Non-contact wearable humanoid robot based on virtual reality and brain-like prediction control method thereof

Abstract

The invention discloses a non-contact wearable humanoid robot based on virtual reality and a brain-like prediction control method thereof. The non-contact wearable humanoid robot comprises a body device, a hand device, a leg device and a console, the body device comprises an upper body skeleton, a visual detection device, an arm connecting piece, an arm motor, an arm synchronous belt, a leg skeleton connecting piece, a leg connecting piece, a leg connecting shaft, an upper body skeleton, an ultrasonic detection device and a leg motor. According to the robot, the body device, the hand devices and the leg devices are controlled to work through the console in combination with a brain-like prediction algorithm, so that efficient humanoid motion control is completed; through the virtual reality suit and the sensor, non-contact control of the exoskeleton armor and controllability and adjustability of feedback force and assisting force are achieved, virtual reality of the control feeling of an operator is achieved, and the same effect of controlling the exoskeleton armor in virtual reality is achieved.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of humanoid robots, and in particular to a contactless wearable humanoid robot based on virtual reality and a brain-like predictive control method thereof. Background Art

[0002] Wearable humanoid robots can greatly improve personal capabilities and play an important role in the military and civilian fields. However, wearable humanoid robots currently have problems such as weight, discomfort, constraint, vibration, inaccurate force feedback and assistance, and non-adjustability. In addition, wearable humanoid robots in the future need to solve the problems of large loss, high cost, poor effect of exoskeleton armor training, difficulty in talent screening, and high training cost. Therefore, it is extremely necessary to design a wearable humanoid robot that can solve the above problems. Wearable humanoid robots can be classified into unpowered and powered, heavy and light. With the development of technologies such as energy storage, strong motor drive, and electromagnetic assistance, wearable humanoid robots are gradually developing towards strong power, intelligence, and informationization. In virtual reality technology, technologies such as accurate feedback of human posture, real feedback of touch, vision, hearing, and force perception in virtual reality have matured, and the popularity of equipment is increasing. Summary of the invention

[0003] To solve at least some of the above problems, the present invention provides a contactless wearable humanoid robot based on virtual reality and a brain-like predictive control method thereof. To achieve the above objectives, the following technical solutions are provided:

[0004] On the one hand, the present invention provides a contactless wearable humanoid robot based on virtual reality, comprising a body device, a hand device, a leg device and a console, wherein the hand device, the leg device and the console are all fixed to the body device; the body device comprises an upper body skeleton, a lower body skeleton, a first arm connecting piece, a first arm motor, a leg connecting piece, a first leg connecting shaft, and a first leg motor; the lower body skeleton is fixedly connected to the upper body skeleton, and a visual detection device is fixed to the front end of the upper body skeleton; an ultrasonic detection device is fixed to the front of the lower body skeleton; the hand device is rotationally connected to the upper body skeleton through the first arm connecting piece, comprising an arm shoulder guard, an upper arm, a first arm forearm, a second arm forearm, a third arm forearm, multiple arm motors, multiple arm connecting pieces, a palm camera, and a palm; the leg device is rotationally connected to the lower body skeleton through the leg connecting piece, comprising a thigh, a first calf, a second calf, a third calf, multiple leg motors, multiple leg connecting shafts, an ankle, and a sole.

[0005] Preferably, the hand device includes: a second arm motor is fixed to the arm shoulder guard and rotationally connected to the upper arm, the arm shoulder guard is rotationally connected to the first arm connecting piece through the second arm connecting piece, and the second arm motor rotating shaft is fixed to the first arm connecting piece; the third arm motor rotating shaft is rotationally connected to the upper arm and fixed to the first arm forearm; the first arm forearm and the second arm forearm are rotationally connected; the fourth arm motor is fixed to the second arm forearm, the first arm forearm is provided with synchronous teeth, and the synchronous teeth are synchronously connected with the fourth arm motor through the second arm synchronous belt to realize the rotation of the second arm forearm; the second forearm is fixedly connected to the third forearm, and both are provided with a hollow semi-spherical space, and the semi-spherical space is provided with a palm camera; the third arm forearm is provided with a groove for the fifth arm motor to be fixedly connected, the third arm forearm is provided with a boss rotationally connected to the palm through the fourth arm connecting piece, and the fifth arm motor rotating shaft is fixedly connected to the palm to realize the rotation of the palm.

