lumbar spine; the exoskeleton has multiple degrees of freedom, does not restrict the wearer's natural movement, can support a variety of transport postures, and can improve the flexibility, comfort, and versatility of the exoskeleton; and the exoskeleton is light in weight, simple in structure, and easy to use.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, in particular to an origami-based bionic spine and waist transport exoskeleton and a control method thereof. Background Art

[0002] Manual handling tasks are common in industrial environments, such as aerospace manufacturing, logistics, healthcare, food processing, remote locations, construction sites, agriculture, and material transport. In these environments, handlers are forced to repeatedly lift, bend, and twist their backs. However, frequent and high-load manual handling can cause significant compressive and shear forces on the lumbar spine, particularly in the L5 / S1 region. This can lead to low back pain and, in severe cases, disability. Therefore, handling has become one of the most prominent contributing factors to low back pain (LBP). With the rapid development of Industry 4.0 and smart manufacturing, industrial robots, robotic arms, forklifts, and other tools have been widely introduced in industrial settings, solving many labor challenges. While the introduction of equipment like forklifts and cranes has solved long-distance transportation problems in open spaces, these devices are less effective in confined, short-distance transport situations. Since manual handling primarily injures the lower back, reducing the incidence of musculoskeletal disorders among handlers requires devices that reduce the compressive and shear forces on the lower back during handling, effectively addressing the problem of lower back injuries. Wearable carrying exoskeleton can solve the above problems.

[0003] Currently, wearable exoskeletons can be categorized into two types: passive and active. Passive handling exoskeletons primarily utilize elastic elements to store gravitational potential energy when a person bends and release this energy during uprighting, thereby providing assistance. Research in this category focuses on exoskeleton design using various energy storage elements. While these exoskeletons offer advantages in terms of size and weight, they also have significant drawbacks: the torque assistance they provide is primarily affected by the material, and the control of the assisting force is difficult to adjust and is also affected by the carrying posture. Furthermore, most passive exoskeletons restrict the movement of the waist, enabling only one degree of rotational freedom (i.e., flexion and extension of the trunk). The elastic elements impose additional loads that limit the range of motion, thus restricting the wearer's normal movement. Active handling exoskeletons are another type of exoskeleton. These exoskeletons primarily utilize active electronic components to provide assistive force / torque. The primary power source is a direct drive DC motor. These active exoskeletons are primarily rigid. While they can provide controllable assistive force / torque, they are often heavy. In addition, these exoskeletons provide active assistance in one rotational degree of freedom at the human waist, limiting the other degrees of freedom of the waist. The human spine is composed of 26 vertebrae, and the exoskeleton cannot be designed with only one degree of freedom. Excessive restriction of the body's degrees of freedom during lifting may cause additional lateral force and body twisting, increasing lumbar compression. The above exoskeletons can only provide one degree of freedom for the wearer's waist, namely flexion and extension. They only meet the needs of simple carrying and walking movements, and do not fit well with the movement of the human waist, nor do they address the comfort and flexibility of wearing. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to address the comprehensive issues of flexibility, comfort, versatility, quality, and carrying weight of the above-mentioned exoskeletons on the human body, and influenced by the biomimetic model, the present invention has designed a bionic spinal lumbar carrying exoskeleton based on origami mechanisms. This bionic skeleton can be driven by ropes to control tension, enabling the exoskeleton to effectively provide back support, reducing the load on the carrier's spine, reducing lumbar injuries, and protecting lumbar health. At the same time, due to its multiple degrees of freedom, the exoskeleton does not restrict the wearer's natural movement, thereby supporting a variety of carrying postures and improving the exoskeleton's flexibility, comfort, and versatility. Furthermore, the exoskeleton is lightweight, achieving advantages such as a simple structure and light weight through the origami mechanism.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0006] A bionic spine waist carrying exoskeleton based on origami mechanisms, comprising a back support plate fixed to the human spine via shoulder straps, a waist support plate fixed to the human waist via waist straps, and a back strap fixed to the human back and positioned between the back support plate and the waist support plate. The surface of the back strap is provided with a bionic spine unit composed of a plurality of bionic vertebral fracture paper mechanisms adjacent to each other in sequence. The top of the bionic vertebral fracture paper mechanism at the uppermost end is fixedly connected to the bottom end of the surface of the back support plate, and a tension sensor is fixedly provided on the top end of the top of the bionic vertebral fracture paper mechanism. The bottom of the bionic vertebral fracture paper mechanism at the lowermost end is fixedly connected to the top end of the surface of the waist support plate.

[0007] An inertial measurement unit is fixedly provided on the surface of the back support plate, and a shoulder anchor block is fixedly provided on the surface of the shoulder strap, and the shoulder anchor block is connected to the top input end of the tension sensor through a tension rope;

[0008] A rope-driven pulley assembly, a driving motor located on one side of the rope-driven pulley assembly, and a battery pack located on the other side of the rope-driven pulley assembly are fixedly provided on the surface of the lumbar support plate. The output end of the driving motor is fixedly connected to a take-up drum, on which a steel wire rope is wound. The other end of the steel wire rope is wound and guided by the rope-driven pulley assembly, and then passes through each bionic vertebral fracture paper mechanism in sequence and is connected to the bottom input end of the tension sensor.

[0009] The device also includes a controller and smart gloves. The controller is electrically connected to the tension sensor and the inertial measurement unit, the drive motor and the battery pack, and is wirelessly connected to the smart gloves.

