Exoskeleton device, control method, electronic equipment and system

Abstract

The embodiment of the invention provides an exoskeleton device, a control method, electronic equipment and a system. The exoskeleton device comprises a whole shoulder joint (1), a near-end limb telescopic mechanism (2), a whole elbow joint (3), a distance measuring mechanism (4), a far-end limb telescopic mechanism (5) and a communication module. One end of the near-end limb telescopic mechanism (2) is connected with the integral shoulder joint (1), and the other end of the near-end limb telescopic mechanism (2) is connected with the integral elbow joint (3); the other end of the elbow joint whole body (3) is connected with the far-end limb telescopic mechanism (5); the distance measuring mechanism (4) is mounted on the near-end limb telescopic mechanism (2), the elbow joint whole body (3) and the far-end limb telescopic mechanism (5); the communication module is installed on the exoskeleton device and connected with the distance measuring mechanism (4). The length of the connecting rod in the exoskeleton device is adjustable, so that the exoskeleton device is matched with users of different body types, and the stability, comfort and safety of the human body in complex movement are improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent wearable technology, and in particular to an exoskeleton device, a control method, an electronic device and a system. Background Art

[0002] The research and development of exoskeleton devices has a long history. At the end of the 19th century, Russia first proposed the concept of passive exoskeleton, starting the exploration journey in this field. Subsequently, the United States proposed the concept of active exoskeleton in the mid-20th century and successfully launched the first active exoskeleton prototype in 1965. At that time, it was mainly used in industrial handling scenarios to help workers easily carry heavy objects and improve work efficiency. Since its development, the application field of exoskeleton devices has continued to expand.

[0003] In terms of medical rehabilitation, as the global population aging trend intensifies, the number of elderly people has increased significantly, and the number of patients with mobility impairment due to diseases, accidents, etc. has also increased, and their demand for mobility assistance devices has become more urgent. Exoskeleton devices play a key role in this. They can assist patients in rehabilitation training, help users gradually restore motor function, enhance muscle strength and body coordination, and significantly improve the self-care ability of the elderly and those with mobility impairments.

[0004] However, exoskeleton devices face a thorny problem in practical applications. The body dimensions of different users, such as height, limb length, and joint spacing, vary greatly. Traditional exoskeleton robots are mostly designed for specific body types and use fixed connecting rod lengths and fixed kinematic models. This results in extremely poor adaptability when facing a variety of human body shapes, making it difficult to fit closely to different human bodies for precise assistance or efficient rehabilitation, which severely limits the widespread application and promotion of exoskeleton devices. Summary of the invention

[0005] The embodiments of the present disclosure provide an exoskeleton device, a control method, an electronic device, and a system to solve the related problems existing in the existing technical solutions.

[0006] Based on the above problems, in the first aspect, an exoskeleton device is provided, comprising: a shoulder joint as a whole 1, a proximal limb extension mechanism 2, an elbow joint as a whole 3, a distance measuring mechanism 4, a distal limb extension mechanism 5 and a communication module; One end of the proximal limb extension and retraction mechanism 2 is connected to the shoulder joint 1, and the other end is connected to the elbow joint 3; The other end of the elbow joint 3 is connected to the distal limb extension mechanism 5; The distance measuring mechanism 4 is installed on the proximal limb telescopic mechanism 2, the elbow joint 3 and the distal limb telescopic mechanism 5; The communication module is installed on the exoskeleton device and connected to the distance measuring mechanism 4 .

[0007] In combination with the first aspect, in a possible implementation, the proximal limb extension and retraction mechanism 2 includes: a first connector 201, a second connector 202, a third connector 203, a first rotating gear 204, a second rotating gear 205, a first L-shaped rack 206, a third rotating gear 207, a first fixed latch 208 and a second fixed latch 209; The first connector 201 is connected to the first drive motor 104 in the shoulder joint assembly 1; The upper portion of the second connecting body 202 is engaged with the first guide rail of the upper portion of the first connecting body 201, and the lower portion is engaged with the lower portion of the first connecting body 201; The first rotating gear 204 is connected to the first transmission belt 105 in the shoulder joint assembly 1 and rotates under the drive of the first transmission belt 105; the first rotating gear 204 is connected to the second connecting body 202 through the guide groove provided on the first connecting body 201; The first rotating gear 204 is meshed with the rack on the second connecting body 202 at the top and meshed with the first L-shaped rack 206 at the bottom; The first rotating gear 204 rotates under the drive of the first transmission belt 105, cooperates with the rack on the second connecting body 202 and the first L-shaped rack 206 to make the second connecting body 202 move longitudinally, and the second connecting body 202 is separated from the first connecting body 201, realizing the first-level extension; The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201, and the first L-shaped rack 206 is meshed with the first rotating gear 204 in the longitudinal direction and meshed with the second rotating gear 205 in the transverse direction; the second rotating gear 205 is fixed by the first fixing pin 208 through the hole on the second connecting body 202, so that the longitudinal movement of the second connecting body 202 is restricted; The upper portion of the third connecting body 203 is engaged with the second guide rail of the first connecting body 201, and the lower portion is engaged with the lower portion of the second connecting body 202; The lower part of the third connecting body 203 is a bidirectional rack, and the two sides are respectively meshed with the second rotating gear 205 and the third rotating gear 207. The second rotating gear 205 and the third rotating gear 207 rotate to make the third connecting body 203 come out to achieve secondary telescopic movement. The third rotating gear 207 is fixed by the second fixing pin 209 through the hole on the first connecting body 201, so that the longitudinal movement of the third connecting body 203 is restricted.

[0008] In combination with the first aspect, in a possible implementation, the distal limb extension and retraction mechanism 5 includes: a fourth connector 501, a fifth connector 502, a sixth connector 503, a fourth rotating gear 504, a fifth rotating gear 505, a second L-shaped rack 506, a sixth rotating gear 507, a third fixed latch 508 and a fourth fixed latch 509; The fourth connecting body 501 is connected to the second driving motor 303 in the elbow joint assembly 3; The upper portion of the fifth connecting body 502 is engaged with the third guide rail of the upper portion of the fourth connecting body 501, and the lower portion is engaged with the lower portion of the fourth connecting body 501; The fourth rotating gear 504 is connected to the second transmission belt 304 in the elbow joint assembly 3 and rotates under the drive of the second transmission belt 304; the fourth rotating gear 504 is connected to the fifth connecting body 502 through the guide groove provided on the fourth connecting body 501; The fourth rotating gear 504 is meshed with the rack on the fifth connecting body 502 at the top and meshed with the second L-shaped rack 506 at the bottom; The fourth rotating gear 504 rotates under the drive of the second transmission belt 304, cooperates with the rack on the fifth connecting body 502 and the second L-shaped rack 506 to make the fifth connecting body 502 move longitudinally, and the fifth connecting body 502 is separated from the fourth connecting body 501, realizing three-stage telescopic extension; The second L-shaped rack 506 is fixed to the lower part of the fourth connecting body 501, and the second L-shaped rack 506 is meshed with the fourth rotating gear 504 in the longitudinal direction and meshed with the fifth rotating gear 505 in the transverse direction; the fifth rotating gear 505 is fixed by the third fixing pin 508 through the hole on the fifth connecting body 502, so that the longitudinal movement of the fifth connecting body 502 is restricted; The upper portion of the sixth connecting body 503 is engaged with the guide rail of the fourth connecting body 501, and the lower portion is engaged with the lower portion of the fifth connecting body 502; The lower part of the sixth connecting body 503 is a bidirectional rack, and the two sides are respectively meshed with the fifth rotating gear 505 and the sixth rotating gear 507. The fifth rotating gear 505 and the sixth rotating gear 507 rotate to make the sixth connecting body 503 come out to achieve four-stage telescopic extension. The sixth rotating gear 507 is fixed by a fourth fixing pin 509 through a hole on the fourth connecting body 501 , so that the longitudinal movement of the sixth connecting body 503 is restricted.