[0006] Preferably, the leg device includes: a leg connecting piece, a thigh, and a first calf are rotationally connected via a second leg connecting shaft and a third leg connecting shaft respectively, and a second leg motor and a third leg motor are rotationally connected to the thigh and the first calf respectively; the first calf is rotationally connected to the second calf and the third calf, the second calf is fixed to the third calf, the fourth leg motor is fixed to the third calf, and one end of the first calf is provided with a gear boss which is synchronously connected to the fourth leg motor via a leg synchronous belt; one end of the second calf and the third calf are both provided with a hollow semi-spherical space which is rollingly connected to a foot disc, and the foot disc is provided with a cloth belt for fixing the foot; the third calf is rotationally connected to the ankle via a fourth leg connecting shaft, and the fourth leg motor is rotationally connected to the ankle; the ankle is rotationally connected to the sole of the foot via a fifth leg connecting shaft; the fifth leg motor is fixed to the sole of the foot and rotationally connected to the ankle.

[0007] Preferably, the palm includes: a thumb device, an index finger device, a middle finger device, a ring finger device, a pinky finger device, and a palm device, wherein the index finger device, the middle finger device, the ring finger device, and the pinky finger device all include a first finger, a first finger motor, a second finger, a second finger motor, a third finger, and a third finger motor, wherein the first finger is rotationally connected to the second finger, the first finger motor is fixed to the first finger and rotationally connected to the second finger; the second finger is rotationally connected to the third finger, the second finger motor is fixed to the second finger and rotationally connected to the third finger; the third finger is rotationally connected to the palm device, and the third finger motor is fixed to the third finger and rotationally connected to the palm device; the thumb device includes a first thumb, a first thumb motor, a second thumb, and a second thumb motor, wherein the first thumb is rotationally connected to the second thumb, the first thumb motor is fixed to the first thumb and rotationally connected to the second thumb; the second thumb is rotationally connected to the palm device, and the second thumb motor is fixed to the palm device and rotationally connected to the palm device.

[0008] Preferably, a force sensor array is provided at the bottom of the foot for detecting force changes on the instep.

[0009] Preferably, the console is fixed to the back of the lower body skeleton, and the console is provided with a battery, a posture sensor, a satellite navigation sensor, an air pressure sensor, a wireless transmission module and a brain-like chip.

[0010] On the other hand, the present invention also provides a brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality. Utilizing the above-mentioned humanoid robot, the brain-like predictive control method includes a virtual reality suit, a brain-like motion prediction model, and a general control processing station; the contactless wearable humanoid robot based on virtual reality is a wearable structure, the virtual suit can collect posture information of the human body when wearing the robot and output it to the general control processing station, the brain-like motion prediction model is deployed on a brain-like chip for predicting human body motions and outputting the angles of each joint motor, and the general control processing station transmits information with the console through a wireless communication module.

[0011] Preferably, infrared sensors are installed at the joints of the body device, hand device and leg device to detect and feedback the distance between each joint and the inner wall of the joint in real time, realize real-time adjustment of the motor of each joint, and identify the human body's intention based on the brain-like chip combined with the posture information and the distance information of each joint, so that each joint motor can make feedback in advance according to the intention, thereby realizing a high degree of consistency in the contactless linkage between the human joints and the humanoid robot.

[0012] Preferably, the virtual reality suit communicates with the electronic skin of the inner and outer layers of the body device, the hand device and the leg device, and the virtual reality suit feeds back the forces acting on the body device, the hand device and the leg device in real time to achieve synchronization of control sensation; the virtual reality suit detects and feeds back the postures of hands and feet in real time, predicts movements based on the brain-like chip, and controls to achieve synchronization of movements of the exoskeleton hands and feet with those of human hands and feet.

