An exoskeleton device, control method, electronic device and system

Abstract

Embodiments of the present disclosure provide an exoskeleton device, a control method, an electronic device, and a system. The device includes: an overall shoulder joint (1), a proximal limb telescopic mechanism (2), an overall elbow joint (3), a ranging mechanism (4), a distal limb telescopic mechanism (5), and a communication module; one end of the proximal limb telescopic mechanism (2) is connected to the overall shoulder joint (1), and the other end is connected to the overall elbow joint (3); the other end of the overall elbow joint (3) is connected to the distal limb telescopic mechanism (5); the ranging mechanism (4) is installed on the proximal limb telescopic mechanism (2), the overall elbow joint (3), and the distal limb telescopic mechanism (5); the communication module is installed on the exoskeleton device and is connected to the ranging mechanism (4). The length of the connecting rod in the exoskeleton device is adjustable, so as to match users of different body types, and improve the stability, comfort, and safety of the human body during complex movements.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent wearable technologies, and particularly 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 took the lead in proposing the concept of passive exoskeletons, initiating the exploration journey in this field. Subsequently, the United States put forward the active concept in the mid-20th century and successfully launched the first active exoskeleton prototype in 1965, which was mainly applied to industrial handling scenarios at that time, aiming to help workers easily carry heavy objects and improve work efficiency. Developed to date, the application fields of exoskeleton devices have continued to expand.

[0003] At the level of medical rehabilitation, with the intensification of the global population aging trend, the number of the elderly has increased significantly. At the same time, the group of patients with mobility disabilities due to diseases, accidents, etc. is also growing day by day, and their demand for mobility assistance devices is becoming more and more urgent. Exoskeleton devices play a key role here. It can assist patients in rehabilitation training, help users gradually recover motor function, enhance muscle strength and body coordination, and significantly improve the self-care ability of the elderly and the disabled.

[0004] However, exoskeleton devices face a thorny problem in actual applications. There are great differences in the body sizes of different users, such as height, limb length, joint spacing, etc. Most traditional exoskeleton robots are designed for specific body types and adopt fixed link lengths and fixed kinematic models. This results in extremely poor adaptability when facing a variety of human body types, making it difficult to closely fit different human bodies for precise assistance or efficient rehabilitation and other actions, severely restricting the wide application and popularization of exoskeleton devices. Summary of the Invention

[0005] 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 a first aspect, an exoskeleton device is provided, including: an overall shoulder joint 1, a proximal limb telescopic mechanism 2, an overall elbow joint 3, a ranging mechanism 4, a distal limb telescopic mechanism 5, and a communication module;

[0007] One end of the proximal limb telescopic mechanism 2 is connected to the overall shoulder joint 1, and the other end is connected to the overall elbow joint 3;

[0008] The other end of the overall elbow joint 3 is connected to the distal limb telescopic mechanism 5;

[0009] The ranging mechanism 4 is installed on the proximal limb telescopic mechanism 2, the overall elbow joint 3, and the distal limb telescopic mechanism 5;

[0010] The communication module is installed on the exoskeleton device and is connected to the ranging mechanism 4.

[0011] In combination with the first aspect, in a possible implementation manner, the proximal limb telescopic mechanism 2 includes: a first connecting body 201, a second connecting body 202, a third connecting body 203, a first rotating gear 204, a second rotating gear 205, a first L-shaped rack 206, a third rotating gear 207, a first fixing pin 208, and a second fixing pin 209;

[0012] The first connecting body 201 is connected to the first driving motor 104 in the overall shoulder joint 1;

[0013] The upper part of the second connecting body 202 is fitted with the first guide rail on the upper part of the first connecting body 201, and the lower part is fitted with the first connecting body 201;

[0014] The first rotating gear 204 is connected to the first transmission belt 105 in the overall shoulder joint 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 rail groove provided on the first connecting body 201;

[0015] Above the first rotating gear 204 is meshed with the rack on the second connecting body 202, and below is meshed with the first L-shaped rack 206;

[0016] 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 cause the second connecting body 202 to generate a longitudinal movement, and the second connecting body 202 disengages from the first connecting body 201 to achieve primary telescoping;

[0017] The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201. The longitudinal direction of the first L-shaped rack 206 is meshed with the first rotating gear 204, and the transverse direction is meshed with the second rotating gear 205; the second rotating gear 205 is fixed through the first fixing pin 208 via a hole on the second connecting body 202, restricting the longitudinal movement of the second connecting body 202;

[0018] The upper part of the third connecting body 203 is fitted with the second guide rail of the first connecting body 201, and the lower part is fitted with the lower part of the second connecting body 202;

[0019] The lower part of the third connecting body 203 is a bidirectional rack, which is respectively meshed with the second rotating gear 205 and the third rotating gear 207 on both sides. The second rotating gear 205 and the third rotating gear 207 rotate to disengage the third connecting body 203 to achieve secondary telescoping;

[0020] The third rotating gear 207 is fixed through the second fixing pin 209 via the hole on the first connecting body 201, so that the longitudinal movement of the third connecting body 203 is restricted.