[0009] In combination with the first aspect, in a possible implementation, the distance measuring mechanism 4 includes: a near-end distance measuring mechanism and a far-end distance measuring mechanism; the near-end distance measuring mechanism includes: a first distance measuring module 401 and a first reflector 402; the far-end distance measuring mechanism includes: a second distance measuring module 403 and a second reflector 404; The first distance measuring module 401 of the proximal distance measuring mechanism is installed on the first connector 201 of the proximal limb extension and retraction mechanism 2, and is used to detect the length of the first connecting rod corresponding to the proximal limb extension and retraction mechanism 2; The first reflector 402 of the proximal distance measuring mechanism is installed between the third connector 203 of the proximal limb extension and retraction mechanism 2 and the elbow joint top 301 of the elbow joint assembly 3, and is used to reflect the light emitted by the first distance measuring module 401; The second distance measuring module 403 of the remote distance measuring mechanism is installed on the fourth connector 501 of the remote limb extension and retraction mechanism 5, and is used to detect the length of the second connecting rod corresponding to the remote limb extension and retraction mechanism 5; The second reflector 404 of the distal distance measuring mechanism is installed at the distal end of the sixth connector 503 of the distal limb extension and retraction mechanism 5 to reflect the light emitted by the second distance measuring module 403 .

[0010] In combination with the first aspect, in a possible implementation, the shoulder joint assembly 1 includes: a shoulder joint top 101, a shoulder joint side upper body 102, a shoulder joint side lower body 103, a first drive motor 104 and a first transmission belt 105; One end of the shoulder joint side upper body 102 is connected to the shoulder joint top 101, and the other end is connected to the shoulder joint side lower body 103; The first driving motor 104 is installed on the lower body 103 of the shoulder joint side, and drives the first transmission belt 105 to be wound or released.

[0011] In combination with the first aspect, in a possible implementation manner, the elbow joint assembly 3 includes: an elbow joint top 301, an elbow joint bottom 302, a second drive motor 303, and a second drive belt 304; The elbow joint bottom 302 is connected to the elbow joint top 301; The second driving motor 303 is installed on the elbow joint bottom 302 to drive the second transmission belt 304 to be wound or released.

[0012] In a second aspect, an exoskeleton control method is provided, comprising: Obtain the exoskeleton’s link length information and the end effector’s intention; Update the pre-generated DH parameter table and transformation matrix based on the connecting rod length information; Generate a new end effector intention and kinematic inverse solution model matching the link length information based on the transformation matrix; The kinematic inverse model is used to convert the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton; A control instruction is generated based on the joint angle and the joint angular velocity.

[0013] In conjunction with the second aspect, in a possible implementation, the intention of the end effector includes: speed, position, and posture information of the end effector; The method of converting the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton by using the kinematic inverse solution model includes: According to the new position and posture information of the end effector, the joint angles of each joint are calculated using the right inverse kinematics equation; The mapping relationship between the joint angular velocity of each joint and the velocity of the end effector is obtained through the kinematic inverse solution model; The speed of the end effector is converted into the joint angular speed of each joint based on the mapping relationship between the joint angular speed of each joint and the speed of the end effector.

[0014] In a third aspect, an electronic device is provided for executing the steps of an exoskeleton control method as described in the first aspect or in combination with any possible implementation of the first aspect.

[0015] In a fourth aspect, an exoskeleton system is provided, comprising: the exoskeleton device as described in the first aspect, or in combination with any possible implementation of the first aspect, and the electronic device as described in the third aspect; The exoskeleton device is connected to the electronic device through a communication module, and is used to send the connecting rod length information to the electronic device; The electronic device is used to obtain the link length information and the intention of the end effector, generate a control instruction, and send it to the exoskeleton device; The exoskeleton device is also used to receive the control instruction through the communication module and operate according to the control instruction.

[0016] The beneficial effects of the embodiments of the present disclosure include: The disclosed embodiments provide an exoskeleton device, a control method, an electronic device, and a system, wherein the disclosed exoskeleton device is a medical auxiliary device widely used in the field of medical rehabilitation. Its core function is to improve the safety and comfort of the human body in complex movements by providing additional support and stability.

[0017] First, the whole shoulder joint and the whole elbow joint are fixed to the human body or the support platform as the basic structure of the device to ensure the normal range of motion of the joint. This design provides a stable motion platform for subsequent movements. Secondly, the proximal limb telescopic mechanism and the distal limb telescopic mechanism are precisely connected to flexibly adjust the body posture. These telescopic mechanisms provide the entire device with the appropriate length and necessary support and flexibility at different stages of movement, making the human body movements more flexible and natural, thereby improving movement efficiency. The ranging mechanism is installed at key positions such as the shoulder joint, elbow joint and distal limb telescopic mechanism to monitor the posture changes of the human body in real time. This precise monitoring technology can monitor the length of the connecting rods of the proximal limbs and distal limbs in real time and update the data. The communication module is installed on the exoskeleton device and is responsible for receiving and transmitting real-time data to realize the monitoring and control of the exoskeleton device.

[0018] In summary, the exoskeleton device provides a stable foundation through the overall structure of the shoulder and elbow joints, the proximal and distal limb extension mechanisms increase the flexibility of movement, the distance measurement mechanism ensures movement safety, and the communication module improves the intelligence level of the device. These functions work together to make the connecting rod length in the exoskeleton device adjustable, thereby matching users of different body shapes and improving the stability, comfort and safety of the human body in complex movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of an exoskeleton device provided in an embodiment of the present disclosure; Figure 2 One of the side views of the proximal limb retracting mechanism 2 provided in the embodiment of the present disclosure; Figure 3 The second side view of the proximal limb extension and retraction mechanism 2 provided in the embodiment of the present disclosure; Figure 4 A flowchart of an exoskeleton control method provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The embodiments of the present disclosure provide an exoskeleton device, a control method, an electronic device, and a system. The preferred embodiments of the present disclosure are described below in conjunction with the drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure. In addition, the embodiments and features in the embodiments of the present application can be combined with each other if there is no conflict.

[0021] The present disclosure provides an exoskeleton device, such as Figure 1 As shown, it includes: a shoulder joint as a whole 1, a proximal limb telescopic mechanism 2, an elbow joint as a whole 3, a distance measuring mechanism 4, a distal limb telescopic mechanism 5 and a communication module (not shown in the figure); One end of the proximal limb extension and retraction mechanism 2 is connected to the shoulder joint as a whole 1, and the other end is connected to the elbow joint as a whole 3; The other end of the elbow joint 3 is connected to the distal limb extension mechanism 5; The distance measuring mechanism 4 is installed on the proximal limb telescopic mechanism 2, the elbow joint 3 and the distal limb telescopic mechanism 5; The communication module is installed on the exoskeleton device and connected to the distance measuring mechanism 4.