[0010] Furthermore, the bionic vertebral fracture paper mechanism includes a top plate and a bottom plate, a passive spring is connected between the front end of the top plate and the front end of the bottom plate, and the left and right ends of the top plate are rotatably connected to a first arc plate and a second arc plate respectively;

[0011] The front end and rear end of the inner wall of the first circular arc plate are respectively integrally provided with an upper left front extension rod and an upper left rear extension rod, both of which are inclined toward the lower right; the upper left front extension rod is rotatably connected to the upper left front origami connecting rod inclined toward the lower rear; the upper left rear extension rod is rotatably connected to the upper left rear origami connecting rod inclined toward the front and lower; the front end and rear end of the inner wall of the second circular arc plate are respectively integrally provided with an upper right front extension rod and an upper right rear extension rod, both of which are inclined toward the lower left; the upper right front extension rod is rotatably connected to the upper right front origami connecting rod inclined toward the lower rear; the upper right rear extension rod is rotatably connected to the upper right rear origami connecting rod inclined toward the front and lower;

[0012] The left and right ends of the bottom plate are rotatably connected to a third arc plate and a fourth arc plate respectively, and the front end and rear end of the inner wall of the third arc plate are respectively integrally provided with a lower left front extending rod and a lower left rear extending rod, both of which are inclined toward the upper right, the lower left front extending rod is rotatably connected to the lower left front folding connecting rod which is inclined toward the upper rear, and the lower left rear extending rod is rotatably connected to the lower left rear folding connecting rod which is inclined toward the upper front, and the front end and rear end of the inner wall of the fourth arc plate are respectively integrally provided with a lower right front extending rod and a lower right rear extending rod, both of which are inclined toward the upper left, the lower right front extending rod is rotatably connected to the lower right front folding connecting rod which is inclined toward the upper rear, and the lower right rear extending rod is rotatably connected to the lower right rear folding connecting rod which is inclined toward the upper front;

[0013] The rod end of the upper left front origami link and the rod end of the lower left front origami link are rotatably connected via a left front constraint bolt shaft, the rod end of the upper left rear origami link and the rod end of the lower left rear origami link are rotatably connected via a left rear constraint bolt shaft, and the end of the left front constraint bolt shaft is connected to the end of the left rear constraint bolt shaft via a constraint spring;

[0014] The rod end of the upper right front origami link and the rod end of the lower right front origami link are rotationally connected via the right front constraint bolt shaft, the rod end of the upper right rear origami link and the rod end of the lower right rear origami link are rotationally connected via the right rear constraint bolt shaft, and the end of the right front constraint bolt shaft and the end of the right rear constraint bolt shaft are connected via another constraint spring.

[0015] Furthermore, the bottom surface of the first arc plate and the front half of the bottom of the third arc plate are both planes, and the rear half are both arc surfaces inclined rearward and upward; the bottom surface of the second arc plate and the front half of the top of the fourth arc plate are both planes, and the rear half are both arc surfaces inclined rearward and downward.

[0016] Furthermore, a silicone cushion is fixedly provided on the bottom surface of the first arc plate, the bottom surface of the third arc plate, the top surface of the second arc plate and the top surface of the fourth arc plate.

[0017] Furthermore, square silicone pads are fixed on both sides of the bottom surface of the top plate, which are in movable contact with the top of the first arc plate and the top of the third arc plate, and square silicone pads are fixed on both sides of the top surface of the bottom plate, which are in movable contact with the bottom ends of the second arc plate and the fourth arc plate.

[0018] Furthermore, the passive spring and the restraint spring are both in a stretched state.

[0019] Furthermore, a strip-shaped thin film pressure sensor is provided on the palm side of at least one finger of the smart glove, and a strip-shaped bending sensor is provided on the back of the palm of at least one finger of the smart glove. A microcontroller and a small lithium battery electrically connected to the microcontroller are respectively provided on the back of the hand of the smart glove. The microcontroller is electrically connected to the strip-shaped thin film pressure sensor and the strip bending sensor, and the microcontroller is wirelessly connected to the controller.

[0020] A control method for a bionic spine and waist transport exoskeleton based on an origami mechanism is also provided, which is applied to the bionic spine and waist transport exoskeleton based on an origami mechanism, and comprises the following steps:

[0021] S10, the system is powered on, the controller working state is initialized, and the drive motor is in standby state;

[0022] S11, the controller receives the start signal, controls the drive motor to start and initialize;

[0023] S12, the driving motor applies initial pressure to the tension sensor through the steel wire rope. If the tension value detected by the pressure sensor reaches 5N, a control instruction is fed back to the controller, which controls the driving motor to stop running and sets the state of the driving motor to the "0 point" position state;

[0024] S13. If the bionic spine unit begins to bend from an upright position, the passive spring is stretched and stores energy, and the inertial measurement unit detects a component angle of its sagittal plane. , trunk bending angular velocity and height , the strip bending sensor detects its bending value , strip film pressure sensor detects its force value , the tension sensor detects its force value and transmit them to the controller respectively;

[0025] S14, after the controller receives the detection values sent by each sensor, it converts the component angle Minimum standing angle preset by the system , set the bend value The minimum bending value of the fist bend preset by the system Compare them separately;

[0026] like , then return to step S12; if , , the controller controls the dynamic rotation of the drive motor according to the detection feedback value of the tension sensor, and then keeps the force of the tension rope at 0N by winding or releasing the wire rope, and returns to step S13; if and , then proceed to the next step;

[0027] S15, controller delay t Seconds, read the force value transmitted by the strip film pressure sensor , the controller controls the dynamic rotation of the drive motor according to the detection feedback value of the tension sensor, and then keeps the force of the tension rope at 5N by winding or releasing the wire rope;

[0028] S16, the controller uses the component angle provided by the inertial measurement unit , trunk bending angular velocity and height As a parameter, according to the target tension function preset by the system , get the target tension value , and according to the actual pulling force value and target tension value The speed of the drive motor is controlled in a closed loop, so that the drive motor performs the corresponding rope-retracting movement, and the wire rope and passive spring assist the bionic spine unit to restore the upright state;

[0029] S17, if , and the system is not powered off, return to step S12; if the system is powered off, end the control process.

[0030] A method for assisting transport of a bionic spine and waist transport exoskeleton based on an origami mechanism is also provided, which is applied to the bionic spine and waist transport exoskeleton based on an origami mechanism, and comprises the following steps:

[0031] S20, securing the transport exoskeleton to the wearer's body using the straps on the transport exoskeleton, and adjusting the bionic spine unit so that each bionic vertebral fracture mechanism is in its original position;

[0032] S21, the system is powered on and initialized, and the drive motor is in standby mode;

[0033] S22. The wearer is in a standing position and presses the "Start" button. The drive motor is first initialized: the controller uses the tension sensor to feedback and adjust the drive motor. When the tension on the rope reaches 5N, the drive motor stops running immediately and is set to the "0 point" position state.

