A contactless wearable humanoid robot based on virtual reality and its brain-like predictive control method

Abstract

This invention discloses a contactless wearable humanoid robot based on virtual reality and its brain-like predictive control method, including a body device, hand device, leg device, and console. The body device includes an upper body skeleton, a visual detection device, an arm connector, an arm motor, an arm synchronization belt, a leg skeleton connector, a leg connector, a leg connecting shaft, an upper body skeleton, an ultrasonic detection device, and leg motors. The robot of this invention controls the body device, hand device, and leg device through a console combined with a brain-like predictive algorithm to achieve efficient humanoid motion control. Through a virtual reality suit and sensors, it achieves contactless manipulation of the exoskeleton armor and controllable and adjustable feedback force and assistance, realizing the virtual reality of the operator's control experience, and enabling the manipulation of the exoskeleton armor in virtual reality to achieve the same effect as in reality.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a contactless wearable humanoid robot based on virtual reality and its brain-like predictive control method. Background Technology

[0002] Wearable humanoid robots can significantly enhance individual capabilities and play a vital role in both military and civilian fields. However, current wearable humanoid robots suffer from problems such as weight-bearing, discomfort, constraint, vibration, inaccurate force feedback and assistive devices, and lack of adjustability. Furthermore, future wearable humanoid robots need to address the issues of high wear and tear, high cost, and poor effectiveness of exoskeleton armor training, as well as the difficulty and high cost of talent selection and training. Therefore, designing a wearable humanoid robot that can solve these problems is extremely necessary. Wearable humanoid robots can be classified as powered or unpowered, heavy or light. With the development of technologies such as energy storage, powerful motor drive, and electromagnetic assistance, wearable humanoid robots are gradually developing towards high power, intelligence, and information technology. Moreover, in virtual reality technology, accurate feedback of human posture, and realistic feedback of touch, vision, hearing, and force are becoming increasingly mature, and the equipment penetration rate is rising daily. Summary of the Invention

[0003] To address at least some of the aforementioned problems, this invention provides a contactless wearable humanoid robot based on virtual reality and its brain-like predictive control method. To achieve the above objectives, the following technical solution is provided:

[0004] On one hand, the present invention provides a contactless wearable humanoid robot based on virtual reality, including a body device, a hand device, a leg device, and a console, wherein the hand device, leg device, and console are all fixed to the body device; the body device includes an upper body skeleton, a lower body skeleton, a first arm connector, a first arm motor, a leg connector, 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 rotatably connected to the upper body skeleton through the first arm connector, and includes a shoulder guard, an upper arm, a first forearm, a second forearm, a third forearm, multiple arm motors, multiple arm connectors, a palm camera, and a palm; the leg device is rotatably connected to the lower body skeleton through the leg connector, and includes a thigh, a first calf, a second calf, a third calf, multiple leg motors, multiple leg connecting shafts, an ankle, and a foot.

[0005] Preferably, the hand device includes: a second arm motor fixed to an arm shoulder guard and rotatably connected to the upper arm, the arm shoulder guard being rotatably connected to a first arm connector via a second arm connector, and the rotating shaft of the second arm motor fixed to the first arm connector; a third arm motor rotating shaft rotatably connected to the upper arm and fixed to the first forearm; the first forearm and the second forearm being rotatably connected; a fourth arm motor fixed to the second forearm, the first forearm having a synchronizing gear, the synchronizing gear being synchronously connected to the fourth arm motor via a second arm synchronizing belt to achieve rotation of the second forearm; the second forearm and the third forearm being fixedly connected, and both having a hollow hemispherical space, the hemispherical space having a palm camera; the third forearm having a groove for a fifth arm motor to be fixedly connected, the third forearm having a boss being rotatably connected to the palm via the fourth arm connector, and the rotating shaft of the fifth arm motor being fixedly connected to the palm to achieve palm rotation.