[0021] Combined with the first aspect, in a possible implementation manner, the distal limb telescoping mechanism 5 includes: a fourth connecting body 501, a fifth connecting body 502, a sixth connecting body 503, a fourth rotating gear 504, a fifth rotating gear 505, a second L-shaped rack 506, a sixth rotating gear 507, a third fixing pin 508 and a fourth fixing pin 509;

[0022] The fourth connecting body 501 is connected to the second driving motor 303 in the overall elbow joint 3;

[0023] The upper part of the fifth connecting body 502 is fitted with the third guide rail on the upper part of the fourth connecting body 501, and the lower part is fitted with the lower part of the fourth connecting body 501;

[0024] The fourth rotating gear 504 is connected to the second transmission belt 304 in the overall elbow joint 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 rail groove provided on the fourth connecting body 501;

[0025] Above the fourth rotating gear 504 is meshed with the rack on the fifth connecting body 502, and below is meshed with the second L-shaped rack 506;

[0026] The fourth rotating gear 504 rotates under the drive of the second transmission belt 304, and cooperates with the rack on the fifth connecting body 502 and the second L-shaped rack 506 to cause the fifth connecting body 502 to generate longitudinal movement, and the fifth connecting body 502 disengages from the fourth connecting body 501 to achieve three-stage telescoping;

[0027] The second L-shaped rack 506 is fixed to the lower part of the fourth connecting body 501. The longitudinal direction of the second L-shaped rack 506 is meshed with the fourth rotating gear 504, and the transverse direction is meshed with the fifth rotating gear 505; the fifth rotating gear 505 is fixed through the third fixing pin 508 via the hole on the fifth connecting body 502, so that the longitudinal movement of the fifth connecting body 502 is restricted;

[0028] The upper part of the sixth connector 503 is fitted into the guide rail of the fourth connector 501, and the lower part is fitted into the lower part of the fifth connector 502;

[0029] The lower part of the sixth connector 503 is a bidirectional rack, which meshes with the fifth rotating gear 505 and the sixth rotating gear 507 on both sides respectively. When the fifth rotating gear 505 and the sixth rotating gear 507 rotate, the sixth connector 503 is disengaged to achieve four-stage telescoping;

[0030] The sixth rotating gear 507 is fixed through the fourth fixed pin 509 via the hole on the fourth connector 501, so that the longitudinal movement of the sixth connector 503 is restricted.

[0031] Combined with the first aspect, in a possible implementation manner, the ranging mechanism 4 includes: a proximal ranging mechanism and a distal ranging mechanism; the proximal ranging mechanism includes: a first ranging module 401 and a first reflector 402; the distal ranging mechanism includes: a second ranging module 403 and a second reflector 404;

[0032] The first ranging module 401 of the proximal ranging mechanism is installed on the first connector 201 of the proximal limb telescoping mechanism 2 for detecting the length of the first connecting rod corresponding to the proximal limb telescoping mechanism 2;

[0033] The first reflector 402 of the proximal ranging mechanism is installed between the third connector 203 of the proximal limb telescoping mechanism 2 and the elbow joint top 301 of the overall elbow joint 3 for reflecting the light emitted by the first ranging module 401;

[0034] The second ranging module 403 of the distal ranging mechanism is installed on the fourth connector 501 of the distal limb telescoping mechanism 5 for detecting the length of the second connecting rod corresponding to the distal limb telescoping mechanism 5;

[0035] The second reflector 404 of the distal ranging mechanism is installed at the distal end of the sixth connector 503 of the distal limb telescoping mechanism 5 for reflecting the light emitted by the second ranging module 403.

[0036] Combined with the first aspect, in a possible implementation manner, the overall shoulder joint 1 includes: a shoulder joint top 101, an upper body of the shoulder joint side 102, a lower body of the shoulder joint side 103, a first drive motor 104 and a first drive belt 105;

[0037] One end of the upper body 102 of the shoulder joint side is connected to the shoulder joint top 101, and the other end is connected to the lower body 103 of the shoulder joint side;

[0038] 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 wind or release.

[0039] In combination with the first aspect, in a possible implementation manner, the overall elbow joint 3 includes: an elbow joint top 301, an elbow joint bottom 302, a second driving motor 303, and a second transmission belt 304;

[0040] The elbow joint bottom 302 is connected to the elbow joint top 301;

[0041] The second driving motor 303 is installed on the elbow joint bottom 302, and drives the second transmission belt 304 to wind or release.

[0042] In a second aspect, a method for controlling an exoskeleton is provided, including:

[0043] Obtaining the link length information of the exoskeleton and the intention of the end effector;

[0044] Updating a pre-generated DH parameter table and transformation matrix based on the link length information;

[0045] Generating a new intention of the end effector and an inverse kinematics model that matches the link length information based on the transformation matrix;

[0046] Using the inverse kinematics model to convert the new intention of the end effector into the joint angles and joint angular velocities of each joint of the exoskeleton;

[0047] Generating a control command based on the joint angles and joint angular velocities.

[0048] In combination with the second aspect, in a possible implementation manner, the intention of the end effector includes: the speed, position, and attitude information of the end effector;

[0049] The using the inverse kinematics model to convert the new intention of the end effector into the joint angles and joint angular velocities of each joint of the exoskeleton includes:

[0050] According to the position and attitude information of the new end effector, calculating the joint angles of each joint by using the right inverse kinematics equation;

[0051] Obtaining the mapping relationship between the joint angular velocities of each joint and the speed of the end effector through the inverse kinematics model;

[0052] Converting the speed of the end effector into the joint angular velocities of each joint based on the mapping relationship between the joint angular velocities of each joint and the speed of the end effector.

[0053] In a third aspect, an electronic device is provided, which executes the steps of an exoskeleton control method as described in the first aspect or any possible implementation manner in combination with the first aspect.

[0054] In a fourth aspect, an exoskeleton system is provided, including: an exoskeleton device as described in the first aspect or any possible implementation manner in combination with the first aspect, and an electronic device as described in the third aspect;

[0055] The exoskeleton device is communicatively connected to the electronic device through a communication module, and is configured to send link length information to the electronic device;

[0056] The electronic device is configured to obtain the link length information and the intention of the end effector, generate a control instruction, and send it to the exoskeleton device;

[0057] The exoskeleton device is further configured to receive the control instruction through the communication module and operate according to the control instruction.

[0058] The beneficial effects of the embodiments of the present disclosure include:

[0059] The embodiments of the present disclosure provide an exoskeleton device, a control method, an electronic device and a system. Among them, the disclosed exoskeleton device is a medical assistance device, which is 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.