[0034] S23. When the wearer's torso bends and the wearer performs a bending motion, and the strip bending sensor on the smart glove does not reach the preset degree of hand clenching, the carrying exoskeleton enters transparent mode. The controller controls the dynamic rotation of the drive motor based on the detection feedback value of the tension sensor, and then maintains the force on the tension rope at 0N by winding or releasing the wire rope. In this mode, the wearer can perform the bending operation normally, the bionic spine unit bends synchronously, and the passive spring on the back stores energy.

[0035] S24. When the strip bending sensor on the smart glove bends to a preset bending degree, the controller delays for a preset time and reads the detection value of the pressure sensor. The controller again adjusts the drive motor through the tension sensor to maintain the tension on the tension rope at 5N.

[0036] S25. When the wearer operates the smart glove to lift a heavy object, the controller receives detection data from the strip-shaped thin film pressure sensor on the smart glove, provides a corresponding target tension function according to the corresponding actual tension value, obtains the target tension value, and performs closed-loop speed control on the drive motor based on the actual tension value and the target tension value, thereby causing the drive motor to perform the corresponding rope retraction movement, and the steel wire rope and passive spring assist the bionic spine unit to return to an upright state;

[0037] S26. After the wearer completes the lifting operation, the bionic spine unit is in an upright state, and the controller controls the drive motor to stop running and put the drive motor in a "0 point" position state;

[0038] S27: After the wearer bends down and puts down the heavy object, the carrying exoskeleton enters transparent mode again. The controller controls the dynamic rotation of the drive motor based on the detection feedback value of the tension sensor, and then keeps the force on the tension rope at 0N by winding or releasing the wire rope. The wearer extends his hand again and then makes a fist. The carrying exoskeleton then executes steps S24 and S25 to complete the wearer's assisted standing up.

[0039] S28, repeat steps S23 and S27 to repeat the transport action;

[0040] S29. After the carrying action is completed, the wearer turns off the power and takes off the carrying exoskeleton.

[0041] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0042] 1. The bionic spine unit of the present invention is composed of multiple bionic vertebral fracture paper mechanisms connected in series. The bionic vertebral fracture paper mechanisms are designed based on the origami principle and have five degrees of freedom. The high degree of freedom makes the bionic spine unit highly versatile and flexible. It can well fit the human waist movement and biomimetic human spine movement, meeting the wearer's daily carrying movements.

[0043] 2. The carrying exoskeleton of the present invention has an exquisite overall structure and is lightweight. It drives the movement of the bionic spine unit through a rope to provide waist assistance. It can effectively apply the assistance effect of the motor to the human waist, reduce the load on the wearer's waist, protect the waist, and thus improve the assistance effect and comfort of use.

[0044] 3. The bionic spine unit of the present invention has an active power-assistance mode driven by a motor and a passive power-assistance mode provided by a passive spring. This allows for a combination of active and passive modes. Even when the battery is dead, the unit can provide passive power assistance solely through the passive spring, making it more flexible and convenient to use.

[0045] 4. The present invention adopts a control method based on tension feedback, which enables the carrying exoskeleton to recognize human movements and perform corresponding control processes based on the recognized human movements, thereby achieving self-adaptation of the exoskeleton and having the advantages of high flexibility and versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the three-dimensional structure of the bionic vertebral fracture paper mechanism of the present invention;

[0048] Figure 3 This is a front structural schematic diagram of the bionic vertebral fracture paper mechanism of the present invention;

[0049] Figure 4 This is a schematic diagram of the rear view of the bionic vertebral fracture paper mechanism of the present invention;

[0050] Figure 5 This is a schematic diagram of the degrees of freedom of motion of the bionic vertebral fracture paper mechanism of the present invention;

[0051] Figure 6 This is a schematic structural diagram of the bionic spine unit of the present invention;

[0052] Figure 7 This is a schematic diagram of the dorsal palm 3D structure of the smart glove and its components according to the present invention;

[0053] Figure 8 This is a schematic diagram of the palm-side three-dimensional structure of the smart glove and its components according to the present invention;

[0054] Figure 9 Schematic diagram of the motion control module framework of the transport exoskeleton of the present invention;

[0055] Figure 10 Schematic diagram of the auxiliary transport method of the transport exoskeleton of the present invention.

[0056] In the figure: 1 shoulder strap, 2 back support plate, 3 waist strap, 4 waist support plate, 5 back strap, 6 bionic vertebral fracture paper mechanism, 601 first arc plate, 602 second arc plate, 603 third arc plate, 604 fourth arc plate, 605 top plate, 606 bottom plate, 607 upper left front origami link, 608 upper left rear origami link, 609 upper right front origami link, 610 upper right rear origami link, 611 lower left front origami link, 612 lower left rear origami link, 613 lower right front origami link, 614 lower right rear origami link, 615 left Front constraint bolt shaft, 616 left rear constraint bolt shaft, 617 constraint spring, 618 right front constraint bolt shaft, 619 right rear constraint bolt shaft, 620 passive spring, 621 silicone pad, 622 square silicone pad, 7 tension sensor, 8 inertial measurement unit, 9 shoulder anchor block, 10 tension rope, 11 rope drive pulley assembly, 12 drive motor, 13 battery pack, 14 take-up reel, 15 wire rope, 16 controller, 17 smart gloves, 18 strip film pressure sensor, 19 strip bending sensor, 20 microcontroller, 21 small lithium battery. DETAILED DESCRIPTION

[0057] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0058] See also Figure 1 A bionic spinal lumbar transport exoskeleton based on origami mechanisms consists of three main components: a bionic spine unit, a rope drive unit, and a human-machine interface unit. The human-machine interface unit secures the exoskeleton to the human body, while the rope drive unit provides auxiliary power to the bionic spine unit to restore it from a bent position (corresponding to a human bending over) to a vertical position (corresponding to a human standing upright).