[0006] Preferably, the leg device includes: a leg connector, a thigh, and a first calf rotatably connected via a second leg connecting shaft and a third leg connecting shaft, respectively; a second leg motor and a third leg motor rotatably connected to the thigh and the first calf, respectively; the first calf rotatably connected to the second and third calf, the second calf fixed to the third calf, and a fourth leg motor fixed to the third calf; a gear boss at one end of the first calf is synchronously connected to the fourth leg motor via a leg timing belt; a hollow hemispherical space at one end of both the second and third calf is rotatably connected to a foot disc, the foot disc having a cloth strap for foot fixation; the third calf rotatably connected to the ankle via a fourth leg connecting shaft, and the fourth leg motor rotatably connected to the ankle; the ankle and the sole of the foot rotatably connected via a fifth leg connecting shaft; and the fifth leg motor fixed to the sole of the foot and rotatably 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 little finger device, and a palm device. Each of the index finger device, middle finger device, ring finger device, and little finger device includes 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 and second finger are rotatably connected, and the first finger motor is fixed to the first finger and rotatably connected to the second finger. The second finger and third finger are rotatably connected, and the second finger motor is fixed to the second finger and rotatably connected to the third finger. The third finger is rotatably connected to the palm device, and the third finger motor is fixed to the third finger and rotatably 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 and second thumb are rotatably connected, and the first thumb motor is fixed to the first thumb and rotatably connected to the second thumb. The second thumb is rotatably connected to the palm device, and the second thumb motor is fixed to the palm device and rotatably connected to the palm device.

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

[0009] Preferably, the console is fixed to the back of the lower body skeleton, and the console is equipped with a battery, attitude sensor, satellite navigation sensor, barometric pressure sensor, wireless transmission module and neuromorphic 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 aforementioned humanoid robot, the brain-like predictive control method includes a virtual reality suit, a brain-like motion prediction model, and a central control processing console. The contactless wearable humanoid robot based on virtual reality has a wearable structure. The virtual suit can collect posture information of a human wearing the robot and output it to the central control processing console. The brain-like motion prediction model is deployed on a brain-like chip to predict human movements and output the angles of various joint motors. The central control processing console transmits information with the control console via a wireless communication module.

[0011] Preferably, infrared sensors are installed at each joint of the body device, hand device, and leg device to detect and provide feedback on the distance between each joint and the inner wall of the joint in real time, so as to realize the real-time adjustment of each joint motor. Based on the neuromorphic chip, combined with posture information and distance information of each joint, the human intention is recognized, so that each joint motor can make feedback in advance according to the intention, and achieve a high degree of consistency between the human joint and the humanoid robot in non-contact linkage.

[0012] Preferably, the virtual reality suit communicates with the electronic skin of the inner and outer layers of the body device, hand device, and leg device. The virtual reality suit provides real-time feedback on the forces acting on the body device, hand device, and leg device to achieve synchronization of control sensation. The virtual reality suit detects and provides feedback on hand and foot postures in real time, performs motion prediction based on a neuromorphic chip, and controls the synchronization of exoskeleton hands and feet with human hands and feet movements.

[0013] Preferably, electromagnets are installed at each joint of the human body, body device, hand device, and leg device, so that during human movement, the electromagnets drive the movement of each joint of the human body through the electromagnetic force of "like poles repulsion", eliminating friction through non-contact assistance; the neuromorphic chip outputs the intention of human movement, and the control console adjusts the magnitude of the electromagnetic force in real time.

[0014] The beneficial effects of this invention are as follows:

[0015] This invention uses a virtual reality suit and sensors to achieve contactless control and controllable and adjustable feedback force and assistance for wearable humanoid robots, thereby eliminating the negative effects of human contact with wearable humanoid robots, such as feelings of weight, discomfort, constraint, and vibration. Then, through the contactless operation method of the wearable humanoid robot, the operator's control experience is virtualized, so that controlling the exoskeleton armor in virtual reality achieves the same effect as in reality.

[0016] This invention enables remote control of wearable humanoid robots and lossless online military training of any number of robots in any location and at any time by virtualizing the operation of exoskeleton armor. It also gamifies the operation of wearable humanoid robots through VR, facilitating the online selection and nationwide training of personnel capable of operating these robots. This addresses the problems of high training losses, high costs, poor effectiveness, and difficulties in talent selection and training for wearable humanoid robots. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0018] Figure 1 This 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 This is a schematic diagram of another state structure of a contactless wearable humanoid robot based on virtual reality as described in this invention;

[0020] Figure 3 This is a schematic diagram of the structure of the body device described in this invention;

[0021] Figure 4 This is a schematic diagram of the hand device described in this invention;

[0022] Figure 5 This is a schematic diagram of the leg device described in this invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] Body Device 1: Upper body skeleton 100, visual detection device 101, first arm connector 102, first arm motor 103, first arm timing belt 104, leg skeleton connector 105, leg connector 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 connector 201, arm shoulder pad 202, upper arm 203, third arm motor 204, third arm connector 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 connector 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 lower leg 306, fourth leg motor 307, leg synchronous belt 308, second lower leg 309, third lower leg 310, foot disc 311, fourth leg connecting shaft 312, ankle 313, fourth leg motor 314, fifth leg connecting shaft 315, fifth leg motor 316, foot 317, control console 4. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0027] Example 1:

