Wearable human exoskeleton for measuring motion state of waist of human body
By designing a wearable human exoskeleton system including push rods, sensors and articulated structures, the difficulty of humanoid robots in the prior art in controlling the waist joint motion is solved, and the precise collection and measurement of the human waist motion state is achieved, and the control accuracy and flexibility are improved.
Patent Information
- Application Number
- CN202510153306.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-12
- Publication Date
- 2025-05-06
AI Technical Summary
The prior art is difficult to effectively control and accurately simulate complex movements of the human waist, resulting in difficulty in controlling waist joint motion of humanoid robots and insufficient control accuracy and flexibility.
A wearable human exoskeleton system including exoskeleton, push rod, sensor, fixing plate, slider, slide rail and seat is designed. Through the telescopic and movement of the three push rods, combined with the pull-line sensor and articulation structure, the movement status of the human waist is collected and measured.
Accurate collection and measurement of the movement state of the human waist is achieved, which can reduce the difficulty of controlling the movement of the waist joint of the humanoid robot and improve the accuracy and flexibility of the control.
Smart Images
Figure CN119927873A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of master-slave teleoperation, and in particular to a wearable human exoskeleton for measuring the motion state of a human waist. Background Art
[0002] Master-slave teleoperation is a technology that establishes a mapping relationship between the master operator and the slave manipulator to drive the slave manipulator to move and operate. It is widely used in telemedicine, special industries, anti-terrorism and explosion prevention, deep space and deep sea, etc. At present, handles, joysticks, data gloves, and wearable exoskeletons are the mainstream solutions for realizing the posture mapping between the master operator and the slave manipulator. Wearable exoskeletons can restore human movements to a greater extent. Compared with the motion capture solution, wearable exoskeletons have the advantages of high control accuracy, simple mapping relationship, and high degree of restoration of humanoid movements. The structure of the human waist is complex and has a high degree of freedom (90° flexion, 30° extension, 30° lateral flexion, and 90° rotation). When the waist moves, some movements will also have a certain degree of joint coupling. Therefore, it is very difficult for humanoid robots to control the movement of each joint of the waist, and the control accuracy and flexibility need to be improved. Summary of the invention
[0003] In view of the defects in the prior art, the purpose of the present invention is to provide a wearable human exoskeleton for measuring the movement state of the human waist.
[0004] According to one aspect of the present invention, there is provided a wearable human exoskeleton for measuring the motion state of a human waist, comprising: an exoskeleton, a push rod, a sensor, a fixing plate, a slider, a slide rail and a seat;
[0005] The exoskeleton is a shoulder strap structure for human wear; the push rod is a telescopic structure, with one push rod located at the top, two push rods located on the left and right sides below it, and the three push rods arranged in a triangle; a sensor is installed at one end of each push rod, and the sensor measures the telescopic distance of the push rod caused by the movement of the human waist; the three push rods with one end equipped with the sensor share a fixed plate, and the sensor is hinged to the fixed plate; the other ends are respectively hinged to the exoskeleton; the slide rail is fixed to the seat in the up and down direction; the slider is fixed to the bottom of the fixed plate, and the slider moves up and down along the slide rail.
[0006] Preferably, the sensor comprises a pull-wire sensor base and a pull-wire sensor body, the pull-wire sensor base is hinged on the fixing plate, and the pull-wire sensor is fixed on the pull-wire sensor base and connected to the push rod.
[0007] Preferably, the push rod comprises a telescopic outer cylinder, a first return spring, two inner rods, a second return spring, three inner rods, an outer cylinder cover plate, two inner rod cover plates and a rod end joint bearing;
[0008] The outer cylinder, the inner two rods and the inner three rods are stacked in sequence from outside to inside; the bottom of the outer cylinder is fixed to the base of the wire sensor;
[0009] The first return spring is embedded between the outer cylinder and the inner two rods;
[0010] The second return spring is embedded between the inner second rod and the inner third rod;
[0011] The bottom of the inner three rods is hinged to the wire head of the wire sensor body. When the inner three rods are pulled out, the wire sensor body calculates the distance the inner three rods move. The rod end joint bearing is installed on the top of the inner three rods for connecting with the exoskeleton.