[0059] The human-machine interface unit includes a back support plate 2 secured to the human spine via a shoulder strap 1, a waist support plate 4 secured to the human waist via a waist strap 3, and a back strap 5 secured to the human back and positioned between the back support plate 2 and waist support plate 4. The back support plate 2 is a metal or plastic plate approximately in the shape of an inverted triangle. Its shape and size match the space between the shoulder blades on both sides of the human back, thus not adversely affecting the normal movement of the human skeleton and causing no discomfort when worn. The shoulder strap 1 consists of a ring strap secured to the bottom back of the back support plate 2 and two shoulder straps secured to either side of the top back of the back support plate 2. The ring strap can be wrapped around the outside of the human chest, with a Velcro or buckle connection at the middle front portion (corresponding to the chest). The front bottom ends of the shoulder straps are connected to the front side of the ring strap via Velcro or buckle, thereby securely securing the back support plate 2 to the human back. The lumbar support plate 2 is a curved plate that conforms to the back of the human waist. The waist strap 3 wraps around the outside of the waist, with a Velcro or snap fastener at the front center (corresponding to the front of the waist), thus securely securing the lumbar support plate 2 to the waist. The back strap 5 wraps around the outside of the back and abdomen, with a Velcro or snap fastener at the front center (corresponding to the abdomen). This facilitates the rapid installation and removal of the transport exoskeleton from the body.

[0060] The bionic spine unit is composed of multiple (seven in this embodiment) bionic vertebral fracture paper structures 6 connected in series (e.g. Figure 6 As shown, the bionic spine units are movably mounted on the surface of the back strap 5. The top of the bionic vertebral fracture mechanism 6 at the top is fixedly connected to the bottom surface of the back support plate 2. A tension sensor 7 is fixedly mounted on the top of the bionic vertebral fracture mechanism 6. The bottom of the bionic vertebral fracture mechanism 6 at the bottom is fixedly connected to the top surface of the lumbar support plate 4. Each bionic vertebral fracture mechanism 6 is threaded on a steel cable 15. Each bionic vertebral fracture mechanism 6 has five degrees of freedom, which can simultaneously simulate the bending and stretching movements of the human spine.

[0061] The top and bottom ends of the tension sensor 7 are provided with threaded holes, and a lifting eye bolt is threadedly connected in each threaded hole. The bottom input end of the tension sensor is fixedly connected to the top plate of the uppermost vertebral fracture paper mechanism 6 through the lifting eye bolt. An inertial measurement unit (IMU) 8 is fixedly provided on the surface of the back support plate 2, and a shoulder anchor block 9 (one is provided on each shoulder strap) is fixedly provided on the rear surface of the shoulder strap 1 (specifically, the shoulder strap), and a shoulder bolt is fixedly provided on the shoulder anchor block 9. The middle part of the shoulder bolt is connected to the lifting eye bolt at the top input end of the tension sensor 7 through a tension rope 10. In this way, the tension sensor 7 can detect the tension on the shoulder anchor block 9 in real time to characterize the degree of bending of the human shoulder during the process of carrying heavy objects. The inertial measurement unit 8 measures the inertial force of the shoulder through a component angle of its sagittal plane. To characterize the degree of curvature of the human spine during the process of carrying heavy objects, when the human body is in an upright state, the component angle It should be close to 90°. At the same time, the inertial detection unit 8 can detect the angular velocity of the trunk bending in real time. and height and transmit the real-time detection value to the controller.

[0062] like Figures 2 to 4 As shown, the bionic vertebral fracture paper mechanism 6 comprises a top plate 605 and a bottom plate 606. A passive spring 620 is connected between the front ends of the top plate 605 and the front ends of the bottom plate 606. The passive spring 620 passes through the frontmost holes of the top plate 605 and the bottom plate 606, thereby connecting the top plate 605 and the bottom plate 606. The passive springs 620 in each bionic vertebral fracture paper mechanism 6 are sequentially connected at their ends. The passive springs 620 are always in a stretched state. In other words, they exert a small restraining force in the initial position of the bionic vertebral unit (corresponding to the upright position of the human body). Their primary function is to maintain the compact and stable structure of the entire bionic vertebral unit. When the wearer bends, the passive springs 620 on the back are stretched, stabilizing the bionic vertebral unit and collecting and storing the gravitational potential energy of the body during bending. When the wearer regains their upright position, the passive springs 620 release energy to provide auxiliary assistance, thereby reducing energy consumption in the power components of the cable drive unit. The carrying exoskeleton can achieve a combination of active and passive power assistance. When the power components of the rope drive unit are not working, independent passive power assistance can be achieved.

[0063] The bionic vertebral fracture paper mechanism 6, as a whole, exhibits a symmetrical structure, both vertically, bilaterally, and frontally. It is the primary component of the bionic spine unit and is designed based on origami principles. The top plate 605 is rotatably connected to opposing first and second circular plates 601, 602, via bolts on its left and right ends. Microbearings are provided within the revolving pair, allowing both first and second circular plates 601, 602 to rotate relative to the top plate 605. Similarly, the bottom plate 606 is rotatably connected to opposing third and fourth circular plates 603, 604, via bolts on its left and right ends. Microbearings are provided within the revolving pair, allowing both third and fourth circular plates 603, 604 to rotate relative to the bottom plate 606. The third circular plate 603 is positioned relatively below the first circular plate 601, and the fourth circular plate 604 is positioned relatively below the second circular plate 602.

[0064] The front end and rear end of the inner wall of the first circular arc plate 601 are respectively integrally provided with a left upper front extension rod and a left upper rear extension rod, both of which are inclined toward the lower right. The left upper front extension rod is rotatably connected with a left upper front origami link 607 inclined toward the lower rear, and the left upper rear extension rod is rotatably connected with a left upper rear origami link 608 inclined toward the front and lower. The front end and rear end of the inner wall of the second circular arc plate 602 are respectively integrally provided with a right upper front extension rod and a right upper rear extension rod, both of which are inclined toward the lower left. The right upper front extension rod is rotatably connected with a right upper front origami link 609 inclined toward the lower rear via a bolt shaft, and the right upper rear extension rod is rotatably connected with a right upper rear origami link 610 inclined toward the front and lower. Similarly, the front end and rear end of the inner wall of the third arc plate 603 are respectively integrally provided with a lower left front extension rod and a lower left rear extension rod, both of which are inclined toward the upper right. The lower left front extension rod is rotatably connected to the lower left front paper-folding connecting rod 611, which is inclined toward the upper rear, by a bolt shaft, and the lower left rear extension rod is rotatably connected to the lower left rear paper-folding connecting rod 612, which is inclined toward the upper front. The front end and rear end of the inner wall of the fourth arc plate 604 are respectively integrally provided with a lower right front extension rod and a lower right rear extension rod, both of which are inclined toward the upper left. The lower right front extension rod is rotatably connected to the lower right front paper-folding connecting rod 613, which is inclined toward the upper rear, by a bolt shaft, and the lower right rear extension rod is rotatably connected to the lower right rear paper-folding connecting rod 614, which is inclined toward the upper front, by a bolt shaft.