[0013] Preferably, electromagnets are installed at the joints of the human body, body device, hand device and leg device, so that when the human body is in motion, the electromagnets push the joints of the human body to move through the electromagnetic force of "like repels like", eliminating friction through contactless assistance; the brain-like chip outputs the human body's movement intention, and the console adjusts the size of the electromagnetic force in real time.

[0014] The beneficial effects of the present invention are:

[0015] The present invention realizes contactless control of a wearable humanoid robot and controllable and adjustable feedback force and assist force through a virtual reality suit and sensors, thereby eliminating the negative effects of contact between the human body and the wearable humanoid robot, such as a sense of weight, discomfort, restraint, vibration, etc., and then realizes virtual reality of the operator's control feeling through a contactless operation method of the wearable humanoid robot, so that the control of the exoskeleton armor in virtual reality can achieve the same effect as in reality.

[0016] The present invention realizes remote control of wearable humanoid robots and lossless military training of any number, space and time online through virtual reality of exoskeleton armor operation. The wearable humanoid robot operation is gamified in VR to realize the selection and universal training of online wearable humanoid robot operation talents, solving the problems of high loss, high cost and poor effect of wearable humanoid robot training, and difficulty in talent selection and high training cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of a state structure of a contactless wearable humanoid robot based on virtual reality according to the present invention;

[0019] Figure 2 It is a schematic diagram of another state structure of a contactless wearable humanoid robot based on virtual reality according to the present invention;

[0020] Figure 3 is a schematic diagram of the structure of the body device of the present invention;

[0021] Figure 4 is a schematic diagram of the structure of the hand device of the present invention;

[0022] Figure 5 It is a schematic diagram of the structure of the leg device of the present invention.

[0023] Description of reference numerals:

[0024] Body device 1, upper body skeleton 100, visual detection device 101, first arm connecting piece 102, first arm motor 103, first arm timing belt 104, leg bone connecting piece 105, leg connecting piece 106, first leg connecting shaft 107, lower body skeleton 108, ultrasonic detection device 109 and first leg motor 110, hand device 2, second arm motor 200, second arm connecting piece 201, arm shoulder guard 202, arm upper arm 203, third arm motor 204, third arm connecting piece 205, first arm forearm 206, second arm timing belt 207, second arm forearm 208, fourth hand Arm motor 209, third arm forearm 210, fourth arm connecting piece 211, fifth arm motor 212, palm camera 213, palm 214, leg device 3, second leg motor 301, second leg connecting shaft 302, thigh 303, third leg motor 304, third leg connecting shaft 305, first calf 306, fourth leg motor 307, leg timing belt 308, second calf 309, third calf 310, foot disc 311, fourth leg connecting shaft 312, ankle 313, fourth leg motor 314, fifth leg connecting shaft 315, fifth leg motor 316, sole 317, console 4. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0027] Embodiment 1:

[0028] like Figure 1-2As shown, a contactless wearable humanoid robot based on virtual reality of the present invention comprises a body device 1, a hand device 2, a leg device 3 and a console 4, wherein the hand device 2, the leg device 3 and the console 4 are all fixed to the body device 1, wherein:

[0029] like Figure 3 As shown, the body device 1 of the present invention includes an upper body skeleton 100, a visual detection device 101, a first arm connecting piece 102, a first arm motor 103, a first arm synchronous belt 104, a leg bone connecting piece 105, a leg connecting piece 106, a first leg connecting shaft 107, a lower body skeleton 108, an ultrasonic detection device 109 and a first leg motor 110. The upper body skeleton 100 is a hollow structure, the visual detection device 101 is fixed to the front end of the upper body skeleton 100, the upper body skeleton 100 is provided with a cylindrical structure, the first arm connecting piece 102 is rotatably connected to the upper body skeleton 100 provided with a cylindrical structure, the first arm motor 103 is fixed to the rear end of the upper body skeleton 100, the first arm motor 103 is synchronously connected to the arm connecting piece 102 through the first arm synchronous belt 104, the lower body skeleton 108 is fixedly connected to the upper body skeleton 100, the ultrasonic detection device 109 is fixed to the front of the lower body skeleton 108, the lower body skeleton 108 is a hollow structure, and the leg skeleton connecting piece 105 is rotatably connected to the leg connecting piece 106 through the first leg connecting shaft 107. The first leg motor 110 is rotatably connected to the skeleton connecting piece 105 and is fixedly connected to the leg connecting piece 106.