[0012] The outer cylinder cover plate seals the gap between the outer cylinder and the inner two rods; the inner two rod cover plate seals the gap between the inner two rods and the inner three rods; and the inner two rod cover plate is higher than the outer cylinder cover plate.
[0013] Preferably, the sensor and the fixed plate are hinged via a cross hinge seat, which can achieve two degrees of freedom: swing and rotation; the cross hinge seat includes a slewing bearing, a slewing core shaft, an upper swing seat and a swing core shaft; the slewing bearing is embedded in the fixed plate, and the slewing core shaft is connected to the slewing bearing; the upper swing seat is connected to the slewing core shaft, and the swing core shaft is inserted into the protruding end of the sensor and the upper swing seat.
[0014] Preferably, a locking piece is further included, and the locking piece is located on the left side of the slider and is used to limit the upward and downward movement of the slider.
[0015] Preferably, it further comprises an offset measurement sensor, which is arranged on the right side of the slider and is used to measure the distance the slider moves up and down.
[0016] Preferably, two origin marking pins are further included; the origin marking pins pass through the fixed plate, the sliding block and the sliding rail at the same time.
[0017] Preferably, when the human body bends forward, the three push rods are stretched; and the three push rods are compressed.
[0018] Preferably, when bending left / right, the push rod located at the top is compressed, and the push rod located at the bottom left / right is stretched / compressed.
[0019] Preferably, when the waist is rotated to the left, the upper push rod rotates to the left and is stretched, the lower left push rod rotates to the left and is compressed, and the lower right push rod rotates to the left and is stretched;
[0020] When you rotate your waist to the right, the upper putter rotates to the right and is stretched, the lower right putter rotates to the right and is compressed, and the lower left putter rotates to the right and is stretched.
[0021] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:
[0022] The wearable human exoskeleton for measuring the motion state of the human waist in the embodiment of the present invention can collect the motion data of the waist joint of the human exoskeleton;
[0023] The collected motion data can also be further mapped to the humanoid robot to reduce the difficulty of motion control; the accuracy and flexibility of the control of the waist joint of the humanoid robot can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:
[0025] Figure 1 It is a schematic diagram of the push rod structure in a preferred embodiment of the present invention;
[0026] Figure 2 Schematic diagram of a wearable human exoskeleton structure for measuring the motion state of the human waist in a preferred embodiment of the present invention, wherein (a) is a side view and (b) is a rear view;
[0027] Figure 3 A front view of a wearable human exoskeleton structure for measuring the motion state of a human waist according to a preferred embodiment of the present invention;
[0028] Figure 4 This is a schematic diagram of the connection structure between the bottom of the push rod and the fixing plate in a preferred embodiment of the present invention;
[0029] Figure 5 Schematic diagram of the connection relationship between the push rod and the fixed plate in a preferred embodiment of the present invention, wherein (a) is a schematic diagram of the motion relationship, and (b) is a three-dimensional structural diagram;
[0030] Figure 6 It is a structural schematic diagram of a locking member in a preferred embodiment of the present invention;
[0031] Among them, 11-pull wire sensor body, 12-pull wire sensor base, 13-outer cylinder, 14-first return spring, 15-inner two rods, 16-second return spring, 17-inner three rods, 18-outer cylinder cover plate, 19-inner two rod cover plate, 110-rod end joint bearing;
[0032] 100-first putt, 200-second putt, 300-third putt;
[0033] 2-fixed plate, 3-locking piece, 4-origin positioning pin, 5-slider, 6-slide rail, 7-slide rail pad, 8-exoskeleton, 9-seat, 10-offset measurement sensor, 11-offset measurement sensor bracket;
[0034] 41 - slewing bearing, 42 - slewing spindle, 43 - upper swing seat, 44 - swing spindle. DETAILED DESCRIPTION
[0035] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
[0036] It should be noted that the terms "one", "two", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein.
[0037] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application.