[0065] The rod end of the upper left front origami link 607 is rotationally connected to the rod end of the lower left front origami link 611 through the left front constraint bolt shaft 615, the rod end of the upper left rear origami link 608 is rotationally connected to the rod end of the lower left rear origami link 612 through the left rear constraint bolt shaft 616, and the end of the left front constraint bolt shaft 615 and the end of the left rear constraint bolt shaft 616 are connected by a constraint spring 617; the rod end of the upper right front origami link 609 and the rod end of the lower right front origami link 613 are rotationally connected through the right front constraint bolt shaft 618, the rod end of the upper right rear origami link 610 and the rod end of the lower right rear origami link 614 are rotationally connected through the right rear constraint bolt shaft 619, and the end of the right front constraint bolt shaft 618 and the end of the right rear constraint bolt shaft 619 are connected by another constraint spring 617. Each rotating pair is equipped with a micro bearing to realize the relative rotation between each origami link and the corresponding arc plate. Figure 2 The left front restraint bolt shaft 615 and the left rear restraint bolt shaft 616 are parallel to each other and are located on the same side (as shown in FIG. Figure 2 The axes of the right front restraint bolt axis 618 and the right rear restraint bolt axis 619 (shown on the right side) are parallel. In the initial state, the axes of the left front restraint bolt axis 615 and the right front restraint bolt axis 618 coincide, and the axes of the left rear restraint bolt axis 616 and the right rear restraint bolt axis 619 coincide. The axes of all four restraint bolt axes are evenly parallel to the surface of the top plate 605. Thus, the upper and lower arc plates on the same side are connected by the origami connecting rods connected to the same side and the restraint bolt axes connected to the origami connecting rods.

[0066] Under the above structure, in the initial state, the four origami links on the same side are in a "> <" structure, as shown in Figure 2 As viewed from the left side of the angle shown, the rod end of the upper left front origami link 607 and the rod end of the lower left front origami link 611 are rotatably connected via the left front constraint bolt shaft 615, forming a "<" shape, while the rod end of the upper left rear origami link 608 and the rod end of the lower left rear origami link 612 are rotatably connected via the left rear constraint bolt shaft 616, forming a ">" shape. After the shaft ends of the left front constraint bolt shaft 615 and the left rear constraint bolt shaft 616 are connected via a constraint spring 617, the two ends of the constraint spring 617 are respectively limited and fixed by constraint nuts, so that the constraint spring 617 is in a stretched state. The constraint spring 617 can then constrain the relative motion between the two origami links connected on the same side, so that the two hinged links are always in an inward-adjusted state, such as: "> <", thereby solving the problem of multiple solutions for the spatial position of the links.

[0067] like Figure 5As shown, the bionic vertebral fracture paper mechanism 6 with the above structure can achieve 5 degrees of freedom, namely: y-axis displacement, z-axis displacement, x-axis rotation, y-axis rotation and z-axis rotation. The human waist movement is generally flexion and extension movement (in the sagittal plane), lateral bending movement (in the coronal plane) and axial rotation (in the horizontal plane). In order to achieve these movements, the vertebral bionic unit in the waist needs to have at least 4 degrees of freedom, namely: z-axis displacement, x-axis rotation, y-axis rotation and z-axis rotation. Therefore, the designed bionic vertebral fracture paper mechanism 6 can achieve the above requirements. Figure 6 As shown, the entire bionic spine unit presents a redundant structure. In order to be able to control the unit well, it is necessary to limit the less useful degrees of freedom. To this end, the top of the arc main part of the first arc plate 601, the top of the arc main part of the third arc plate 603, the bottom of the arc main part of the second arc plate 602, and the bottom of the arc main part of the fourth arc plate 604 are all fixedly provided with limit blocks, and the two sides of the bottom surface of the top plate 605 and the two sides of the top surface of the bottom plate 606 are respectively fixedly provided with square silicone pads 622 corresponding to the respective limit blocks. The contact between the limit blocks and the square silicone pads 622 limits the movement of the arc plates, while absorbing the impact of movement and limiting the y-axis displacement of the bionic vertebral fracture paper mechanism 6. This degree of freedom does not affect the auxiliary effect of the entire bionic spine unit and can facilitate the control of the redundant structure. The main arc portions of the four circular plates are primarily used to limit the minimum z-axis displacement of the bionic vertebral fracture paper mechanism 6 (when the upper and lower arc plates on the same side abut against each other), i.e., the initial position of the bionic vertebral fracture paper mechanism 6 when the person is standing. Silicone cushions 621 are fixedly mounted on the bottom surfaces of the first circular plate 601, the bottom surfaces of the third circular plate 603, and the top surfaces of the second and fourth circular plates 602 and 604. Similar to intervertebral discs in the human body, the silicone cushions 621 absorb movement shock and limit the z-axis displacement of the bionic vertebral fracture paper mechanism 6.

[0068] Preferably, the bottom surfaces of the first arc plate 601 and the third arc plate 603 are both flat on their front halves and arc surfaces tilted upward and backward on their back halves. The bottom surfaces of the second arc plate 602 and the top surfaces of the fourth arc plate 604 are both flat on their front halves and arc surfaces tilted downward and backward on their back halves. This partially restricts the Y-axis rotation of the bionic vertebral fracture paper mechanism 6, limiting it to unidirectional rotation. This allows the entire bionic spine unit to achieve synchronous unidirectional bending with the body's bending motion, while also facilitating control over the entire bionic spine unit's return to its initial position.