[0030] like Figure 4As shown, the hand device 2 of the present invention includes a second arm motor 200, a second arm connecting piece 201, an arm shoulder guard 202, an upper arm 203, a third arm motor 204, a third arm connecting piece 205, a first arm forearm 206, a second arm synchronous belt 207, a second arm forearm 208, a fourth arm motor 209, a third arm forearm 210, a fourth arm connecting piece 211, a fifth arm motor 212, a palm camera 213, and a palm 214. The second arm motor 200 is fixed to the arm shoulder guard 202 and is rotationally connected to the upper arm 203. The arm shoulder guard 202 is rotationally connected to the first arm connecting piece 102 through the second arm connecting piece 201. The arm shoulder guard 202 is rotationally connected to the upper arm 203. The rotation axis of the second arm motor 200 is fixed to the first arm connecting piece 102 to realize the rotation of the upper arm 203. The upper arm 203 is a hollow structure, and one end is provided with a boss for the first arm forearm 206 to be rotationally connected. The third arm motor 204 is fixed to the upper arm 203, and the rotating shaft of the third arm motor 204 is rotationally connected to the upper arm 203 and fixed to the first arm forearm 206 to realize the rotation of the first arm forearm 206. The first arm forearm 206 is rotationally connected to the second arm forearm 208. The fourth arm motor 209 is fixed to the second arm forearm 208, and the first arm forearm 206 is provided with synchronous teeth, and the synchronous teeth are synchronously connected with the fourth arm motor 209 through the second arm synchronous belt 207 to realize the rotation of the second arm forearm 208. A hollow semi-spherical space is provided at one end of the second arm forearm 208, and is fixedly connected to the third arm forearm 210. A hollow semi-spherical space is provided at one end of the third arm forearm 210, and a palm camera 213 is provided in the semi-spherical space. The third arm forearm 210 is provided with a groove for fixed connection of the fifth arm motor 212, the third arm forearm 210 is provided with a boss which is rotationally connected to the palm 214 through the fourth arm connecting piece 211, and the rotation axis of the fifth arm motor 212 is fixedly connected to the palm 214 to realize the rotation of the palm 214.

[0031] like Figure 5As shown, the leg device 3 of the present invention includes a second leg motor 301, a second leg connecting shaft 302, a thigh 303, a third leg motor 304, a third leg connecting shaft 305, a first calf 306, a fourth leg motor 307, a leg synchronous belt 308, a second calf 309, a third calf 310, a foot disc 311, a fourth leg connecting shaft 312, an ankle 313, a fourth leg motor 314, a fifth leg connecting shaft 315, a fifth leg motor 316, and a foot 317. The thigh 303 is rotatably connected to the leg connecting member 106 through the second leg connecting shaft 302, and the second leg motor 301 is fixed to the leg connecting member 106 and rotatably connected to the thigh 303. The thigh 303 is a hollow structure, and one end of the thigh 303 is rotatably connected to the first calf 306. The third leg connecting shaft 305 is fixed to the thigh 303 and rotatably connected to the first calf 306. The first calf 306 is rotatably connected with the second calf 309 and the third calf 310, the second calf 309 is fixed to the third calf 310, the fourth leg motor 307 is fixed to the third calf 310, and one end of the first calf 306 is provided with a gear boss and is synchronously connected with the fourth leg motor 307 through the leg synchronous belt 308. One end of the second calf 309 and the third calf 310 is provided with a hollow semi-spherical space, and the semi-spherical space is rollably connected with the foot disc 311, and the foot disc 311 is provided with a cloth belt for fixing the footstep. The third calf 310 is provided with a groove for the fourth leg motor 314 to be fixedly connected, and the third calf 310 is provided with a boss and is rotatably connected with the ankle 313 through the fourth leg connecting shaft 312, and the fourth leg motor 314 is rotatably connected with the ankle 313. The ankle 313 is rotatably connected with the foot 317 through the fifth leg connecting shaft 315. The fifth leg motor 316 is fixed to the foot 317 and is rotatably connected to the ankle 313 .