[0022] In the field of medicine and assistive devices, exoskeleton devices help users recover motor functions or enhance human working ability by assisting human movement. However, the various parts of the exoskeleton device in the traditional solution usually adopt a fixed length. Due to the differences in body sizes of different users, traditional exoskeleton devices are difficult to adapt to people of various body shapes and cannot fit the human body well for assistance or rehabilitation. It can be seen that in order to achieve personalized and precise assistance, it is necessary to be able to adjust the length of the connecting rod. If the length of the connecting rod cannot be changed, the exoskeleton may cause an additional sense of restraint on the human body or hinder normal movement. Therefore, the present disclosure provides an exoskeleton device that supports adjustment of the length of the connecting rods of each part.

[0023] In the disclosed embodiment, the exoskeleton device has a clear component composition and connection relationship from the perspective of structural design, and includes a shoulder joint as a whole 1, a proximal limb extension mechanism 2, an elbow joint as a whole 3, a distance measuring mechanism 4, a distal limb extension mechanism 5 and a communication module.

[0024] Taking the arm structure corresponding to the above-mentioned exoskeleton device as an example, the shoulder joint 1 as a key part connecting the exoskeleton device and the human shoulder provides basic support and starting movement nodes for the entire upper limb exoskeleton. One end of the proximal limb telescopic mechanism 2 is connected to the shoulder joint 1, and the other end is connected to the elbow joint 3, which is used to realize the length adjustment function of the exoskeleton device corresponding to the upper arm part of the human body. For example, in actual applications, for users of different heights or upper limb lengths, the proximal limb telescopic mechanism 2 can change its own length through electric telescopic rods, hydraulic telescopic rods and other implementation methods, so as to adapt to the user's upper arm length and ensure the fit and coordination between the exoskeleton and the upper limbs of the human body.

[0025] The elbow joint as a whole 3 is connected to the proximal limb extension and retraction mechanism 2 on the one hand, and is connected to the distal limb extension and retraction mechanism 5 on the other hand. The elbow joint as a whole 3, like the human elbow joint, is a key joint part for the exoskeleton device to achieve bending, stretching and other movements, and controls the relative movement of the exoskeleton device corresponding to the forearm and upper arm parts of the human body.

[0026] The distal limb extension mechanism 5 is similar to the proximal limb extension mechanism 2, and can adjust the length of the exoskeleton device corresponding to the human forearm, further enhancing the adaptability of the exoskeleton device to different forearm lengths of users. For example, when assisting the hand grasping action, if the user's forearm is short, the distal limb extension mechanism 5 can be shortened, so that the exoskeleton device can better assist the hand to accurately locate the target object.

[0027] The distance measuring mechanism 4 is installed on the proximal limb extension mechanism 2, the elbow joint 3 and the distal limb extension mechanism 5, and its function is to obtain the length, angle and other data information of these parts in real time, such as measuring the extension or shortening distance of the proximal limb extension mechanism 2, the rotation angle of the elbow joint 3, etc. These data are crucial for the precise control of the exoskeleton device and provide a key basis for subsequent motion control.

[0028] The communication module is installed on the exoskeleton device and connected to the distance measuring mechanism 4 (not shown in the figure), responsible for transmitting the data acquired by the distance measuring mechanism 4 to an external control device, such as an electronic device, and receiving instructions sent by the external control device to realize information exchange between the exoskeleton device and the external system. For example, the communication module sends the data collected by the distance measuring mechanism 4 to the electronic device carried by the user through CAN bus communication. After the electronic device analyzes and processes the data measured by the distance measuring mechanism 4, it sends control instructions through other related components of the communication module.

[0029] The exoskeleton device achieves the adaptation of upper or lower limb lengths of different users and the accurate monitoring and control of movement status through the coordinated work of various components. It improves the versatility and intelligence level of the exoskeleton device, can better serve the fields of medical rehabilitation, industrial assistance, military training, etc., and provide users with more fitting and efficient movement assistance support.

[0030] In the disclosed embodiments, the exoskeleton device may be implemented as a mechanical structure of an upper limb, that is, an arm, or may be implemented as a mechanical structure of a lower limb, that is, a leg, and there is no limitation thereto.

[0031] In another embodiment provided by the present disclosure, the proximal limb extension and retraction mechanism 2 includes: a first connector 201, a second connector 202, a third connector 203, a first rotating gear 204, a second rotating gear 205, a first L-shaped rack 206, a third rotating gear 207, a first fixed latch 208 and a second fixed latch 209; The first connecting body 201 is connected to the first driving motor 104 in the shoulder joint assembly 1; The upper portion of the second connecting body 202 is engaged with the first guide rail of the upper portion of the first connecting body 201, and the lower portion is engaged with the lower portion of the first connecting body 201; The first rotating gear 204 is connected to the first transmission belt 105 in the shoulder joint assembly 1 and rotates under the drive of the first transmission belt 105; the first rotating gear 204 is connected to the second connecting body 202 through the guide groove provided on the first connecting body 201; The first rotating gear 204 is meshed with the rack on the second connecting body 202 at the top and meshed with the first L-shaped rack 206 at the bottom; The first rotating gear 204 rotates under the drive of the first transmission belt 105, cooperates with the rack on the second connecting body 202 and the first L-shaped rack 206 to make the second connecting body 202 move longitudinally, and the second connecting body 202 escapes from the first connecting body 201, realizing the first-level extension; The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201. The first L-shaped rack 206 is meshed with the first rotating gear 204 in the longitudinal direction and with the second rotating gear 205 in the transverse direction. The second rotating gear 205 is fixed by the first fixing pin 208 through the hole on the second connecting body 202, so that the longitudinal movement of the second connecting body 202 is restricted. The upper portion of the third connecting body 203 is engaged with the second guide rail of the first connecting body 201, and the lower portion is engaged with the lower portion of the second connecting body 202; The lower part of the third connecting body 203 is a bidirectional rack, and the two sides are respectively meshed with the second rotating gear 205 and the third rotating gear 207. The second rotating gear 205 and the third rotating gear 207 rotate to make the third connecting body 203 come out to achieve secondary telescopic movement; The third rotating gear 207 is fixed by the second fixing pin 209 through the hole on the first connecting body 201, so that the longitudinal movement of the third connecting body 203 is restricted.

[0032] In the embodiments of the present disclosure, for ease of understanding, the following is provided: Figure 2 , Figure 3 The proximal limb extension and retraction mechanism 2 shown in the figure is a side view at different viewing angles. The proximal limb extension and retraction mechanism 2 is an important component of the exoskeleton device provided by the present disclosure, and is mainly used to realize the extension and retraction movement of the proximal limb and adjust the length of the connecting rod of the proximal limb part so that it can adapt to users of different body shapes. The mechanism realizes the adjustment and fixation of the length of the proximal limb part through the coordinated work of a series of components including three connectors, three gears, one rack, and two fixing pins.