[0069] The structure and connection relationship of the rope drive unit are as follows: the surface of the lumbar support plate 4 is fixedly provided with a rope drive pulley assembly 11, a drive motor 12 located on one side of the rope drive pulley assembly 11, and a battery pack 13 located on the other side of the rope drive pulley assembly 11. The output end of the drive motor 12 is fixedly connected to a take-up drum 14, on which a steel wire rope 15 is wound. The other end of the steel wire rope 15 is wound and guided through the rope drive pulley assembly 11, then passes through each bionic vertebral fracture paper mechanism 6 in sequence and is connected to the eyebolt at the bottom input end of the tension sensor 7. The drive motor 12 is a mainstream brushless motor with an encoder installed at its shaft end to precisely control the rotation of the brushless DC motor. The battery pack 13 includes a battery box fixedly mounted on the left side of the surface of the lumbar support plate 4 by bolts and a lithium battery removably located within the battery box. The lithium battery powers the drive motor 12. The rope-driven pulley assembly 11 includes a pulley bracket and a plurality of guide pulleys rotatably mounted on the pulley bracket. The pulley bracket is fixedly mounted at the center of the surface of the lumbar support plate 4. One end of the wire rope 15 is bolted to the take-up drum 14. The other end passes through each guide pulley in sequence, then passes through corresponding holes in the bottom plate 606 and top plate 605 of each bionic vertebral fracture paper mechanism 6, and then connects to the lower end of the tension sensor 7. The wire rope 15 can be wound or released on the take-up drum 14 by controlling the rotation of the drive motor 12. When the drive motor 12 is not in operation, the take-up drum 14 is in a free rotation state, and the wire rope 15 is in a free winding state. When the wire rope 15 is wound around the take-up drum 14, it is in a taut state, exerting tension on the back support plate 2, thereby restoring the bionic spine unit from its bent state to its initial vertical position, achieving active power-assistance. The tension sensor 7 detects the tension of the wire rope 15 in real time and transmits the detection result to the controller 16. The controller 16 then compares the detection result with a preset target value and adjusts the rotation angle of the drive motor 12, thereby achieving feedback control. When the wire rope 15 is released from the take-up drum 14, it is in a relaxed state, at which point the bionic spine unit can bend synchronously with the human body's bending process.

[0070] The control system of the rope drive unit of the transport exoskeleton is composed of Figure 9As shown, the device includes a controller 16 and a smart glove 17, which are used to detect the body's bending state and hand-carrying state, and control the motion state of the rope drive unit. The controller 16 uses an existing single-chip microcomputer development board (including a serial communication module, an I2C communication module, a CAN communication module, a Wi-Fi module, a step-down module, etc.). The specific structure and operating principle are not detailed here. The brushless DC motor internally contains a driver, an encoder, and a reducer. The single-chip microcomputer communicates with the brushless DC motor via the CAN bus, and the single-chip microcomputer is used to read the analog input from the tension sensor. The IMU communicates with the single-chip microcomputer via the serial port to obtain the wearer's torso bending angle, angular velocity, and height for motion recognition and feedback control. The battery directly powers the 48V brushless DC motor. A power switch is installed on the power supply line, located in front of the waist. The battery, through the step-down module, powers the 24V transmitter of the tension sensor 7 and the 5V single-chip microcomputer. The WIFI module of the microcontroller acts as a server, which allows the computer client to access and reflect the various parameter values collected by the microcontroller in real time.

[0071] like Figure 7 and Figure 8 As shown, a strip-shaped thin-film pressure sensor 18 is installed on the palm side of at least one finger of the smart glove 17, and a strip-shaped bend sensor 19 is installed on the dorsal side of at least one finger of the smart glove 17. A microcontroller 20 and a small lithium battery 21 electrically connected to the microcontroller 20 are installed on the back of the hand of the smart glove 17. The microcontroller 20 is electrically connected to the strip-shaped thin-film pressure sensor 18 and the strip-shaped bend sensor 19, respectively, and is wirelessly connected to the controller 16. In this embodiment, there is one strip-shaped bend sensor 19, which is installed on the dorsal side of the index finger of the smart glove 17. There is also one strip-shaped thin-film pressure sensor 18, which is installed on the palm side of the index finger of the smart glove 17. The microcontroller 20 uses an existing ESP-12F WIFI module development board, and is powered by a small lithium battery 21. The WIFI module on the smart glove 17 communicates wirelessly with the single-chip microcomputer, the strip film pressure sensor 18 is used to collect the weight of the heavy object being carried, and the strip bending sensor 19 is used to control the ADC module of the ESP-12F to collect pressure signals.

[0072] A control method for a bionic spine and waist transport exoskeleton based on an origami mechanism is applied to the bionic spine and waist transport exoskeleton based on an origami mechanism, comprising the following steps:

[0073] S10, the system is powered on, the controller working state is initialized, and the drive motor is in standby state;

[0074] S11, the controller receives the start signal, controls the drive motor to start and initialize;

[0075] S12, the driving motor applies initial pressure to the tension sensor through the wire rope. If the tension value detected by the pressure sensor reaches 5N, the control instruction is fed back to the controller, and the controller controls the driving motor to stop running, and sets the state of the driving motor to the "0 point" position state; at this time, a component of the sagittal plane of the IMU It should be close to 90°. This state is the standing rope pre-tightening state. The system sets the minimum standing angle , when a person is walking or standing, the following conditions are met: ,At this time, the system recognizes that the carrying exoskeleton is in a standing state.

[0076] S13. If the bionic spine unit begins to bend from an upright position, the passive spring is stretched and stores energy, and the inertial measurement unit detects a component angle of its sagittal plane. , trunk bending angular velocity and height , the strip bending sensor detects its bending value , strip film pressure sensor detects its force value , the tension sensor detects its force value and transmit them to the controller respectively;

[0077] S14, after the controller receives the detection values sent by each sensor, it converts the component angle Minimum standing angle preset by the system , set the bend value The minimum bending value of the fist bend preset by the system Compare them separately;

[0078] like , indicating that the degree of bending of the human body is small, and the human body is not in a state of preparing to carry the object or has already actively assisted, then the process returns to step S12;

[0079] like , , then the body has fallen below the minimum standing angle , indicating that the wearer's torso has bent and is currently bending. At this point, the strip-shaped bending sensor 19 on the smart glove 17 has not yet reached the level of a fist, indicating a bending state. This state requires the exoskeleton to enter transparent mode. The controller then controls the dynamic rotation of the drive motor based on the feedback from the tension sensor, maintaining the tension rope at 0 N by winding or releasing the wire rope, and then returns to step S13. Simultaneously, the passive spring on the back begins to store energy.