[0060] First, the overall shoulder joint and the overall elbow joint are used as the basic structures of the device and are fixed to the human body or a support platform to ensure the normal range of motion of the joints. This design provides a stable movement platform for subsequent movements. Secondly, the proximal limb telescopic mechanism and the distal limb telescopic mechanism are precisely connected to be able to flexibly adjust the body posture. These telescopic mechanisms provide appropriate lengths, necessary support and flexibility for the entire device at different movement stages, making the human movement more flexible and natural, thereby improving the movement efficiency. The ranging mechanism is installed at key positions such as the shoulder joint, the elbow joint and the distal limb telescopic mechanism to monitor the posture changes of the human body in real time. This precise monitoring technology can monitor the link lengths of the proximal limb and the distal limb 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.

[0061] In summary, the exoskeleton device provides a stable foundation through the overall structures of the shoulder joint and elbow joint. The proximal and distal limb telescoping mechanisms increase movement flexibility, the ranging mechanism ensures movement safety, and the communication module enhances the intelligence level of the device. These functions work together to make the link lengths in the exoskeleton device adjustable, thereby matching users of different body sizes and enhancing the stability, comfort, and safety of the human body during complex movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 Schematic structural diagram of an exoskeleton device provided by an embodiment of the present disclosure;

[0063] Figure 2 One of the side views of the proximal limb telescoping mechanism 2 provided by an embodiment of the present disclosure;

[0064] Figure 3 Another side view of the proximal limb telescoping mechanism 2 provided by an embodiment of the present disclosure;

[0065] Figure 4 Flowchart of an exoskeleton control method provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] Embodiments of the present disclosure provide an exoskeleton device, a control method, an electronic device, and a system. The following describes the preferred embodiments of the present disclosure with reference to the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present disclosure and are not intended to limit the present disclosure. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0067] Embodiments of the present disclosure provide an exoskeleton device, as Figure 1 shown, including: an overall shoulder joint 1, a proximal limb telescoping mechanism 2, an overall elbow joint 3, a ranging mechanism 4, a distal limb telescoping mechanism 5, and a communication module (not shown in the figure);

[0068] One end of the proximal limb telescoping mechanism 2 is connected to the overall shoulder joint 1, and the other end is connected to the overall elbow joint 3;

[0069] The other end of the overall elbow joint 3 is connected to the distal limb telescoping mechanism 5;

[0070] The ranging mechanism 4 is installed on the proximal limb telescoping mechanism 2, the overall elbow joint 3, and the distal limb telescoping mechanism 5;

[0071] The communication module is installed on the exoskeleton device and is connected to the ranging mechanism 4.

[0072] In the fields of medicine and assistive devices, exoskeleton devices assist users in restoring motor function or enhancing human working ability by assisting human movement. However, in traditional solutions, the various parts of exoskeleton devices usually have fixed lengths. Due to differences in the body sizes of different users, traditional exoskeleton devices are difficult to adapt to people of various body types and cannot fit well with the human body for actions such as assisting or rehabilitation. Thus, in order to achieve personalized and precise assistance, it is necessary to be able to adjust the lengths of the linkages. If the lengths of the linkages cannot be changed, it may cause additional constriction or hinder normal movement of the exoskeleton on the human body. Therefore, the present disclosure provides an exoskeleton device that supports the adjustment of the lengths of the linkages of each part.

[0073] In the embodiments of the present disclosure, from a structural design perspective, the above-mentioned exoskeleton device has clear component compositions and connection relationships. It includes a shoulder joint assembly 1, a proximal limb telescopic mechanism 2, an elbow joint assembly 3, a distance measuring mechanism 4, a distal limb telescopic mechanism 5, and a communication module.

[0074] Taking the above-mentioned exoskeleton device corresponding to the arm structure as an example, the shoulder joint assembly 1, as the key part where the exoskeleton device is connected to the human shoulder, provides the basic support and the starting motion node for the entire upper limb exoskeleton part. One end of the proximal limb telescopic mechanism 2 is connected to the shoulder joint assembly 1, and the other end is connected to the elbow joint assembly 3, and 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 practical applications, for users with different heights or different upper limb lengths, the proximal limb telescopic mechanism 2 can change its own length through implementation methods such as electric telescopic rods and hydraulic telescopic rods, so as to adapt to the upper arm length of the user and ensure the fitting degree and coordination between the exoskeleton and the human upper limb.

[0075] The elbow joint assembly 3 is connected to the proximal limb telescopic mechanism 2 on the one hand and the distal limb telescopic mechanism 5 on the other hand. Like the human elbow joint, the elbow joint assembly 3 is the key joint part for the exoskeleton device to perform actions such as bending and stretching, and controls the relative movement between the forearm part and the upper arm part of the exoskeleton device corresponding to the human body.

[0076] The distal limb telescopic mechanism 5 is similar to the proximal limb telescopic mechanism 2 and can adjust the length of the exoskeleton device corresponding to the forearm part of the human body, further enhancing the adaptability of the exoskeleton device to the forearm lengths of different users. For example, when assisting the hand grasping action, if the user has a shorter forearm, the distal limb telescopic mechanism 5 can be shortened so that the exoskeleton device can better assist the hand in accurately positioning the target object.

[0077] The distance measuring mechanism 4 is installed on the proximal limb telescopic mechanism 2, the overall elbow joint 3, and the distal limb telescopic mechanism 5. Its function is to obtain data information such as the length and angle of these parts in real time. For example, it measures the distance that the proximal limb telescopic mechanism 2 extends or retracts, the rotation angle of the overall 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.

[0078] The communication module is installed on the exoskeleton device and is connected to the distance measuring mechanism 4 (not shown in the figure). It is responsible for transmitting the data obtained by the distance measuring mechanism 4 to an external control device, such as an electronic device, etc. At the same time, it receives the instructions sent by the external control device to achieve information interaction 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 the CAN bus communication method. After the electronic device analyzes and processes the data measured by the distance measuring mechanism 4, it then sends control instructions through other relevant components of the communication module.