[0033] The first connector 201 limits the lateral movement of the second connector 202 and the third connector 203 through its own structure, so that the related gears, racks, the second connector 202 and the third connector 203 will not be separated during the extension or rotation of the exoskeleton device, thereby improving the stability of the device. The interlocking structure between the lower part of the first connector 201 and the lower part of the second connector 202 can be implemented as a limiting boss structure, a limiting concave structure, a guide connecting rod structure, etc., which is not limited here.

[0034] The first rotating gear 204 is connected to the first transmission belt 105 in the shoulder joint 1. When the first transmission belt 105 is driven by the first driving motor 104, the first rotating gear 204 rotates accordingly. The first rotating gear 204 is connected to the second connecting body 202 through the guide groove provided on the first connecting body 201, and the first rotating gear 204 is meshed with the rack on the second connecting body 202 at the top and the first L-shaped rack 206 at the bottom. When the first rotating gear 204 rotates, due to the meshing relationship between the first rotating gear 204 and the rack on the second connecting body 202 and the first L-shaped rack 206, the second connecting body 202 is pushed to produce longitudinal movement, so that it is disengaged from the first connecting body 201, and a first-level extension is achieved.

[0035] The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201, and is meshed with the first rotating gear 204 in the longitudinal direction and with the second rotating gear 205 in the transverse direction. The second rotating gear 205 is fixed by the first fixing pin 208 through the hole on the second connecting body 202. This structural setting limits the longitudinal movement of the second connecting body 202, and can fix the second connecting body 202 after the connecting rod length reaches the target length, thereby ensuring the stability of the structure during the first-stage telescopic process.

[0036] The upper portion of the third connector 203 is engaged with the second guide rail of the first connector 201, and the lower portion is engaged with the lower portion of the second connector 202, providing another layer of connection and guidance. In one possible implementation, one side of the upper portion of the third connector 203 is engaged with the second guide rail of the first connector 201, and the other side is engaged with the guide rail on the second connector 202.

[0037] The lower part of the third connector 203 is a two-way rack, and the two sides are respectively meshed with the second rotating gear 205 and the third rotating gear 207. When the second rotating gear 205 and the third rotating gear 207 rotate, the meshing with the two-way rack at the lower part of the third connector 203 causes the third connector 203 to come out, thus achieving two-stage telescopic extension. The third rotating gear 207 is fixed by the second fixing pin 209 through the hole on the first connector 201, which limits the longitudinal movement of the third connector 203 and ensures the stability of the two-stage telescopic process. In addition, in the implementation method, the guide rail can adopt a linear slide rail or a hydraulic slide rail.

[0038] Taking the industrial handling scenario as an example, when a worker uses the exoskeleton device equipped with the proximal limb extension mechanism 2 to carry distant goods, the first drive motor 104 is started, driving the first transmission belt 105 to rotate, thereby rotating the first rotating gear 204, achieving the first-level extension of the second connector 202, and extending the length of the proximal limb of the exoskeleton device. If the distance of the goods is farther, further secondary extension is triggered, the second rotating gear 205 and the third rotating gear 207 rotate, and the third connector 203 is disengaged, achieving a longer distance extension, helping the worker to easily reach the goods.

[0039] The proximal limb extension mechanism 2 realizes the two-stage extension function of the proximal limb of the exoskeleton device through the precise coordination of various components. Its function is to enable the exoskeleton device to flexibly adjust the length of the proximal limb to adapt to different work requirements and the limb size of the user, thereby improving the applicability and functionality of the exoskeleton device.

[0040] In another embodiment provided by the present disclosure, the distal limb extension and retraction mechanism 5 includes: a fourth connector 501, a fifth connector 502, a sixth connector 503, a fourth rotating gear 504, a fifth rotating gear 505, a second L-shaped rack 506, a sixth rotating gear 507, a third fixed latch 508 and a fourth fixed latch 509; The fourth connecting body 501 is connected to the second driving motor 303 in the elbow joint assembly 3; The upper portion of the fifth connecting body 502 is engaged with the third guide rail of the upper portion of the fourth connecting body 501, and the lower portion is engaged with the lower portion of the fourth connecting body 501; The fourth rotating gear 504 is connected to the second transmission belt 304 in the elbow joint assembly 3 and rotates under the drive of the second transmission belt 304; the fourth rotating gear 504 is connected to the fifth connecting body 502 through the guide groove provided on the fourth connecting body 501; The fourth rotating gear 504 is meshed with the rack on the fifth connecting body 502 at the top and meshed with the second L-shaped rack 506 at the bottom; The fourth rotating gear 504 rotates under the drive of the second transmission belt 304, cooperates with the rack on the fifth connecting body 502 and the second L-shaped rack 506 to make the fifth connecting body 502 move longitudinally, and the fifth connecting body 502 escapes from the fourth connecting body 501, realizing three-stage telescopic extension; The second L-shaped rack 506 is fixed to the lower part of the fourth connecting body 501. The second L-shaped rack 506 is meshed with the fourth rotating gear 504 in the longitudinal direction and with the fifth rotating gear 505 in the transverse direction. The fifth rotating gear 505 is fixed by the third fixing pin 508 through the hole on the fifth connecting body 502, so that the longitudinal movement of the fifth connecting body 502 is restricted. The upper portion of the sixth connecting body 503 is engaged with the guide rail of the fourth connecting body 501, and the lower portion is engaged with the lower portion of the fifth connecting body 502; The lower part of the sixth connecting body 503 is a bidirectional rack, and the two sides are respectively meshed with the fifth rotating gear 505 and the sixth rotating gear 507. The fifth rotating gear 505 and the sixth rotating gear 507 rotate to make the sixth connecting body 503 come out to achieve four-stage telescopic extension. The sixth rotating gear 507 is fixed by the fourth fixing pin 509 through the hole on the fourth connecting body 501, so that the longitudinal movement of the sixth connecting body 503 is restricted.

[0041] In the disclosed embodiment, the structure of the distal limb extension and retraction mechanism 5 is similar to that of the proximal limb extension and retraction mechanism 2, and the three-stage extension and four-stage extension are realized through the coordinated action of the various components, thereby realizing the length adjustment of the distal limb part of the entire exoskeleton device. Since it is highly similar to the proximal limb extension and retraction mechanism 2 in structure, the implementation method of the above-mentioned proximal limb extension and retraction mechanism 2 can be referred to during implementation, and no further details will be given here.

[0042] In another embodiment provided by the present disclosure, the distance measuring mechanism 4 includes: a near-end distance measuring mechanism and a far-end distance measuring mechanism; the near-end distance measuring mechanism includes: a first distance measuring module 401 and a first reflector 402; the far-end distance measuring mechanism includes: a second distance measuring module 403 and a second reflector 404; The first distance measuring module 401 of the proximal distance measuring mechanism is installed on the first connector 201 of the proximal limb extension and retraction mechanism 2, and is used to detect the length of the first connecting rod corresponding to the proximal limb extension and retraction mechanism 2; The first reflector 402 of the proximal distance measuring mechanism is installed between the third connector 203 of the proximal limb extension and retraction mechanism 2 and the elbow joint top 301 of the elbow joint assembly 3, and is used to reflect the light emitted by the first distance measuring module 401; The second distance measuring module 403 of the remote distance measuring mechanism is installed on the fourth connector 501 of the remote limb extension and retraction mechanism 5, and is used to detect the length of the second connecting rod corresponding to the remote limb extension and retraction mechanism 5; The second reflector 404 of the distal distance measuring mechanism is installed at the distal end of the sixth connector 503 of the distal limb extension and retraction mechanism 5 to reflect the light emitted by the second distance measuring module 403 .