[0038] In one embodiment of the present invention, a wearable human exoskeleton for measuring the motion state of a human waist is provided. Figure 1 , 2 As shown in , 3 , it includes: an exoskeleton 9, push rods (three in total, namely a first push rod 100 , a second push rod 200 and a third push rod 300 ), a sensor, a fixing plate 2 , a slider 5 , a slide rail 6 and a seat 10 .
[0039] The exoskeleton 9 is a shoulder strap structure for human wear; the push rods are telescopic structures, with one push rod located at the top and two push rods located on the left and right sides below it, and the three push rods are arranged in a triangle; a sensor is installed at one end of each push rod, and the sensor measures the telescopic distance of the push rod caused by the movement of the human waist; the three push rods are installed with sensors at one end and share a fixed plate 2, and the sensor is hinged to the fixed plate 2; the other ends are respectively hinged to the exoskeleton 9; the slide rail 6 is fixed to the seat 10 in the up and down direction; the slider 6 is fixed to the bottom of the fixed plate 2, and the slider 5 moves up and down along the slide rail 6.
[0040] The above-mentioned embodiment can collect the waist joint motion data of the human exoskeleton and map it to the humanoid robot, thereby reducing the difficulty of motion control; and can also improve the accuracy and flexibility of the waist joint control of the humanoid robot.
[0041] In a preferred embodiment, Figure 1 As shown, the sensor includes a wire sensor base 11 and a wire sensor body 12. The wire sensor base 11 is hinged on the fixing plate 2, and the wire sensor body 12 is fixed to the wire sensor base 11 and connected to the push rod.
[0042] In order to better achieve the extension and compression of the push rod, a preferred embodiment provides a preferred structure of the push rod, such as Figure 1 As shown, the push rod includes a telescopic outer cylinder 13, a first return spring 14, two inner rods 15, a second return spring 16, three inner rods 17, an outer cylinder cover 18, two inner rod cover 19, and a rod end joint bearing 110;
[0043] Among them, the outer cylinder body 13, the inner two rods 15 and the inner three rods 17 are stacked from the outside to the inside in sequence; the bottom of the outer cylinder body 13 is fixed to the pull-wire sensor base 12; the first reset spring 14 is embedded between the outer cylinder body 13 and the inner two rods 15; the second reset spring 16 is embedded between the inner two rods 15 and the inner three rods 17 to keep the inner two rods 15 and the inner three rods 17 in a state of being pressed out or retracted; the bottom of the inner three rods 17 is hinged to the pull-wire head of the pull-wire sensor body 11, and when the inner three rods 17 are pulled out, the pull-wire sensor body 11 can accurately calculate the moving distance; the top of the inner three rods 17 is installed with a rod end joint bearing 110 for connecting with the exoskeleton 9; the outer cylinder body cover plate 18 seals the gap between the outer cylinder body 13 and the inner two rods 15; the inner two rod cover plate 19 seals the gap between the inner two rods 15 and the inner three rods 17; and the inner two rod cover plate 19 is higher than the outer cylinder body cover plate 18. In this embodiment, the push rod is designed as a telescopic structure, which can effectively save space while ensuring the measuring range.
[0044] In order to ensure a larger range of motion and offset part of the weight of the exoskeleton to improve wearing comfort, in a preferred embodiment, the three push rods are arranged in a triangle, and the following initial state is adopted: the push rod at the top vertex of the triangle is in a pressed back state, and the two push rods below the triangle are in an pushed out state.
[0045] In order to enhance the flexibility of the hinge between the sensor and the fixing plate, in a preferred embodiment, the sensor and the fixing plate are connected via a cross hinge seat, which can achieve two degrees of freedom: swing and rotation. Figure 4 As shown, the cross hinge seat includes a slewing bearing 41, a slewing spindle 42, an upper swing seat 43 and a swing spindle 44; the slewing bearing 41 is embedded in the fixed plate 2, and the slewing spindle 42 is connected to the slewing bearing 41; the upper swing seat 43 is hinged to the slewing spindle 42, and the swing spindle 44 is inserted into the protruding end of the wire sensor base and the upper swing seat 43.