[0079] Through the coordinated work of each component, the exoskeleton device realizes the adaptation to the upper or lower limb lengths of different users and the precise monitoring and control of the motion state. It improves the versatility and intelligent level of the exoskeleton device, can better serve in the fields of medical rehabilitation, industrial assistance, military training, etc., and provides more fitting and efficient motion assistance support for users.

[0080] In the embodiments of the present disclosure, the above-mentioned exoskeleton device can be implemented as a mechanical structure of the upper limb, that is, the arm, or can be implemented as a mechanical structure of the lower limb, that is, the leg, and no limitation is made here.

[0081] In another embodiment provided by the present disclosure, the proximal limb telescopic mechanism 2 includes: a first connecting body 201, a second connecting body 202, a third connecting body 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 pin 208, and a second fixed pin 209;

[0082] The first connecting body 201 is connected to the first drive motor 104 in the overall shoulder joint 1;

[0083] The upper part of the second connecting body 202 is fitted with the first guide rail on the upper part of the first connecting body 201, and the lower part is fitted with the first connecting body 201;

[0084] The first rotating gear 204 is connected to the first transmission belt 105 in the overall shoulder joint 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 rail groove provided on the first connecting body 201;

[0085] Above the first rotating gear 204, it meshes with the rack on the second connecting body 202, and below it meshes with the first L-shaped rack 206;

[0086] Driven by the first transmission belt 105, the first rotating gear 204 rotates. Cooperating with the rack on the second connecting body 202 and the first L-shaped rack 206, the second connecting body 202 generates a longitudinal movement, and the second connecting body 202 disengages from the first connecting body 201 to achieve primary telescoping;

[0087] The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201. The longitudinal direction of the first L-shaped rack 206 meshes with the first rotating gear 204, and the transverse direction meshes with the second rotating gear 205; The second rotating gear 205 is fixed through the hole on the second connecting body 202 by the first fixing pin 208, restricting the longitudinal movement of the second connecting body 202;

[0088] The upper part of the third connecting body 203 is fitted with the second guide rail of the first connecting body 201, and the lower part is fitted with the lower part of the second connecting body 202;

[0089] The lower part of the third connecting body 203 is a double-sided rack, which meshes with the second rotating gear 205 and the third rotating gear 207 on both sides respectively. When the second rotating gear 205 and the third rotating gear 207 rotate, the third connecting body 203 disengages to achieve secondary telescoping;

[0090] The third rotating gear 207 is fixed through the hole on the first connecting body 201 by the second fixing pin 209, restricting the longitudinal movement of the third connecting body 203.

[0091] In the embodiments of the present disclosure, for the convenience of understanding, side views of the proximal limb telescoping mechanism 2 as shown in Figure 2 , Figure 3 are provided from different perspectives. The above proximal limb telescoping mechanism 2 is an important part of the exoskeleton device provided by the present disclosure, mainly used to realize the telescoping movement of the proximal limb, adjust the link length of the proximal limb part, so as to be able to adapt to users of different body types. This 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 connecting bodies, three gears, one rack, and two fixing pins.

[0092] The first connecting body 201 restricts the lateral movement of the second connecting body 202 and the third connecting body 203 through its own structure, so that the relevant gears, racks, the second connecting body 202 and the third connecting body 203 will not disengage during the telescoping or rotating process of the exoskeleton device, improving the stability of the device. And the fitting structure between the lower part of the first connecting body 201 and the lower part of the second connecting body 202 can be implemented as a limit convex platform structure, a limit concave platform structure, a guiding link structure, etc., which is not limited here.

[0093] The first rotating gear 204 is connected to the first drive belt 105 in the overall shoulder joint 1. When the first drive belt 105 operates driven by the first drive 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 rail groove provided on the first connecting body 201, and meshes with the rack on the second connecting body 202 above and the first L-shaped rack 206 below. When the first rotating gear 204 rotates, due to its meshing relationship with the rack on the second connecting body 202 and the first L-shaped rack 206, it will push the second connecting body 202 to generate a longitudinal movement, causing it to disengage from the first connecting body 201, achieving primary telescoping.

[0094] The first L-shaped rack 206 is fixed to the lower part of the first connecting body 201. It meshes longitudinally with the first rotating gear 204 and transversely with the second rotating gear 205. The second rotating gear 205 is fixed through the hole on the second connecting body 202 by the first fixed pin 208. This structural setting restricts the longitudinal movement of the second connecting body 202, enabling the second connecting body 202 to be fixed after the connecting rod length reaches the target length, ensuring the stability of the structure during the primary telescoping process.

[0095] The upper part of the third connecting body 203 is fitted into the second guide rail of the first connecting body 201, and the lower part is fitted into the lower part of the second connecting body 202, providing another layer of connection and guidance. Among them, in a possible implementation manner, one side of the upper part of the third connecting body 203 is fitted into the second guide rail of the first connecting body 201, and the other side is fitted into the guide rail on the second connecting body 202.

[0096] The lower part of the third connecting body 203 is a two-way rack, meshing with the second rotating gear 205 and the third rotating gear 207 on both sides respectively. When the second rotating gear 205 and the third rotating gear 207 rotate, due to meshing with the two-way rack at the lower part of the third connecting body 203, it causes the third connecting body 203 to disengage, achieving secondary telescoping. The third rotating gear 207 is fixed through the hole on the first connecting body 201 by the second fixed pin 209, restricting the longitudinal movement of the third connecting body 203 and ensuring the stability of the secondary telescoping process. Additionally, in the implementation manner, the above-mentioned guide rails can adopt linear slide rails or hydraulic slide rails.