[0043] In the disclosed embodiment, the first distance measuring module 401 of the proximal distance measuring mechanism is installed on the first connector 201 of the proximal limb extension and retraction mechanism 2, and its core function is to detect the length of the first connecting rod corresponding to the proximal limb extension and retraction mechanism 2. In the implementation mode, the first distance measuring module 401 can adopt a laser distance measuring sensor or other light sensors for measuring distance. Taking the laser distance measuring sensor as an example, when the first distance measuring module 401 is working, a laser beam will be emitted, and the laser beam will be directed to the first reflector 402. The first reflector 402 is installed between the third connector 203 of the proximal limb extension and retraction mechanism 2 and the elbow joint top 301 of the elbow joint as a whole 3, and its function is to reflect the light emitted by the first distance measuring module 401 back to the first distance measuring module 401. By measuring the time from the emission to the reception of the laser beam, combined with the known constant of the speed of light, the distance between the first distance measuring module 401 and the first reflector 402 can be accurately calculated, and then the length of the first connecting rod corresponding to the proximal limb extension and retraction mechanism 2 can be obtained. For example, in a medical rehabilitation scenario, if the length of the patient's upper limb changes during the rehabilitation process, the proximal limb extension mechanism 2 needs to adjust its length, and the first distance measuring module 401 can accurately measure the change in the length of the first connecting rod in real time, providing key data for the subsequent control of the exoskeleton device. In addition, the first distance measuring module 401 and the second distance measuring module 403 can be adsorbed at corresponding positions using a magnetic bottom plate during implementation; the material of the first reflector 402 and the second reflector 404 can be aluminum alloy or silver mirror to improve the laser reflectivity, reduce energy loss and improve the accuracy of distance measurement.

[0044] The second distance measuring module 403 of the distal distance measuring mechanism is installed on the fourth connector 501 of the distal limb extension and retraction mechanism 5, and is responsible for detecting the length of the second connecting rod corresponding to the distal limb extension and retraction mechanism 5. The second distance measuring module 403 can also use a laser distance measuring sensor similar to the first distance measuring module 401. The second reflector 404 is installed at the distal end of the sixth connector 503 of the distal limb extension and retraction mechanism 5, and is used to reflect the light emitted by the second distance measuring module 403. Its working principle is consistent with that of the proximal distance measuring mechanism. The distance between the second distance measuring module 403 and the second reflector 404 is determined by measuring the round-trip time of the laser beam, thereby obtaining the length of the second connecting rod. In industrial application scenarios, when the exoskeleton device assists workers in grasping objects at different distances, the distal limb extension and retraction mechanism 5 will adjust its length, and the second distance measuring module 403 can monitor the change in the length of the second connecting rod in real time to ensure that the exoskeleton device can accurately locate the target object.

[0045] In general, the proximal distance measuring mechanism and the distal distance measuring mechanism of the distance measuring mechanism 4 realize the accurate measurement of the connecting rod length corresponding to the proximal limb extension mechanism 2 and the distal limb extension mechanism 5 through the cooperation of their respective distance measuring modules and the reflector. Its function is to provide real-time and accurate limb length data for the exoskeleton device, which is very important for the exoskeleton device to accurately adjust its own structure and motion state according to the actual limb size and motion requirements of the user. It improves the adaptability and motion control accuracy of the exoskeleton device, so that it can better serve users in different fields, whether it is to help patients recover limb function in medical rehabilitation, or to assist personnel in completing complex tasks in the fields of industry and military, etc., it can provide reliable technical support and enhance the practicality and application value of the exoskeleton device.

[0046] In another embodiment provided by the present disclosure, the shoulder joint as a whole 1 includes: a shoulder joint top 101, a shoulder joint side upper body 102, a shoulder joint side lower body 103, a first drive motor 104 and a first transmission belt 105; One end of the shoulder joint side upper body 102 is connected to the shoulder joint top 101, and the other end is connected to the shoulder joint side lower body 103; The first driving motor 104 is installed on the lower body 103 of the shoulder joint side, and drives the first transmission belt 105 to be wound or released.

[0047] In the disclosed embodiment, the shoulder joint 1 of the exoskeleton device is composed of a shoulder joint top 101, a shoulder joint side upper body 102, a shoulder joint side lower body 103, a first drive motor 104, and a first transmission belt 105. One end of the shoulder joint side upper body 102 is connected to the shoulder joint top 101, and the other end is connected to the shoulder joint side lower body 103. This connection method constructs the basic framework structure of the shoulder joint 1, providing support for the realization of subsequent movement functions.

[0048] The first drive motor 104 is installed on the lower body 103 of the shoulder joint side, and as a power source, it plays a key role in the operation of the device. When it is working, it drives the first transmission belt 105 to reel in or release operation by outputting torque. In the implementation method, the first drive motor 104 can adopt a DC servo motor, which has the characteristics of fast response speed and high control accuracy. When the DC servo motor receives an external control signal, it adjusts its own speed and rotation direction according to the signal instruction. For example, when the control signal requires the shoulder of the exoskeleton device to perform a flexion movement, the first drive motor 104 rotates forward, driving the first transmission belt 105 to reel in, thereby pulling other structural components connected thereto, so that the shoulder of the exoskeleton device bends forward, simulating the flexion movement of the human shoulder. On the contrary, when the shoulder needs to be extended, the first drive motor 104 rotates in the opposite direction, and the first transmission belt 105 is released to achieve the corresponding extension movement.

[0049] The shoulder joint as a whole 1 realizes the movement function of the shoulder of the exoskeleton device through the coordinated work of various components. Its function is to provide the exoskeleton device with movement capabilities similar to those of the human shoulder, so that the exoskeleton device can perform flexible shoulder movements according to the needs of the user. The practicality and functionality of the exoskeleton device in different application scenarios are enhanced. Whether it is assisting patients in shoulder rehabilitation training in the field of medical rehabilitation, or assisting personnel in completing various tasks in the fields of industry and military, it can provide users with effective shoulder movement support and enhance the overall application value of the exoskeleton device.

[0050] In another embodiment provided by the present disclosure, the elbow joint as a whole 3 includes: an elbow joint top 301, an elbow joint bottom 302, a second drive motor 303 and a second drive belt 304; The elbow joint bottom 302 is connected to the elbow joint top 301; The second driving motor 303 is installed on the bottom 302 of the elbow joint, and drives the second transmission belt 304 to be wound or released.

[0051] In the embodiment of the present disclosure, the elbow joint as a whole 3 in the embodiment of the present disclosure is composed of an elbow joint top 301, an elbow joint bottom 302, a second drive motor 303 and a second drive belt 304. The elbow joint bottom 302 is connected to the elbow joint top 301, and a basic structural framework similar to the human elbow joint is constructed to provide support for the realization of subsequent motion functions.