[0032] Preferably, the palm 214 includes a thumb device, an index finger device, a middle finger device, a ring finger device, a pinky device, and a palm device. The index finger device, the middle finger device, the ring finger device, and the pinky device all include a first finger, a first finger motor, a second finger, a second finger motor, a third finger, and a third finger motor. The first finger is rotationally connected to the second finger, and the first finger motor is fixed to the first finger and rotationally connected to the second finger. The second finger is rotationally connected to the third finger, and the second finger motor is fixed to the second finger and rotationally connected to the third finger. The third finger is rotationally connected to the palm device, and the third finger motor is fixed to the third finger and rotationally connected to the palm device. The thumb device includes a first thumb, a first thumb motor, a second thumb, and a second thumb motor. The first thumb is rotationally connected to the second thumb, and the first thumb motor is fixed to the first thumb and rotationally connected to the second thumb. The second thumb is rotationally connected to the palm device, and the second thumb motor is fixed to the palm device and rotationally connected to the palm device.

[0033] Preferably, a force sensor array is provided at the bottom of the foot 317 for detecting force changes on the instep.

[0034] Preferably, the console 4 is fixed to the back of the lower body skeleton 108, and the console 4 is provided with a battery, a posture sensor, a satellite navigation sensor, an air pressure sensor, a wireless transmission module and a brain-like chip.

[0035] Embodiment 2:

[0036] The present invention provides a brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality, using the robot in the first embodiment, including a virtual suit, a brain-like motion prediction model, and a general control processing station. The contactless wearable humanoid robot based on virtual reality is a wearable structure, the virtual suit can collect posture information when the human body wears the robot and output it to the general control processing station, the brain-like motion prediction model is deployed on a brain-like chip to predict human body motion and output the angles of each joint motor, and the general control processing station transmits information with the console 4 through a wireless communication module.

[0037] Preferably, infrared sensors are installed at the joints of the body device 1, hand device 2 and leg device 3 to detect and feedback the distance between each joint and the inner wall of the joint in real time, realize real-time adjustment of the motor of each joint, and identify the human intention based on the brain-like chip combined with the posture information and the distance information of each joint, so that each joint motor can make feedback in advance according to the intention, thereby realizing a high degree of consistency in the contactless linkage between the human joints and the humanoid robot.

[0038] The virtual reality suit communicates with the electronic skin of the inner and outer layers of the body device 1, the hand device 2 and the leg device 3, and the virtual reality suit provides real-time feedback on the forces exerted on the body device 1, the hand device 2 and the leg device 3 to achieve synchronization of control sensation. The virtual reality suit performs real-time detection and feedback of the postures of the hands and feet, performs motion prediction based on the brain-like chip, and controls the synchronization of the movements of the exoskeleton hands and feet with those of human hands and feet.

[0039] Preferably, electromagnets are installed at the joints of the human body, body device 1, hand device 2 and leg device 3, so that when the human body is in motion, the electromagnets push the joints of the human body to move through the electromagnetic force of "like charges repel each other", and the friction force is eliminated through contactless assistance. The brain-like chip outputs the human body's motion intention, and the console 5 adjusts the magnitude of the electromagnetic force in real time.