[0097] Taking the industrial handling scenario as an example, when a worker uses the exoskeleton device equipped with this proximal limb telescopic mechanism 2 to handle goods at a distance, the first driving motor 104 is activated to drive the first transmission belt 105 to operate, and then the first rotating gear 204 rotates, realizing the primary telescoping of the second connecting body 202 and extending the length of the proximal limb of the exoskeleton device. If the goods are at a farther distance, a further secondary telescoping is triggered, and the second rotating gear 205 and the third rotating gear 207 rotate, causing the third connecting body 203 to disengage, achieving a longer extension and helping the worker easily reach the goods.

[0098] Through the precise cooperation of various components, the proximal limb telescopic mechanism 2 realizes the two-stage telescopic function of the proximal limb of the exoskeleton device. 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 sizes of users, improving the applicability and functionality of the exoskeleton device.

[0099] In another embodiment provided by the present disclosure, the distal limb telescopic mechanism 5 includes: a fourth connecting body 501, a fifth connecting body 502, a sixth connecting body 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 pin 508, and a fourth fixed pin 509;

[0100] The fourth connecting body 501 is connected to the second driving motor 303 in the overall elbow joint 3;

[0101] The upper part of the fifth connecting body 502 is fitted into the third guide rail on the upper part of the fourth connecting body 501, and the lower part is fitted into the fourth connecting body 501;

[0102] The fourth rotating gear 504 is connected to the second transmission belt 304 in the overall elbow joint 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 a guide rail groove provided on the fourth connecting body 501;

[0103] Above the fourth rotating gear 504 is engaged with the rack on the fifth connecting body 502, and below is engaged with the second L-shaped rack 506;

[0104] The fourth rotating gear 504 rotates under the drive of the second transmission belt 304, and in cooperation with the rack on the fifth connecting body 502 and the second L-shaped rack 506, causes the fifth connecting body 502 to move longitudinally, and the fifth connecting body 502 disengages from the fourth connecting body 501, realizing three-stage telescoping;

[0105] The second L-shaped rack 506 is fixed to the lower part of the fourth connecting body 501. The longitudinal direction of the second L-shaped rack 506 meshes with the fourth rotating gear 504, and the transverse direction meshes with the fifth rotating gear 505. The fifth rotating gear 505 is fixed through the holes on the fifth connecting body 502 by the third fixing pin 508, restricting the longitudinal movement of the fifth connecting body 502.

[0106] The upper part of the sixth connecting body 503 is fitted into the guide rail of the fourth connecting body 501, and the lower part is fitted into the lower part of the fifth connecting body 502.

[0107] The lower part of the sixth connecting body 503 is a two-way rack, meshing with the fifth rotating gear 505 and the sixth rotating gear 507 on both sides respectively. When the fifth rotating gear 505 and the sixth rotating gear 507 rotate, the sixth connecting body 503 disengages to achieve four-stage telescoping.

[0108] The sixth rotating gear 507 is fixed through the holes on the fourth connecting body 501 by the fourth fixing pin 509, restricting the longitudinal movement of the sixth connecting body 503.

[0109] In the embodiment of the present disclosure, the structure of the distal limb telescoping mechanism 5 is similar to that of the proximal limb telescoping mechanism 2. Through the coordinated action of each component, three-stage telescoping and four-stage telescoping are achieved, thereby realizing the length adjustment of the entire exoskeleton device in the distal limb part. Since it is highly similar to the proximal limb telescoping mechanism 2 in structure, the implementation method of the above proximal limb telescoping mechanism 2 can be referred to during implementation, and will not be elaborated here.

[0110] In another embodiment provided by the present disclosure, the ranging mechanism 4 includes: a proximal ranging mechanism and a distal ranging mechanism; the proximal ranging mechanism includes: a first ranging module 401 and a first reflector 402; the distal ranging mechanism includes: a second ranging module 403 and a second reflector 404.

[0111] The first ranging module 401 of the proximal ranging mechanism is installed on the first connecting body 201 of the proximal limb telescoping mechanism 2, and is used to detect the length of the first connecting rod corresponding to the proximal limb telescoping mechanism 2.

[0112] The first reflector 402 of the proximal ranging mechanism is installed between the third connecting body 203 of the proximal limb telescoping mechanism 2 and the elbow joint top 301 of the overall elbow joint 3, and is used to reflect the light emitted by the first ranging module 401.

[0113] The second ranging module 403 of the distal ranging mechanism is installed on the fourth connecting body 501 of the distal limb telescoping mechanism 5, and is used to detect the length of the second connecting rod corresponding to the distal limb telescoping mechanism 5.

[0114] The second reflector 404 of the distal distance measuring mechanism is installed at the distal end of the sixth connecting body 503 of the distal limb telescopic mechanism 5, and is used to reflect the light emitted by the second distance measuring module 403.

[0115] In the embodiments of the present disclosure, the first distance measuring module 401 of the proximal distance measuring mechanism is installed on the first connecting body 201 of the proximal limb telescopic mechanism 2, and its core function is to detect the length of the first connecting rod corresponding to the proximal limb telescopic mechanism 2. In terms of implementation, the first distance measuring module 401 can adopt a laser distance sensor or other light sensors for measuring distance. Taking a laser distance sensor as an example, when the first distance measuring module 401 works, it will emit a laser beam, and this laser beam is directed at the first reflector 402. The first reflector 402 is installed between the third connecting body 203 of the proximal limb telescopic mechanism 2 and the elbow joint top 301 of the overall elbow joint 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 and combining it 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 telescopic 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 and the proximal limb telescopic mechanism 2 needs to adjust its length, 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 above-mentioned first distance measuring module 401 and second distance measuring module 403 can be adsorbed at the corresponding positions by a magnetic bottom plate during implementation; the materials of the above-mentioned first reflector 402 and second reflector 404 can adopt aluminum alloy during implementation, or a silver mirror surface can also be used to improve the laser reflectivity and reduce the energy loss to improve the accuracy of distance measurement.