[0028] like Figure 1-2As shown, this invention discloses a contactless wearable humanoid robot based on virtual reality, comprising a body device 1, a hand device 2, a leg device 3, and a console 4. The hand device 2, leg device 3, and 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 connector 102, a first arm motor 103, a first arm timing belt 104, a leg skeleton connector 105, a leg connector 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 has 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 has a cylindrical structure. The first arm connector 102 is rotatably connected to the upper body skeleton 100, which has 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 and the arm connector 102 are synchronously connected via a first arm timing 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 has a hollow structure. The leg bone connector 105 is rotatably connected to the leg connector 106 via a first leg connecting shaft 107. The first leg motor 110 is rotatably connected to the bone connector 105 and fixedly connected to the leg connector 106.

[0030] like Figure 4As shown, the hand device 2 of the present invention includes a second arm motor 200, a second arm connector 201, an arm shoulder protector 202, an upper arm 203, a third arm motor 204, a third arm connector 205, a first arm forearm 206, a second arm timing belt 207, a second arm forearm 208, a fourth arm motor 209, a third arm forearm 210, a fourth arm connector 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 protector 202 and rotatably connected to the upper arm 203. The arm shoulder protector 202 is rotatably connected to the first arm connector 102 via the second arm connector 201. The arm shoulder protector 202 is rotatably connected to the upper arm 203. The rotation shaft of the second arm motor 200 is fixed to the first arm connector 102 to achieve rotation of the upper arm 203. The upper arm 203 has a hollow structure, with a boss at one end for rotatably connecting to the first arm forearm 206. The third arm motor 204 is fixed to the upper arm 203. The shaft of the third arm motor 204 is rotatably connected to the upper arm 203 and fixed to the first arm forearm 206 to achieve rotation of the first arm forearm 206. The first arm forearm 206 and the second arm forearm 208 are rotatably connected. The fourth arm motor 209 is fixed to the second arm forearm 208. The first arm forearm 206 is provided with synchronous teeth, which are synchronously connected to the fourth arm motor 209 through the second arm synchronous belt 207 to achieve rotation of the second arm forearm 208. One end of the second arm forearm 208 is provided with a hollow hemispherical space and is fixedly connected to the third arm forearm 210. One end of the third arm forearm 210 is provided with a hollow hemispherical space, and the hemispherical space is provided with a palm camera 213. The third arm forearm 210 is provided with a groove for the fifth arm motor 212 to be fixedly connected. The third arm forearm 210 is provided with a boss and is rotatably connected to the palm 214 through the fourth arm connector 211. The rotation shaft 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 timing 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 connector 106 via the second leg connecting shaft 302. The second leg motor 301 is fixed to the leg connector 106 and rotatably connected to the thigh 303. The thigh 303 has 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 lower leg 306 is rotatably connected to the second lower leg 309 and the third lower leg 310. The second lower leg 309 is fixed to the third lower leg 310. The fourth leg motor 307 is fixed to the third lower leg 310. One end of the first lower leg 306 has a gear boss that is synchronously connected to the fourth leg motor 307 via a leg timing belt 308. One end of both the second lower leg 309 and the third lower leg 310 has a hollow hemispherical space that is rotatably connected to a foot disc 311. The foot disc 311 has a cloth strap for foot fixation. The third lower leg 310 has a groove for the fourth leg motor 314 to be fixedly connected. The third lower leg 310 has a boss that is rotatably connected to the ankle 313 via a fourth leg connecting shaft 312. The fourth leg motor 314 is rotatably connected to the ankle 313. The ankle 313 is rotatably connected to the foot 317 via a fifth leg connecting shaft 315. The fifth leg motor 316 is fixed to the foot 317 and 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 little finger device, and a palm device. Each of the index finger, middle finger, ring finger, and little finger devices includes 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 and second finger are rotatably connected, and the first finger motor is fixed to the first finger and rotatably connected to the second finger. The second finger and third finger are rotatably connected, and the second finger motor is fixed to the second finger and rotatably connected to the third finger. The third finger is rotatably connected to the palm device, and the third finger motor is fixed to the third finger and rotatably 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 and second thumb are rotatably connected, and the first thumb motor is fixed to the first thumb and rotatably connected to the second thumb. The second thumb is rotatably connected to the palm device, and the second thumb motor is fixed to the palm device and rotatably connected to the palm device.