[0040] The contactless wearable humanoid robot based on virtual reality can be remotely controlled and trained online at any time, space, quantity, and without loss. The training is to use the contactless control technology of virtual reality to make the control method of the contactless wearable humanoid robot virtual reality, so that the simulated control and training of the contactless wearable humanoid robot in virtual reality can achieve the same control effect as in reality.

[0041] The above implementation methods are only used to illustrate the embodiments of the present application, and are not limitations on the embodiments of the present application. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the embodiments of the present application. Therefore, all equivalent technical solutions also belong to the scope of the embodiments of the present application. The scope of patent protection of the embodiments of the present application should be limited by the claims.

Claims

1. A contactless wearable humanoid robot based on virtual reality, characterized in that: The invention comprises a body device (1), a hand device (2), a leg device (3) and a control console (4), wherein the hand device (2), the leg device (3) and the control console (4) are all fixed to the body device (1); the body device (1) comprises an upper body skeleton (100), a lower body skeleton (108), a first arm connecting piece (102), a first arm motor (103), a leg connecting piece (106), a first leg connecting shaft (107), and a first leg motor (110); the lower body skeleton (108) is fixedly connected to the upper body skeleton (100); a visual detection device (101) is fixed to the front end of the upper body skeleton (100); an ultrasonic detection device (109) is fixed to the front end of the lower body skeleton (108); The hand device (2) is rotationally connected to the upper body skeleton (100) via a first arm connecting piece (102), and the hand device (2) includes an arm shoulder guard (202), an upper arm (203), a first arm forearm (206), a second arm forearm (208), a third arm forearm (210), multiple arm motors, multiple arm connecting pieces, a palm camera (213), and a palm (214); the leg device (3) is rotationally connected to the lower body skeleton (108) via a leg connecting piece (106), and the leg device (3) includes a thigh (303), a first calf (306), a second calf (309), a third calf (310), multiple leg motors, multiple leg connecting shafts, an ankle (313), and a sole (317).

2. The humanoid robot according to claim 1, characterized in that: The multiple arm motors include a second arm motor (200), a third arm motor (204), a fourth arm motor (209) and a fifth arm motor (212); the multiple arm connectors include a second arm connector (201), a third arm connector (205) and a fourth arm connector (211); the second arm motor (200) is fixed to the arm shoulder guard (202) and is rotationally connected to the arm upper arm (203); the arm shoulder guard (202) is rotationally connected to the first arm connector (102) via the second arm connector (201); the second arm motor (200) rotation axis is fixed to the first arm connector (102); the third arm motor (204) rotation axis is rotationally connected to the arm upper arm (203) and fixed to the first arm forearm (206); the first arm forearm (206) and the second arm forearm (208) are rotationally connected; The fourth arm motor (209) is fixed to the second arm forearm (208); the first arm forearm (206) is provided with synchronous teeth, and the synchronous teeth are synchronously connected with the fourth arm motor (209) through the second arm synchronous belt (207) to realize the rotation of the second arm forearm (208); the second arm forearm (208) is fixedly connected with the third arm forearm (210), and both are provided with a hollow semi-spherical space, and the semi-spherical space is provided with a palm camera (213); the third arm forearm (210) is provided with a groove for fixed connection with the fifth arm motor (212), and the third arm forearm (210) is provided with a boss which is rotationally connected with the palm (214) through the fourth arm connecting piece (211); the rotating shaft of the fifth arm motor (212) is fixedly connected with the palm (214) to realize the rotation of the palm (214).

3. The humanoid robot according to claim 1, characterized in that: The leg connecting member (106), the thigh (303), and the first calf (306) are rotationally connected through the second leg connecting shaft (302) and the third leg connecting shaft (305), respectively; the second leg motor (301) and the third leg motor (304) are rotationally connected to the thigh (303) and the first calf (306), respectively; the first calf (306) is rotationally connected to the second calf (309) and the third calf (310); the second calf (309) is fixed to the third calf (310); the fourth leg motor (307) is fixed to the third calf (310); one end of the first calf (306) is provided with a gear The boss is synchronously connected to the fourth leg motor (307) through a leg synchronous belt (308); one end of the second calf (309) and the third calf (310) is provided with a hollow semi-spherical space, the semi-spherical space is rollingly connected to the foot disc (311), and the foot disc (311) is provided with a cloth belt for fixing the foot; the third calf (310) is rotationally connected to the ankle (313) through a fourth leg connecting shaft (312), and the fourth leg motor (314) is rotationally connected to the ankle (313); the ankle (313) and the sole (317) are rotationally connected through a fifth leg connecting shaft (315); The fifth leg motor (316) is fixed to the sole (317) and is rotationally connected to the ankle (313).