[0116] The second distance measuring module 403 of the distal distance measuring mechanism is installed on the fourth connecting body 501 of the distal limb telescopic mechanism 5, and is responsible for detecting the length of the second connecting rod corresponding to the distal limb telescopic mechanism 5. The second distance measuring module 403 can also adopt a laser distance sensor similar to the first distance measuring module 401. The second reflector 404 is installed at the distal end of the sixth connecting body 503 of the distal limb telescopic mechanism 5, and is used to reflect the light emitted by the second distance measuring module 403. Its working principle is the same as that of the proximal distance measuring mechanism. By measuring the round-trip time of the laser beam, the distance between the second distance measuring module 403 and the second reflector 404 is determined, so as to obtain the length of the second connecting rod. In an industrial application scenario, when the exoskeleton device assists a worker in grasping objects at different distances, the distal limb telescopic 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.

[0117] Generally speaking, through the coordinated work of the proximal distance measuring mechanism and the distal distance measuring mechanism of the distance measuring mechanism 4 with their respective distance measuring modules and the reflector, the accurate measurement of the link lengths corresponding to the proximal limb telescopic mechanism 2 and the distal limb telescopic mechanism 5 is achieved. Its function is to provide real-time and accurate limb length data for the exoskeleton device, which is crucial 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, enabling it to better serve users in different fields. Whether it is assisting patients in restoring limb functions in medical rehabilitation or assisting personnel in completing complex tasks in industrial, military and other fields, it can provide reliable technical support and enhance the practicality and application value of the exoskeleton device.

[0118] In another embodiment provided by the present disclosure, the overall shoulder joint 1 includes: a shoulder joint top 101, an upper body of the shoulder joint side 102, a lower body of the shoulder joint side 103, a first drive motor 104, and a first drive belt 105;

[0119] One end of the upper body 102 of the shoulder joint side is connected to the shoulder joint top 101, and the other end is connected to the lower body 103 of the shoulder joint side;

[0120] The first drive motor 104 is installed on the lower body 103 of the shoulder joint side to drive the first drive belt 105 to wind or unwind.

[0121] In the embodiment of the present disclosure, the overall shoulder joint 1 of the exoskeleton device is composed of a shoulder joint top 101, an upper body 102 of the shoulder joint side, a lower body 103 of the shoulder joint side, a first drive motor 104, and a first drive belt 105. One end of the upper body 102 of the shoulder joint side is connected to the shoulder joint top 101, and the other end is connected to the lower body 103 of the shoulder joint side. This connection method constructs the basic framework structure of the overall shoulder joint 1 and provides support for the subsequent realization of motion functions.

[0122] The first drive motor 104 is installed on the lower body 103 of the shoulder joint side and serves as a power source, playing a key role during the operation of the device. When it works, it drives the first drive belt 105 to wind or unwind by outputting torque. In terms of implementation, 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 rotation 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 forward flexion movement, the first drive motor 104 rotates forward, driving the first drive belt 105 to wind, thereby pulling other connected structural components, causing the shoulder of the exoskeleton device to bend forward and simulating the forward flexion movement of the human shoulder. On the contrary, when shoulder extension is required, the first drive motor 104 rotates in the reverse direction, and the first drive belt 105 unwinds to achieve the corresponding extension movement.

[0123] Through the coordinated work of each component, the overall shoulder joint 1 realizes the movement function of the shoulder of the exoskeleton device. Its function is to provide the exoskeleton device with movement capabilities similar to those of the human shoulder, enabling the exoskeleton device to perform flexible shoulder movements according to the needs of the user. It enhances the practicality and functionality of the exoskeleton device in different application scenarios. Whether it is assisting patients in shoulder rehabilitation training in the field of medical rehabilitation or assisting personnel in completing various tasks in industrial, military and other fields, it can provide effective shoulder movement support for users and enhance the overall application value of the exoskeleton device.

[0124] In another embodiment provided by the present disclosure, the overall elbow joint 3 includes: an elbow joint top 301, an elbow joint bottom 302, a second drive motor 303, and a second drive belt 304;

[0125] The elbow joint bottom 302 is connected to the elbow joint top 301;

[0126] The second drive motor 303 is installed on the elbow joint bottom 302 to drive the second drive belt 304 to wind or unwind.

[0127] In the embodiment of the present disclosure, the overall elbow joint 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 to build a basic structural framework similar to the human elbow joint, providing support for the realization of subsequent movement functions.

[0128] The second drive motor 303 is installed on the elbow joint bottom 302 and serves as a power source, responsible for providing power for the movement of the elbow joint. Its working mechanism is to drive the second drive belt 304 to wind or unwind by outputting torque. In terms of implementation, the second drive motor 303 can be an AC servo motor, which has high running stability and precise speed control ability. When the AC servo motor receives a control instruction, it can accurately adjust its rotation speed and rotation direction according to the instruction requirements.

[0129] In the medical rehabilitation scenario, for patients with impaired upper limb functions, the overall elbow joint 3 of the exoskeleton device plays an important role. For example, during the rehabilitation training of stroke patients, elbow flexion and extension training are required to restore muscle strength and joint range of motion. 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 movement feedback. The second drive motor 303 drives the second drive belt 304 to wind or unwind according to the instructions, precisely controlling the movement angle and speed of the elbow joint of the exoskeleton device, assisting the patient to complete the elbow joint rehabilitation training actions, and helping the patient gradually restore upper limb functions.

[0130] Through the coordinated operation of each component, the overall elbow joint 3 endows the exoskeleton device with the motion function similar to that of the human elbow joint. Its function is to provide the exoskeleton device with flexible and precise elbow joint motion control ability, enabling the exoskeleton device to closely fit the user's motion needs for motion simulation and assistance. It improves the application effect of the exoskeleton device in multiple fields such as medical rehabilitation, industrial assistance, and military operations. In the field of medical rehabilitation, it helps the rehabilitation training process of patients; in the industrial field, it can assist workers in completing fine operations; in the military field, it can help soldiers perform tasks in complex environments, greatly expanding the practical value and application scope of the exoskeleton device.