[0080] like and , indicating that the strip bending sensor 19 on the smart glove 17 has been bent to a certain degree, and the hand is in a state of grasping an object. The system recognizes that the carrying exoskeleton is in a state where the wearer starts to lift the object, and then proceeds to the next step;

[0081] S15, controller delay t Seconds, read the force value transmitted by the strip film pressure sensor 18 The controller controls the dynamic rotation of the drive motor according to the detection feedback value of the tension sensor, so that the drive motor enters the pre-tensioning mode again, and then keeps the force of the tension rope at 5N by winding or releasing the wire rope; this state is the lifting preparation state.

[0082] S16, the controller uses the component angle provided by the inertial measurement unit , trunk bending angular velocity and height As a parameter, according to the target tension function preset by the system , get the target tension value , and according to the actual pulling force value and target tension value The speed of the drive motor is controlled in a closed loop so that the drive motor performs the corresponding rope-retracting movement. The steel wire rope and the passive spring assist the bionic spine unit to recover the upright state; this state is the lifting-assisting state.

[0083] S17, if , and the system is not powered off, it means that the human body is in an upright walking state, the carrying exoskeleton is in a lifting end state, and may be about to perform the next lifting operation, then return to step S12; if the system is powered off, end the control process.

[0084] See also Figure 10 An auxiliary transport method for a bionic spine waist transport exoskeleton based on an origami mechanism is applied to the bionic spine waist transport exoskeleton based on an origami mechanism, comprising the following steps:

[0085] S20, securing the transport exoskeleton to the wearer's body using the straps on the transport exoskeleton, and adjusting the bionic spine unit so that each bionic vertebral fracture mechanism is in its original position;

[0086] S21, the system is powered on and initialized, and the drive motor is in standby mode;

[0087] S22, the wearer is in a standing state, press the "start" button, the drive motor is first initialized: the controller uses the tension sensor to adjust the drive motor feedback, when the tension on the rope reaches 5N, the drive motor stops running immediately, and the state of the drive motor is set to the "0 point" position state; at this time, a component of the sagittal plane of the IMU It should be close to 90°. This state is the standing rope pre-tightening state, and the system recognizes that the carrying exoskeleton is in the standing state.

[0088] S23. When the wearer's torso bends and the wearer performs a bending action, and the strip bending sensor 19 on the smart glove 17 does not reach the preset degree of bending of the hand to a fist, the following conditions are satisfied: , When the carrying exoskeleton is in a bent-over state, it enters transparent mode. The controller controls the dynamic rotation of the drive motor according to the detection feedback value of the tension sensor, and then keeps the force of the tension rope at 0N by winding or releasing the wire rope. In this mode, the wearer can bend normally, the bionic spine unit bends synchronously, and the passive spring on the back stores energy.

[0089] S24. When the strip bending sensor 19 on the smart glove 17 bends to a preset bending degree, the following conditions are satisfied: and When the wearer of the carrying exoskeleton starts to lift an object, the controller delays for a preset time (e.g., 3 seconds to ensure that the hand has firmly grasped the object) and reads the detection value of the pressure sensor. The controller again adjusts the drive motor through the tension sensor to make the drive motor enter the pre-tensioning mode again and maintain the tension on the tension rope at 5N.

[0090] S25. When the wearer operates the smart glove 17 to lift a heavy object, the controller receives detection data from the strip-shaped thin film pressure sensor 18 on the smart glove 17, provides a corresponding target tension function according to the corresponding actual tension value, obtains the target tension value, and performs closed-loop speed control on the drive motor based on the actual tension value and the target tension value, thereby causing the drive motor to perform the corresponding rope retraction movement. The steel wire rope and passive spring assist the bionic spine unit to return to an upright state. This state is the lifting-assisted state.

[0091] S26. After the wearer completes the lifting operation, the bionic spine unit is in an upright state, and the following conditions are met again: The controller stops the drive motor and places it at the "0" position, which is the end of the lift. The wearer can bend over in this position to release the object.

[0092] S27: After the wearer bends down to put down the object, the transport exoskeleton re-enters transparent mode. Unlike the previous transparent mode, the strip bending sensor 19 remains bent. The controller controls the dynamic rotation of the drive motor based on the feedback from the tension sensor, and then winds or releases the wire rope to maintain the tension at 0 N. The wearer extends their hand again and then clenches their fist. The transport exoskeleton then executes the active assistance process in steps S24 and S25, assisting the wearer in standing up.

[0093] S28, repeating steps S23 to S27 to repeat the carrying action, reducing the load on the wearer's waist and protecting the wearer's waist;

[0094] S29. After the carrying action is completed, the wearer turns off the power and takes off the carrying exoskeleton.

[0095] The back bionic spine unit of the exoskeleton is composed of 7 bionic vertebral fracture paper mechanisms 6 connected in series, each of which has 5 degrees of freedom and an overall mass of less than 100g. The back bionic spine unit is controlled by rope drive, so the entire bionic spine can fit the human body's movements well, support a variety of carrying postures, and provide back assistance, reduce the load on the spine, help the wearer perform carrying operations, and protect the wearer's waist. At the same time, the exoskeleton uses a bionic spine, which makes the overall weight more sophisticated and the installation simpler than current active exoskeletons. The overall mass of the exoskeleton is relatively light, only 3.15kg, so while the exoskeleton has an overall improved power-assisting effect, it also has better flexibility, comfort and versatility.