4. The humanoid robot according to claim 1, characterized in that: The palm (214) comprises: a thumb device, an index finger device, a middle finger device, a ring finger device, a pinky finger device, and a palm device. The index finger device, the middle finger device, the ring finger device, and the pinky finger device all comprise a first finger, a first finger motor, a second finger, a second finger motor, a third finger, and a third finger motor. The first finger is rotationally connected to the second finger, the first finger motor is fixed to the first finger and rotationally connected to the second finger; the second finger is rotationally connected to the third finger, the second finger motor is fixed to the second finger and rotationally connected to the third finger; the third finger is rotationally connected to the palm device, the third finger motor is fixed to the third finger and rotationally connected to the palm device; the thumb device comprises a first thumb, a first thumb motor, a second thumb, and a second thumb motor. The first thumb is rotationally connected to the second thumb, the first thumb motor is fixed to the first thumb and rotationally connected to the second thumb; the second thumb is rotationally connected to the palm device, the second thumb motor is fixed to the palm device and rotationally connected to the palm device.

5. The humanoid robot according to claim 1, characterized in that: A force sensor array is provided at the bottom of the foot (317) for detecting force changes on the foot surface.

6. The humanoid robot according to claim 1, characterized in that: The console (4) is fixed to the back of the lower body skeleton (108), and the console (4) is provided with a battery, a posture sensor, a satellite navigation sensor, an air pressure sensor, a wireless transmission module and a brain-like chip.

7. A brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality, using the humanoid robot according to any one of claims 1 to 6, characterized in that: The brain-like prediction control method comprises setting a virtual reality suit, a brain-like motion prediction model and a general control processing station; the virtual reality-based contactless wearable humanoid robot is a wearable structure, the virtual suit collects posture information of the human body when wearing the robot and outputs it to the general control processing station, the brain-like motion prediction model is deployed on a brain-like chip for predicting human body motion and outputting the angle of each joint motor, and the general control processing station transmits information with a control console (4) via a wireless communication module.

8. The control method according to claim 7, characterized in that: Infrared sensors are installed at the joints of the body device (1), hand device (2) and leg device (3) to detect and feedback the distance between each joint and the inner wall of the joint in real time, so as to achieve real-time adjustment of the motor of each joint. The human intention is identified based on the brain-like chip combined with the posture information and the distance information of each joint, so that the motor of each joint can give feedback in advance according to the intention, thereby achieving high consistency of contactless linkage between the human joint and the humanoid robot.

9. The control method according to claim 7, characterized in that: The virtual reality suit communicates with the electronic skin of the inner and outer layers of the body device (1), the hand device (2) and the leg device (3), and the virtual reality suit provides real-time feedback on the forces exerted on the body device (1), the hand device (2) and the leg device (3), thereby achieving synchronization of control sensations; the virtual reality suit performs real-time detection and feedback on the postures of the hands and feet, performs motion prediction based on a brain-like chip, and controls the synchronization of the movements of the exoskeleton hands and feet with those of human hands and feet.

10. The control method according to claim 7, characterized in that: Electromagnets are installed at the joints of the human body, the body device (1), the hand device (2) and the leg device (3), so that when the human body is in motion, the electromagnets push the joints of the human body to move through the electromagnetic force of "like repels like", and friction is eliminated through contactless assistance; the brain-like chip outputs the human body's movement intention, and the control console (5) adjusts the magnitude of the electromagnetic force in real time.

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