[0131] Based on the same general concept, the embodiments of the present disclosure also provide an exoskeleton control method adopted when controlling the above-mentioned exoskeleton device.

[0132] As corresponding to the above Figure 1 shown device, an exoskeleton control method provided by the embodiments of the present disclosure, as Figure 4 shown, includes:

[0133] S401. Obtain the link length information of the exoskeleton and the intention of the end effector;

[0134] S402. Update the pre-generated DH parameter table and transformation matrix based on the link length information;

[0135] S403. Generate a new intention of the end effector and an inverse kinematics model that matches the link length information based on the transformation matrix;

[0136] S404. Use the inverse kinematics model to convert the new intention of the end effector into the joint angles and joint angular velocities of each joint of the exoskeleton;

[0137] S405. Generate a control command based on the joint angles and joint angular velocities.

[0138] In the embodiments of the present disclosure, the above-mentioned pre-generated DH parameter table and transformation matrix (Equation 1) are obtained by adopting the standard Denavit-Hartenberg (D-H) representation method, and the transformation matrix is as shown in Equation 1 below; the DH parameter table is shown in Table 1.

[0139] Table 1 Exoskeleton DH Parameter Table

[0140]

[0141] In a possible implementation manner, in the pre-generated parameter table, set , , the initial value of to be 0.3375m, The initial value is 0.297m. Here and the value of is set based on the actual length of the device, and the value of can be set according to requirements or experience.

[0142] In Table 1, it indicates that the distance from the top of the shoulder joint 101 (the first degree of freedom) to the upper body 102 on 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;

[0143] it indicates that the distance from the upper body 102 on the side of the shoulder joint to the lower body 103 of the shoulder joint (the second degree of freedom) is along the Z1 axis of the Cartesian coordinate system, and the distance from X1 to X2 is 0.1036m;

[0144] respectively indicate that from the top of the shoulder joint 101 (the first degree of freedom) to the upper body 102 on the side of the shoulder joint, rotating 90° clockwise around the X1 axis of the Cartesian coordinate system from the Z0 axis to the Z1 axis;

[0145] θ is the rotation angle around the Zi-1 axis from Xi-1 to Xi in the Cartesian coordinate system, and its value is a variable.

[0146] and are variables, corresponding respectively to Figure 1 the distance from the lower body 103 of the shoulder joint (the second degree of freedom) to the overall elbow joint 3 (the third degree of freedom) and the distance from the overall elbow joint 3 (the third degree of freedom) to the end of the exoskeleton in ; after changing the length of the telescopic shaft connecting rod, the connecting rod length of the proximal limb telescopic mechanism 2 and the connecting rod length

[0147] of the distal limb telescopic mechanism 5 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.

[0148] According to the above DH parameter table, calculate the transformation matrix of the exoskeleton, and this transformation matrix is shown in Equation 1 below:

[0149]

[0150]

[0151] Among them, the sub-matrix composed of the first three rows and the first three columns in the transformation matrix is the rotation matrix, describing the Euler attitude of the end of the exoskeleton, and the vector composed of the first three rows and the fourth column is the displacement matrix, describing the coordinates of the end of the exoskeleton in the Cartesian coordinate system. respectively 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 lengths of the various parts of the exoskeleton device change, update the vector composed of the first three rows and the fourth column as the displacement matrix. The above operations can quickly update the transformation matrix of the exoskeleton.

[0152] In the embodiments of the present disclosure, generating an inverse kinematic model using the transformation matrix includes:

[0153] Deriving the inverse kinematic model of the exoskeleton using the matrix method, that is, converting matrix 1 (Equation 1) into matrix 2 (Equation 2), where n, o, and a are the normal vector, the orientation vector, and the approach vector respectively, and p is the position vector. Among them , , The values of are shown in Equations 3, 4, and 5 respectively, that is, p can be expressed as a function of .

[0154] Equation 2:

[0155] Equation 3:

[0156]

[0157] Equation 4:

[0158]

[0159] Equation 5:

[0160]

[0161] In another embodiment provided by the present disclosure, the intentions of the end effector include: the speed, position, and attitude information of the end effector;

[0162] Converting the intentions of the new end effector into the joint angles and joint angular velocities of the respective joints of the exoskeleton using the inverse kinematic model includes:

[0163] According to the position and attitude information of the new end effector, calculate the joint angles of the respective joints using the right inverse kinematic equation;

[0164] Obtain the mapping relationship between the joint angular velocities of the respective joints and the speed of the end effector through the inverse kinematic model;

[0165] Convert the speed of the end effector into the joint angular velocities of the respective joints based on the mapping relationship between the joint angular velocities of the respective joints and the speed of the end effector.

[0166] In the embodiments of the present disclosure, the intention of the end effector includes speed, position, and attitude information. These information comprehensively reflect the motion state that the user expects the end effector of the exoskeleton system to achieve. According to the position and attitude information of the new end effector, the joint angles of each joint are calculated by means of the right inverse kinematics equation. The right inverse kinematics equation is based on the structure and kinematic model of the exoskeleton, and by analyzing the expected position and attitude of the end effector, it reversely deduces the angles that each joint should be in. For example, in a robotic arm exoskeleton system with multiple joints, if the end effector is expected to reach a certain specific position in space and maintain a specific attitude, the right inverse kinematics equation will calculate the angles that each joint needs to rotate to according to parameters such as the lengths of each link of the robotic arm and the joint structure to achieve the target position and attitude.