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

[0034] Preferably, the console 4 is fixed to the back of the lower body skeleton 108. The console 4 is equipped with a battery, attitude sensor, satellite navigation sensor, barometric pressure sensor, wireless transmission module and neuromorphic chip.

[0035] Example 2:

[0036] This invention discloses a brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality. Utilizing the robot described in Embodiment 1, the method includes a virtual suit, a brain-like motion prediction model, and a central control processing console. The contactless wearable humanoid robot based on virtual reality has a wearable structure. The virtual suit can collect posture information of a human wearing the robot and output it to the central control processing console. The brain-like motion prediction model is deployed on a brain-like chip to predict human movements and output the angles of various joint motors. The central control processing console transmits information with the control console 4 via a wireless communication module.

[0037] Preferably, infrared sensors are installed at each joint of the body device 1, hand device 2, and leg device 3 to detect and provide feedback on the distance between each joint and the inner wall of the joint in real time, thereby enabling real-time adjustment of the joint motors. In addition, based on a neuromorphic chip, posture information and distance information of each joint are combined to identify human intentions, so that the joint motors can make feedback in advance according to the intentions, achieving a high degree of consistency between the human joints and the humanoid robot in non-contact linkage.

[0038] The virtual reality suit communicates with the electronic skin sandwiched between the body device 1, hand device 2, and leg device 3. The virtual reality suit provides real-time feedback on the forces acting on the body device 1, hand device 2, and leg device 3, achieving synchronization of control sensations. The virtual reality suit detects and provides feedback on hand and foot postures in real time, predicts movements based on a neuromorphic chip, and controls the synchronization of exoskeleton hands and feet with human hand and foot movements.

[0039] Preferably, electromagnets are installed at each joint of the human body, body device 1, hand device 2, and leg device 3. During movement, the electromagnets use electromagnetic force (like poles repel each other) to propel the joints, eliminating friction through contactless assistance. The neuromorphic chip outputs the intended human movement, and the control console 5 adjusts the magnitude of the electromagnetic force in real time.

[0040] The aforementioned contactless wearable humanoid robot based on virtual reality can be remotely controlled and trained online at any time, in any space, and in any quantity without loss. The training is achieved by using virtual reality contactless control technology to virtualize the control method of the contactless wearable humanoid robot, 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 embodiments are only used to illustrate the embodiments of this application, and are not intended to limit the embodiments of this application. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the embodiments of this application. Therefore, all equivalent technical solutions also fall within the scope of the embodiments of this application, and the patent protection scope of the embodiments of this application should be defined by the claims.

Claims

1. A contactless wearable humanoid robot based on virtual reality, characterized in that, The device includes a body assembly (1), a hand assembly (2), a leg assembly (3), and a control console (4), all of which are fixed to the body assembly (1). The body assembly (1) includes an upper body skeleton (100), a lower body skeleton (108), a first arm connector (102), a first arm motor (103), a leg connector (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 of the lower body skeleton (108). The hand device (2) is rotatably connected to the upper body skeleton (100) via a first arm connector (102). The hand device (2) includes an arm shoulder guard (202), an upper arm (203), a first forearm (206), a second forearm (208), a third forearm (210), multiple arm motors, multiple arm connectors, a palm camera (213), and a palm (214). The leg device (3) is rotatably connected to the lower body skeleton (108) via a leg connector (106). 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 foot (317). The plurality of 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 plurality of 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 rotatably connected to the upper arm (203). The arm shoulder guard (202) is rotatably connected to the first arm connector (102) through the second arm connector (201). The rotating shaft of the second arm motor (200) is fixed to the first arm connector (102). The rotating shaft of the third arm motor (204) is rotatably connected to the upper arm (203) and fixed to the first forearm (206). The first forearm (206) and the second forearm... The arm (208) is rotatably connected; the fourth arm motor (209) is fixed to the second arm forearm (208), the first arm forearm (206) is provided with synchronous teeth, the synchronous teeth are synchronously connected to 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 to the third arm forearm (210), and both are provided with hollow hemispherical spaces, the hemispherical spaces are provided with palm cameras (213); the third arm forearm (210) is provided with grooves for the fifth arm motor (212) to be fixedly connected, the third arm forearm (210) is provided with bosses to be rotatably connected to the palm (214) through the fourth arm connector (211), the rotation shaft of the fifth arm motor (212) is fixedly connected to the palm (214) to realize the rotation of the palm (214); The leg connector (106), thigh (303), and first calf (306) are rotatably connected via a second leg connecting shaft (302) and a third leg connecting shaft (305), respectively. The second leg motor (301) and the third leg motor (304) are rotatably connected to the thigh (303) and the first calf (306), respectively. The first calf (306) is rotatably connected to the second calf (309) and the third calf (310). The second calf (309) is fixed to the third calf (310), and the fourth leg motor (307) is fixed to the third calf (310). One end of the first calf (306) is provided with a gear boss, which is connected to the fourth leg motor via a leg timing belt (308). The leg motor (307) is synchronously connected; the second lower leg (309) and the third lower leg (310) are each provided with a hollow hemispherical space at one end, the hemispherical space is rotatably connected to the foot disc (311), the foot disc (311) is provided with a cloth strip for foot fixation; the third lower leg (310) is rotatably connected to the ankle (313) through the fourth leg connecting shaft (312), the fourth leg motor (314) is rotatably connected to the ankle (313); the ankle (313) and the sole (317) are rotatably connected through the fifth leg connecting shaft (315); the fifth leg motor (316) is fixed to the sole (317) and rotatably connected to the ankle (313); The console (4) is equipped with a neuromorphic chip; Electromagnets are installed at each joint of the human body, body device (1), hand device (2) and leg device (3) so that during the movement of the human body, the electromagnets drive the movement of each joint of the human body through the electromagnetic force of "like poles repulsion", and eliminate friction through non-contact assistance; the brain-like chip outputs the intention of the human body's movement, and the control console (4) adjusts the magnitude of the electromagnetic force in real time.