[0052] The second drive motor 303 is installed on the bottom 302 of the elbow joint and serves as a power source to provide power for the movement of the elbow joint. Its working mechanism is to drive the second transmission belt 304 to be wound or released by output torque. In terms of implementation method, the second drive motor 303 can use an AC servo motor, which has high operating stability and precise speed control capabilities. When the AC servo motor receives a control command, it can accurately adjust its own speed and direction of rotation according to the command requirements.

[0053] In the medical rehabilitation scenario, the elbow joint 3 of the exoskeleton device plays an important role for patients with impaired upper limb function. For example, during the rehabilitation training, stroke patients need to perform elbow flexion and extension training to restore muscle strength and joint mobility. The control system of the exoskeleton device sends instructions to the second drive motor 303 according to the patient's rehabilitation training plan and real-time motion feedback. The second drive motor 303 drives the second drive belt 304 to reel or release according to the instructions, accurately controls the movement angle and speed of the elbow joint of the exoskeleton device, assists the patient to complete the rehabilitation training movements of the elbow joint, and helps the patient gradually recover the upper limb function.

[0054] The elbow joint as a whole 3 gives the exoskeleton a similar movement function to the human elbow joint through the coordinated operation of various components. Its function is to provide the exoskeleton with flexible and precise elbow joint movement control capabilities, so that the exoskeleton can closely match the user's movement needs for motion simulation and assistance. It improves the application effect of exoskeleton devices in many fields such as medical rehabilitation, industrial assistance, and military operations. In the field of medical rehabilitation, it helps the patient's rehabilitation training process; in the industrial field, it can assist workers in completing delicate operations; in the military field, it can help soldiers perform tasks in complex environments, greatly expanding the practical value and application scope of exoskeleton devices.

[0055] Based on the same disclosed concept, the disclosed embodiment also provides an exoskeleton control method used when controlling the above exoskeleton device.

[0056] With the above Figure 1 The device shown in FIG. 1 corresponds to an exoskeleton control method provided by an embodiment of the present disclosure, such as Figure 4 As shown, including: S401, obtaining the exoskeleton's connecting rod length information and the end effector's intention; S402, updating the pre-generated DH parameter table and transformation matrix based on the connecting rod length information; S403, generating a new end effector intention and kinematic inverse solution model matching the connecting rod length information based on the transformation matrix; S404, using the kinematic inverse solution model to convert the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton; S405: Generate a control instruction based on the joint angle and the joint angular velocity.

[0057] In the disclosed embodiment, the above-mentioned pre-generated DH parameter table and transformation matrix (Formula 1) are obtained by adopting the standard Denavit-Hartenberg (DH) representation method. The transformation matrix is ​​shown in Formula 1 below; the DH parameter table is shown in Table 1.

[0058] Table 1 Exoskeleton DH parameter table

[0059] In a possible implementation, in the pre-generated parameter table, set , , The initial value is , The initial value is Here , The value is set based on the actual length of the device. The value can be set according to demand or experience.

[0060] In Table 1, It means that the distance from the top of the shoulder joint 101 (first degree of freedom) to the upper body 102 of the side of the shoulder joint is along the Z0 axis of the Cartesian coordinate system, and the distance from X0 to X1 is -0.137m; The distance from the upper body of the shoulder joint side 102 to the lower body of the shoulder joint side 103 (the second degree of freedom) is represented as 0.1036 m from X1 to X2 along the Z1 axis of the Cartesian coordinate system; They respectively represent the top of the shoulder joint 101 (the first degree of freedom) to the upper body 102 of the side of the shoulder joint, which rotates 90° clockwise from the Z0 axis to the Z1 axis around the X1 axis of the Cartesian coordinate system; θ is the rotation angle from Xi-1 to Xi around the Zi-1 axis in the Cartesian coordinate system, and its value is a variable.

[0061] and are variables, corresponding to Figure 1 The distance from the lower body 103 (second degree of freedom) of the middle shoulder joint to the entire elbow joint 3 (third degree of freedom) and the distance from the entire elbow joint 3 (third degree of freedom) to the end of the exoskeleton; after changing the length of the telescopic shaft connecting rod, the length of the connecting rod of the proximal limb telescopic mechanism 2 and the connecting rod length of the distal limb telescopic mechanism 5 The value of will change, so it is necessary to obtain the new connecting rod length in real time, and update the pre-generated DH parameter table and transformation matrix based on the new connecting rod length.

[0062] According to the above DH parameter table, the transformation matrix of the exoskeleton is calculated, and the transformation matrix is ​​shown in the following formula 1: Formula 1:

[0063]

[0064] Among them, the transformation matrix The submatrix composed of the first three rows and the first three columns is the rotation matrix, which describes the Euler posture of the exoskeleton end. The vector composed of the first three rows and the fourth column is the displacement matrix, which describes the coordinates of the exoskeleton end in the Cartesian coordinate system. They represent the transformation matrix from the base point to the first degree of freedom, the transformation matrix from the first degree of freedom to the second degree of freedom, the transformation matrix from the second degree of freedom to the third degree of freedom, and the transformation matrix from the third degree of freedom to the end of the exoskeleton. That is, when the length of each part of the exoskeleton device changes, the vector composed of the first three rows and the fourth column is updated to be the displacement matrix. The above operation can quickly update the transformation matrix of the exoskeleton.

[0065] In the embodiment of the present disclosure, generating a kinematic inverse solution model using a transformation matrix includes: The matrix method is used to derive the inverse solution model of the exoskeleton kinematics, that is, to transform matrix 1 (Formula 1) into matrix 2 (Formula 2), where n, o, and a are the normal vector, orientation vector, and approach vector, respectively, and p is the position vector. , , The values ​​of are shown in equations 3, 4, and 5, respectively, that is, p can be expressed as function.

[0066] Formula 2:

[0067] Formula 3:

[0068] Formula 4:

[0069] Formula 5:

[0070] In another embodiment provided by the present disclosure, the intention of the end effector includes: speed, position and posture information of the end effector; The method of converting the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton by using the kinematic inverse solution model includes: According to the new position and posture information of the end effector, the joint angles of each joint are calculated using the right inverse kinematics equation; The mapping relationship between the joint angular velocity of each joint and the velocity of the end effector is obtained through the kinematic inverse solution model; The speed of the end effector is converted into the joint angular speed of each joint based on the mapping relationship between the joint angular speed of each joint and the speed of the end effector.

[0071] In the embodiments of the present disclosure, in the embodiments provided by the present disclosure, the intention of the end effector includes speed, position and posture information. This information comprehensively reflects the motion state that the user expects the end effector of the exoskeleton system to achieve. According to the new position and posture information of the end effector, the joint angles of each joint are calculated with the help of the right inverse kinematics equation. The right inverse kinematics equation is based on the structure and kinematic model of the exoskeleton, and reversely derives the angles that each joint should be at by analyzing the expected position and posture of the end effector. For example, in a robotic arm exoskeleton system with multiple joints, if the end effector is expected to reach a specific position in space and maintain a specific posture, the right inverse kinematics equation will calculate the angle that each joint needs to rotate to based on parameters such as the length of each link of the robotic arm and the joint structure to achieve the target position and posture.