[0096] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A bionic spinal waist carrying exoskeleton based on an origami mechanism, comprising a back support plate (2) fixed to the human spine via a shoulder strap (1), a waist support plate (4) fixed to the human waist via a waist strap (3), and a back strap (5) fixed to the human back and located between the back support plate (2) and the waist support plate (4), characterized in that: The surface of the back strap (5) is provided with a bionic spine unit composed of a plurality of bionic vertebral fracture paper mechanisms (6) adjacent to each other in sequence, the top of the bionic vertebral fracture paper mechanism (6) at the uppermost end is fixedly connected to the bottom end of the surface of the back support plate (2), and a tension sensor (7) is fixedly provided at the top end of the top of the bionic vertebral fracture paper mechanism (6), and the bottom of the bionic vertebral fracture paper mechanism (6) at the lowermost end is fixedly connected to the top end of the surface of the waist support plate (4); The bionic vertebral fracture paper mechanism (6) comprises a top plate (605) and a bottom plate (606); a passive spring (620) is connected between the front side end of the top plate (605) and the front side end of the bottom plate (606); and the left and right ends of the top plate (605) are rotatably connected to a first arc plate (601) and a third arc plate (603), respectively. The front end and rear end of the inner wall of the first circular arc plate (601) are respectively integrally provided with a left upper front extension rod and a left upper rear extension rod, both of which are inclined toward the lower right; the left upper front extension rod is rotatably connected to a left upper front origami link rod (607) inclined toward the lower rear; the left upper rear extension rod is rotatably connected to a left upper rear origami link rod (608) inclined toward the front and lower; the front end and rear end of the inner wall of the third circular arc plate (603) are respectively integrally provided with a right upper front extension rod and a right upper rear extension rod, both of which are inclined toward the lower left; the right upper front extension rod is rotatably connected to a right upper front origami link rod (609) inclined toward the lower rear; the right upper rear extension rod is rotatably connected to a right upper rear origami link rod (610) inclined toward the front and lower; The left and right ends of the bottom plate (606) are rotatably connected to the second arc plate (602) and the fourth arc plate (604), respectively; the front end and the rear end of the inner wall of the second arc plate (602) are respectively integrally provided with a left lower front extension rod and a left lower rear extension rod, both of which are inclined toward the upper right; the left lower front extension rod is rotatably connected to the left lower front folding connecting rod (611) inclined toward the upper rear; the left lower rear extension rod is rotatably connected to the left lower rear folding connecting rod (612) inclined toward the upper front; the front end and the rear end of the inner wall of the fourth arc plate (604) are respectively integrally provided with a right lower front extension rod and a right lower rear extension rod, both of which are inclined toward the upper left; the right lower front extension rod is rotatably connected to the right lower front folding connecting rod (613) inclined toward the upper rear; the right lower rear extension rod is rotatably connected to the right lower rear folding connecting rod (614) inclined toward the upper front; The rod end of the upper left front origami link (607) and the rod end of the lower left front origami link (611) are rotatably connected via a left front constraint bolt shaft (615); the rod end of the upper left rear origami link (608) and the rod end of the lower left rear origami link (612) are rotatably connected via a left rear constraint bolt shaft (616); and the end of the left front constraint bolt shaft (615) and the end of the left rear constraint bolt shaft (616) are connected via a constraint spring (617); The rod end of the upper right front origami link (609) and the rod end of the lower right front origami link (613) are rotatably connected via a right front constraint bolt shaft (618); the rod end of the upper right rear origami link (610) and the rod end of the lower right rear origami link (614) are rotatably connected via a right rear constraint bolt shaft (619); and the end of the right front constraint bolt shaft (618) and the end of the right rear constraint bolt shaft (619) are connected via another constraint spring (617); An inertial measurement unit (8) is fixedly provided on the surface of the back support plate (2), a shoulder anchor block (9) is fixedly provided on the surface of the shoulder strap (1), and the shoulder anchor block (9) is connected to the top input end of the tension sensor (7) via a tension rope (10); The surface of the lumbar support plate (4) is respectively fixedly provided with a rope drive pulley group (11), a drive motor (12) located on one side of the rope drive pulley group (11), and a battery group (13) located on the other side of the rope drive pulley group (11); the output end of the drive motor (12) is fixedly connected to a take-up drum (14); a steel wire rope (15) is wound on the take-up drum (14); the other end of the steel wire rope (15) is wound and guided by the rope drive pulley group (11), and then passes through each bionic vertebral fracture paper mechanism (6) in sequence and is connected to the bottom input end of the tension sensor (7); The invention also includes a controller (16) and a smart glove (17). The controller (16) is electrically connected to the tension sensor (7) and the inertial measurement unit (8), the drive motor (12) and the battery pack (13), and is wirelessly connected to the smart glove (17).

2. The bionic spine waist transport exoskeleton based on origami mechanism according to claim 1, characterized in that: The bottom surface of the first arc plate (601) and the front half of the bottom of the third arc plate (603) are both planes, and the rear half are both arc surfaces inclined upward and backward; the bottom surface of the second arc plate (602) and the front half of the top of the fourth arc plate (604) are both planes, and the rear half are both arc surfaces inclined downward and backward.

3. The bionic spine waist transport exoskeleton based on origami mechanism according to claim 2, characterized in that: The bottom surface of the first circular arc plate (601), the bottom surface of the third circular arc plate (603), the top surface of the second circular arc plate (602) and the top surface of the fourth circular arc plate (604) are all fixedly provided with a silicone soft pad (621).

4. The bionic spine waist transport exoskeleton based on origami mechanism according to claim 1, characterized in that: Square silicone soft pads (622) are fixedly provided on both sides of the bottom surface of the top plate (605) and are in corresponding movable contact with the top end of the first circular arc plate (601) and the top end of the third circular arc plate (603), and square silicone soft pads (622) are fixedly provided on both sides of the top surface of the bottom plate (606) and are in corresponding movable contact with the bottom ends of the second circular arc plate (602) and the fourth circular arc plate (604).

5. The bionic spine waist transport exoskeleton based on an origami mechanism according to any one of claims 1 to 4, characterized in that: The passive spring (620) and the restraining spring (617) are both in a stretched state.

6. The bionic spine waist transport exoskeleton based on origami mechanism according to claim 1, characterized in that: A strip-shaped thin film pressure sensor (18) is provided on the palm side of at least one finger of the smart glove (17), a strip-shaped bending sensor (19) is provided on the back of the palm of at least one finger of the smart glove (17), a microcontroller (20) and a small lithium battery (21) electrically connected to the microcontroller (20) are provided on the back of the hand of the smart glove (17), the microcontroller (20) is electrically connected to the strip-shaped thin film pressure sensor (18) and the strip-shaped bending sensor (19), and the microcontroller (20) is wirelessly connected to the controller (16).

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