[0167] The mapping relationship between the joint angular velocities of each joint and the speed of the end effector is obtained through the inverse kinematics solution model. This mapping relationship is established based on the dynamic characteristics of the exoskeleton system, which clarifies how the joint angular velocities should change correspondingly when the speed of the end effector changes. For example, in a leg exoskeleton system for assisting walking, when the user expects the end effector (such as the foot support part) to move forward at a certain speed, the inverse kinematics solution model can determine the correlation between the angular velocities of joints such as the hip joint, knee joint, and ankle joint and the speed of the end effector.

[0168] Based on this mapping relationship, the speed of the end effector is converted into the joint angular velocities of each joint. That is, when the end effector has a specific speed requirement, according to the established mapping relationship, the corresponding angular velocity is assigned to each joint, so that the joints of the exoskeleton system move in coordination to achieve the expected speed of the end effector.

[0169] When the above steps are implemented, according to the position and attitude information of the end effector, the joint angles are gradually solved, and a transition term , is introduced, as shown in Equation 6. Where , , are the joint angles of internal and external rotation of the shoulder joint, flexion and extension of the shoulder joint, and flexion and extension of the elbow joint of the exoskeleton obtained by right inverse kinematics calculation respectively. Through the latest updated inverse kinematics solution model, the mapping relationship between the above joint angular velocities and the speed of the end effector is obtained, the motion of the end effector expected by the user is converted into the joint angular velocities of each joint, and the corresponding control instructions are generated, and then the actuator such as the joint motor of the exoskeleton is driven, so that the exoskeleton moves in the expected manner, realizing the precise control of the upper limb exoskeleton.

[0170] Equation 6:

[0171]

[0172] An embodiment of the present disclosure provides an electronic device, which executes the steps of an exoskeleton control method provided in any embodiment of the present disclosure. It is used to control an exoskeleton device provided in any embodiment of the present disclosure.

[0173] For the electronic device provided in an embodiment of the present disclosure, the communication method with the above-mentioned exoskeleton device can be implemented as CAN bus communication, so that the processor executes the following instructions:

[0174] Obtain the link length information of the exoskeleton and the intention of the end effector;

[0175] Update the pre-generated DH parameter table and transformation matrix based on the link length information;

[0176] Generate a new intention of the end effector and an inverse kinematics model that matches the link length information based on the transformation matrix;

[0177] Use the inverse kinematics model to convert the new intention of the end effector into the joint angles and joint angular velocities of each joint of the exoskeleton;

[0178] Generate a control instruction based on the joint angles and joint angular velocities.

[0179] An embodiment of the present disclosure provides an exoskeleton system, including: the exoskeleton device and the electronic device described in any of the above embodiments;

[0180] The exoskeleton device is communicatively connected to the electronic device through a communication module, and is used to send link length information to the electronic device;

[0181] 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;

[0182] The exoskeleton device is further used to receive the control instruction through the communication module and operate according to the control instruction.

[0183] In an embodiment of the present disclosure, the exoskeleton system provided in the embodiment of the present disclosure 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 link length information to the electronic device. After receiving the link length information transmitted by the exoskeleton device, the electronic device obtains the intention of the end effector.

[0184] 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 requirements of the instructions. For example, if the control instructions generated by the electronic device require the link at the knee joint of the exoskeleton device to rotate 15 degrees to assist the user in performing a knee-bending action, the exoskeleton device will drive the corresponding motor or other power components to drive the link at the knee joint to rotate 15 degrees, thereby realizing the assistance for the user's limb movement.

[0185] Among them, the intention of the end effector can be obtained in various ways. For example, by collecting the electromyogram signals, joint angle change signals, etc. of the human body through sensors, and inferring the actions that the user wants to perform, such as walking, raising the hand, grasping, etc. The electronic device generates control instructions based on the obtained link length information and the intention of the end effector according to a specific algorithm. The control instructions include specific requirements for the movement of each joint of the exoskeleton device, such as the rotation angle and movement speed of the joint.

[0186] In terms of implementation, the communication module can adopt 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 the exoskeleton device and the electronic device. The sensors in the exoskeleton device can adopt an inertial measurement unit (IMU), which can accurately measure the acceleration and angular velocity of the joint and provide accurate data for the electronic device to obtain the intention of the end effector.

[0187] 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 instruction generation by the electronic device, the exoskeleton device can better adapt to different users and provide precise assistance according to the intention of the users. Its significance lies in improving the intelligence and personalization level of the exoskeleton device, overcoming the problem that traditional exoskeleton devices are difficult to adapt to diverse human body shapes and complex action requirements due to fixed parameters, broadening the application scope of exoskeleton devices in multiple fields such as medical rehabilitation, industrial assistance, and military applications, and enhancing the user experience and work efficiency.

[0188] Through the description of the above embodiments, 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 solutions of the embodiments of the present disclosure can be embodied in the form of a software product, and the software product 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 several 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.

[0189] Those skilled in the art can understand that the drawings are only schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present disclosure.

[0190] Those skilled in the art can understand that the modules in the device in the embodiment can be distributed in the device of the embodiment according to the description of the embodiment, or can be correspondingly changed and located in one or more devices different from the present embodiment. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0191] The serial numbers of the above embodiments of the present disclosure are only for description and do not represent the advantages and disadvantages of the embodiments.

[0192] 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 equivalent technologies, the present disclosure also intends to include these changes and modifications.

Claims

1. An exoskeleton device, characterized in that: include: The shoulder joint as a whole (1), the proximal limb extension and retraction mechanism (2), the elbow joint as a whole (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); 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 by 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; The first transmission belt (105) rotates under the drive of the first driving motor (104), and the first rotating gear (204) rotates accordingly.

2. 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.

3. 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).

4. 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.

5. 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.

6. 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.

7. The control method according to claim 6, 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.

8. An electronic device, characterized in that: The electronic device executes the steps of an exoskeleton control method as described in any one of claims 6 to 7.

9. An exoskeleton system, characterized in that: include: The exoskeleton device according to any one of claims 1 to 5 and the electronic device according to claim 8; 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.

Images