[0072] The mapping relationship between the joint angular velocity of each joint and the speed of the end effector is obtained through the kinematic inverse model. This mapping relationship is established based on the dynamic characteristics of the exoskeleton system, which clarifies how the angular velocity of each joint should change accordingly when the speed of the end effector changes. For example, in a leg exoskeleton system used to assist walking, when the user expects the end effector (such as the foot support part) to move forward at a certain speed, the kinematic inverse model can determine the relationship between the angular velocity of each joint such as the hip joint, knee joint, ankle joint and the speed of the end effector.

[0073] Based on this mapping relationship, the speed of the end effector is converted into the joint angular velocity of each joint. That is, when the end effector has a specific speed requirement, the corresponding angular velocity is assigned to each joint according to the established mapping relationship, so that the joints of the exoskeleton system move in coordination to achieve the desired speed of the end effector.

[0074] When implementing the above steps, the joint angles are gradually solved according to the position and posture information of the end effector, and the transition term is introduced. , , as shown in Formula 6. , , The joint angles of the exoskeleton shoulder joint internal and external rotation, shoulder joint flexion and extension, and elbow joint flexion and extension calculated by right inverse kinematics are obtained. Through the latest updated kinematic inverse solution model, the mapping relationship between the above joint angular velocity and the end effector velocity is obtained, and the user's desired end effector motion is converted into the joint angular velocity of each joint, and the corresponding control instructions are generated, which then drive the exoskeleton's joint motors and other actuators to make the exoskeleton move in the desired manner, achieving precise control of the upper limb exoskeleton.

[0075] Formula 6:

[0076] The embodiment of the present disclosure provides an electronic device that executes the steps of an exoskeleton control method provided by any embodiment of the present disclosure, and is used to control an exoskeleton device provided by any embodiment of the present disclosure.

[0077] The electronic device provided in the embodiment of the present disclosure can communicate with the exoskeleton device in the form of CAN bus communication, so that the processor executes the following instructions: Obtain the exoskeleton’s link length information and the end effector’s intention; Update the pre-generated DH parameter table and transformation matrix based on the connecting rod length information; Generate a new end effector intention and kinematic inverse solution model matching the link length information based on the transformation matrix; The kinematic inverse model is used to convert the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton; A control instruction is generated based on the joint angle and the joint angular velocity.

[0078] The disclosed embodiment provides an exoskeleton system, comprising: the exoskeleton device and electronic device described in any of the above embodiments; The exoskeleton device is connected to the electronic device through the communication module, and is used to send the connecting rod length information to the electronic device; Electronic devices, used to obtain the link length information and the intention of the end effector, generate control instructions, and send them to the exoskeleton device; The exoskeleton device is also used to receive control instructions through the communication module and operate according to the control instructions.

[0079] In the disclosed embodiment, the exoskeleton system provided by the disclosed embodiment is composed of an exoskeleton device and an electronic device. The exoskeleton device is equipped with a communication module to establish a communication connection with the electronic device. During operation, the exoskeleton device transmits its own connecting rod length information to the electronic device. After receiving the connecting rod length information from the exoskeleton device, the electronic device obtains the intention of the end effector.

[0080] After generating the control instructions, the electronic device sends them to the exoskeleton device. The exoskeleton device receives these control instructions through the communication module and operates according to the instructions. For example, if the control instructions generated by the electronic device require the connecting rod at the knee joint of the exoskeleton device to rotate 15 degrees to assist the user in knee flexion, the exoskeleton device will drive the corresponding motor or other power components to drive the connecting rod at the knee joint to rotate 15 degrees, thereby assisting the user's limb movements.

[0081] The intention of the end effector can be obtained in a variety of ways, such as by collecting muscle electrical signals and joint angle change signals from the human body through sensors, so as to infer the actions that the user wants to perform, such as walking, raising hands, grabbing, etc. Based on the obtained link length information and the intention of the end effector, the electronic device generates control instructions according to a specific algorithm. The control instructions contain specific requirements for the movement of each joint of the exoskeleton device, such as the rotation angle of the joint, the movement speed, etc.

[0082] In terms of implementation, the communication module can use wireless communication technologies such as Bluetooth and Wi-Fi. Taking Bluetooth as an example, it has the characteristics of low power consumption and convenient connection, and is suitable for short-distance communication between exoskeleton devices and electronic devices. The sensors in the exoskeleton device can use inertial measurement units (IMUs), which can accurately measure the acceleration and angular velocity of the joints, and provide accurate data for electronic devices to obtain the intention of the end effector.

[0083] The exoskeleton system provided by the present disclosure realizes the collaborative work between the exoskeleton device and the electronic device. Through the comprehensive processing of information and the generation of instructions by the electronic device, the exoskeleton device can better adapt to different users and provide precise assistance according to the user's intention. Its significance lies in improving the intelligence and personalization level of the exoskeleton device, overcoming the problem that the traditional exoskeleton device is difficult to adapt to the diverse body shapes and complex movement requirements due to fixed parameters, broadening the application scope of the exoskeleton device in multiple fields such as medical rehabilitation, industrial assistance, and military applications, and improving the user's experience and work efficiency.

[0084] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present disclosure can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments of the present disclosure.

[0085] Those skilled in the art will appreciate that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the accompanying drawings are not necessarily required for implementing the present disclosure.

[0086] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device in the embodiment according to the description of the embodiment, or can be changed accordingly and located in one or more devices different from the present embodiment. The modules in the above embodiment can be combined into one module, or can be further divided into multiple sub-modules.

[0087] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0088] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. An exoskeleton device, characterized in that: include: The whole shoulder joint (1), the proximal limb extension and retraction mechanism (2), the whole elbow joint (3), the distance measuring mechanism (4), the distal limb extension and retraction mechanism (5) and the communication module; One end of the proximal limb extension and retraction mechanism (2) is connected to the shoulder joint as a whole (1), and the other end is connected to the elbow joint as a whole (3); The other end of the elbow joint as a whole (3) is connected to the distal limb telescopic mechanism (5); The distance measuring mechanism (4) is installed on the proximal limb telescopic mechanism (2), the elbow joint as a whole (3) and the distal limb telescopic mechanism (5); The communication module is installed on the exoskeleton device and is connected to the distance measuring mechanism (4).

2. The device according to claim 1, characterized in that The proximal limb extension and retraction mechanism (2) comprises: a first connector (201), a second connector (202), a third connector (203), a first rotating gear (204), a second rotating gear (205), a first L-shaped rack (206), a third rotating gear (207), a first fixed latch (208) and a second fixed latch (209); The first connecting body (201) is connected to the first driving motor (104) in the shoulder joint assembly (1); The upper portion of the second connecting body (202) is engaged with the first guide rail of the upper portion of the first connecting body (201), and the lower portion is engaged with the lower portion of the first connecting body (201); The first rotating gear (204) is connected to the first transmission belt (105) in the shoulder joint assembly (1) and rotates under the drive of the first transmission belt (105); the first rotating gear (204) is connected to the second connecting body (202) through a guide groove provided on the first connecting body (201); The upper portion of the first rotating gear (204) is meshed with the rack on the second connecting body (202), and the lower portion is meshed with the first L-shaped rack (206); The first rotating gear (204) rotates under the drive of the first transmission belt (105), and cooperates with the rack on the second connecting body (202) and the first L-shaped rack (206) to make the second connecting body (202) move longitudinally, and the second connecting body (202) is separated from the first connecting body (201), thereby realizing a first-level extension and retraction; The first L-shaped rack (206) is fixed to the lower part of the first connecting body (201), and the first L-shaped rack (206) is meshed with the first rotating gear (204) in the longitudinal direction and meshed with the second rotating gear (205) in the transverse direction; the second rotating gear (205) is fixed by a first fixing pin (208) through a hole on the second connecting body (202), so that the longitudinal movement of the second connecting body (202) is restricted; The upper portion of the third connecting body (203) is engaged with the second guide rail of the first connecting body (201), and the lower portion is engaged with the lower portion of the second connecting body (202); The lower part of the third connecting body (203) is a bidirectional rack, and the two sides are respectively meshed with the second rotating gear (205) and the third rotating gear (207), and the second rotating gear (205) and the third rotating gear (207) rotate to make the third connecting body (203) come out to achieve two-stage telescopic extension; The third rotating gear (207) is fixed via a second fixing pin (209) through a hole on the first connecting body (201), so that the longitudinal movement of the third connecting body (203) is restricted.