2. The contactless wearable humanoid robot based on virtual reality according to claim 1, characterized in that, The palm (214) includes: a thumb device, an index finger device, a middle finger device, a ring finger device, a little finger device, and a palm device. Each of the index finger device, middle finger device, ring finger device, and little finger device includes 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 and the second finger are rotatably connected, and the first finger motor is fixed to the first finger and rotatably connected to the second finger. The second finger and the third finger are rotatably connected, and the second finger motor is fixed to the second finger and rotatably connected to the third finger. The third finger is rotatably connected to the palm device, and the third finger motor is fixed to the third finger and rotatably 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 and the second thumb are rotatably connected, and the first thumb motor is fixed to the first thumb and rotatably connected to the second thumb. The second thumb is rotatably connected to the palm device, and the second thumb motor is fixed to the palm device and rotatably connected to the palm device.

3. The contactless wearable humanoid robot based on virtual reality according to claim 1, characterized in that, The foot (317) is provided with a force sensor array at the bottom to detect changes in force on the foot.

4. The contactless wearable humanoid robot based on virtual reality 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 equipped with a battery, attitude sensor, satellite navigation sensor, barometric pressure sensor and wireless transmission module.

5. A brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality, utilizing the contactless wearable humanoid robot based on virtual reality as described in any one of claims 1-4, characterized in that, The brain-like predictive control method includes setting up a virtual reality suit, a brain-like motion prediction model and a central control processing console; the virtual reality-based contactless wearable humanoid robot is a wearable structure, the virtual reality suit collects the posture information of the human body when wearing the robot and outputs it to the central control processing console, the brain-like motion prediction model is deployed on a brain-like chip to predict human body movements and output the angles of each joint motor, and the central control processing console transmits information to the console (4) through a wireless communication module.

6. The brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality according to claim 5, characterized in that, Infrared sensors are installed at each joint of the body device (1), hand device (2) and leg device (3) to detect and provide feedback on the distance between each joint and the inner wall of the joint in real time, so as to realize the real-time adjustment of the motors of each joint. Based on the neuromorphic chip, combined with posture information and distance information of each joint, the intention of the human body is recognized, so that the motors of each joint can make feedback in advance according to the intention, and realize the high consistency of non-contact linkage between the human joints and the humanoid robot.

7. The brain-like predictive control method for a contactless wearable humanoid robot based on virtual reality according to claim 5, characterized in that, The virtual reality suit communicates with the electronic skin of the inner and outer layers of the body device (1), hand device (2) and leg device (3). The virtual reality suit provides real-time feedback on the forces acting on the body device (1), hand device (2) and leg device (3) to achieve synchronization of control sensation. The virtual reality suit performs real-time detection and feedback on hand and foot postures, predicts movements based on a neuromorphic chip, and controls the synchronization of exoskeleton hands and feet with human hands and feet movements.

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