3. The device according to claim 1, characterized in that The distal limb extension and retraction mechanism (5) comprises: a fourth connector (501), a fifth connector (502), a sixth connector (503), a fourth rotating gear (504), a fifth rotating gear (505), a second L-shaped rack (506), a sixth rotating gear (507), a third fixed latch (508) and a fourth fixed latch (509); The fourth connecting body (501) is connected to the second driving motor (303) in the elbow joint assembly (3); The upper part of the fifth connecting body (502) is engaged with the third guide rail of the upper part of the fourth connecting body (501), and the lower part is engaged with the lower part of the fourth connecting body (501); The fourth rotating gear (504) is connected to the second transmission belt (304) in the elbow joint assembly (3), and rotates under the drive of the second transmission belt (304); the fourth rotating gear (504) is connected to the fifth connecting body (502) through the guide groove provided on the fourth connecting body (501); The upper portion of the fourth rotating gear (504) is meshed with the rack on the fifth connecting body (502), and the lower portion is meshed with the second L-shaped rack (506); The fourth rotating gear (504) rotates under the drive of the second transmission belt (304), cooperates with the rack on the fifth connecting body (502) and the second L-shaped rack (506) to make the fifth connecting body (502) move longitudinally, and the fifth connecting body (502) is disengaged from the fourth connecting body (501), thereby realizing three-stage telescopic extension; The second L-shaped rack (506) is fixed to the lower part of the fourth connecting body (501), and the second L-shaped rack (506) is meshed with the fourth rotating gear (504) in the longitudinal direction and meshed with the fifth rotating gear (505) in the transverse direction; the fifth rotating gear (505) is fixed by a third fixing pin (508) through a hole on the fifth connecting body (502), so that the longitudinal movement of the fifth connecting body (502) is restricted; The upper portion of the sixth connecting body (503) is engaged with the guide rail of the fourth connecting body (501), and the lower portion is engaged with the lower portion of the fifth connecting body (502); The lower part of the sixth connecting body (503) is a bidirectional rack, and the two sides are respectively meshed with the fifth rotating gear (505) and the sixth rotating gear (507). The fifth rotating gear (505) and the sixth rotating gear (507) rotate to make the sixth connecting body (503) come out to achieve four-stage telescopic extension. The sixth rotating gear (507) is fixed by means of a fourth fixing pin (509) through a hole on the fourth connecting body (501), so that the longitudinal movement of the sixth connecting body (503) is restricted.

4. The device according to claim 1, characterized in that The distance measuring mechanism (4) comprises: a near-end distance measuring mechanism and a far-end distance measuring mechanism; the near-end distance measuring mechanism comprises: a first distance measuring module (401) and a first reflector (402); the far-end distance measuring mechanism comprises: a second distance measuring module (403) and a second reflector (404); The first distance measuring module (401) of the proximal distance measuring mechanism is installed on the first connecting body (201) of the proximal limb extension and retraction mechanism (2) and is used to detect the length of the first connecting rod corresponding to the proximal limb extension and retraction mechanism (2); The first reflector (402) of the proximal distance measuring mechanism is installed between the third connector (203) of the proximal limb extension and retraction mechanism (2) and the elbow joint top (301) of the elbow joint assembly (3), and is used to reflect the light emitted by the first distance measuring module (401); The second distance measuring module (403) of the remote distance measuring mechanism is installed on the fourth connecting body (501) of the remote limb extension and retraction mechanism (5) and is used to detect the length of the second connecting rod corresponding to the remote limb extension and retraction mechanism (5); The second reflector (404) of the distal distance measuring mechanism is installed at the distal end of the sixth connector (503) of the distal limb extension and retraction mechanism (5) and is used to reflect the light emitted by the second distance measuring module (403).

5. The device according to claim 1, characterized in that The shoulder joint as a whole (1) comprises: a shoulder joint top (101), a shoulder joint side upper body (102), a shoulder joint side lower body (103), a first driving motor (104) and a first transmission belt (105); One end of the shoulder joint side upper body (102) is connected to the shoulder joint top (101), and the other end is connected to the shoulder joint side lower body (103); The first driving motor (104) is mounted on the lower body (103) of the shoulder joint side, and drives the first transmission belt (105) to be wound or released.

6. The device according to claim 1, characterized in that The elbow joint as a whole (3) comprises: an elbow joint top (301), an elbow joint bottom (302), a second drive motor (303) and a second drive belt (304); The elbow joint bottom (302) is connected to the elbow joint top (301); The second driving motor (303) is installed on the bottom (302) of the elbow joint, and drives the second transmission belt (304) to be wound or released.

7. An exoskeleton control method, characterized in that: include: Obtain the exoskeleton’s link length information and the end effector’s intention; Update the pre-generated DH parameter table and transformation matrix based on the connecting rod length information; Generate a new end effector intention and kinematic inverse solution model matching the link length information based on the transformation matrix; The kinematic inverse model is used to convert the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton; A control instruction is generated based on the joint angle and the joint angular velocity.

8. The control method according to claim 7, characterized in that: The intention of the end effector includes: speed, position and posture information of the end effector; The method of converting the intention of the new end effector into joint angles and joint angular velocities of each joint of the exoskeleton by using the kinematic inverse solution model includes: According to the new position and posture information of the end effector, the joint angles of each joint are calculated using the right inverse kinematics equation; The mapping relationship between the joint angular velocity of each joint and the velocity of the end effector is obtained through the kinematic inverse solution model; The speed of the end effector is converted into the joint angular speed of each joint based on the mapping relationship between the joint angular speed of each joint and the speed of the end effector.

9. An electronic device, characterized in that: The electronic device executes the steps of an exoskeleton control method as described in any one of claims 7 to 8.

10. An exoskeleton system, characterized in that: include: The exoskeleton device according to any one of claims 1 to 6 and the electronic device according to claim 9; The exoskeleton device is connected to the electronic device through a communication module, and is used to send the connecting rod length information to the electronic device; The electronic device is used to obtain the link length information and the intention of the end effector, generate a control instruction, and send it to the exoskeleton device; The exoskeleton device is also used to receive the control instruction through the communication module and operate according to the control instruction.

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