[0046] In the above embodiment, the fixing plate at the tail of the sensor is arranged on a linearly movable slider 5, a slide rail 6 is arranged below the slider 5, the slider 5 can move up and down on the slide rail 6, and the upper and lower ends of the slide rail 6 are fixed on a special seat. In order to fix the slider at a specified position, a preferred embodiment adopts a locking member, which is located on the left side of the slider 5. In some specific embodiments, the locking member can adopt a standard part, such as Figure 6 As shown, the locking member includes a handle and a guide sleeve. The fixed plate is provided with two grooves for engaging the slide rail. The guide sleeve is embedded in the groove edge of the fixed plate, and the handle is fixed thereto. The handle can move left and right. When the fixed plate moves on the slide rail, the handle remains on the right side. At this time, the guide sleeve remains flush with the edge of the groove of the fixed plate, and will not affect the up and down movement of the fixed plate. When the handle is pressed to the left, the guide sleeve is separated from the edge of the groove of the fixed plate, and the guide sleeve hugs the guide rail, and the fixed plate cannot move up and down.
[0047] Furthermore, in a preferred embodiment, another offset measurement sensor 10 is also provided, which is also a wire sensor, and is arranged on the right side of the slider 5. The offset measurement sensor 10 is used to measure the distance the slider moves up and down. When different operators have different heights, the locking piece of the slider 5 is unlocked, and the slider 5 drives the fixed plate 2 at the tail of the sensor to a position suitable for the operator and then locks it. The offset measurement sensor 10 on the right side of the slider 5 can accurately record the distance the slider moves, thereby obtaining the height data of the operator.
[0048] At the same time, in order to improve the accuracy of measurement, in a preferred embodiment, two origin positioning pins 4 are used and inserted into the slider, the fixed plate and the slide rail at the same time. After changing the operator and adjusting the distance of the slider, the origin positioning pin 4 is inserted into the origin marking pin hole of the slider and the fixed plate to complete the zeroing of the three wire sensors, reducing the influence of the operator's body on the data recorded by the wire sensor. After the wire sensor is zeroed, the origin positioning pin is pulled out and normal operation can be performed.
[0049] For example, the origin positions of the three pull-wire sensors are 1cm, 3cm, and 3cm respectively, and the distance between the pull-wire sensor body and the inner three rods is 1cm, 3cm, and 3cm; when the operator is changed, the slider moves up and down, and the height of the human body is different, the up and down position of the exoskeleton sitting on the seat will also be different, causing the origin positions of the three push rods to shift. At this time, the offset measurement sensor 10 is used to measure the moving distance of the slider to obtain the height data of the operator. In addition, the origin marking pin 4 is inserted into the slider, the fixing plate, and the slide rail to keep the exoskeleton and other components stable, and the origin positions of the three pull-wire sensors are adjusted so that the distance between the pull-wire sensor body and the inner three rods is kept at 1cm, 3cm, and 3cm respectively.
[0050] In some other embodiments, Figure 5 As shown in the figure, the human exoskeleton waist joint motion data is collected through the extension and contraction data of the push rods. When the human body bends forward, the three push rods are stretched; when the human body stretches backward, the three push rods are compressed.
[0051] When the human body bends left / right, the upper push rod is compressed, and the lower left / right push rod is stretched / compressed. When the human body rotates the waist to the left, the upper push rod rotates to the left and is stretched, the lower left push rod rotates to the left and is compressed, and the lower right push rod rotates to the left and is stretched; when the human body rotates the waist to the right, the upper push rod rotates to the right and is stretched, the lower right push rod rotates to the right and is compressed, and the lower left push rod rotates to the right and is stretched.
[0052] In the above process, the three pull-wire sensors respectively record the elongation or compression distance data of the push rod, which correspond to the waist joint movements of a human exoskeleton. The distance data and the corresponding joint movements can be further mapped to the humanoid robot as a reference, reducing the difficulty of motion control and improving the accuracy and flexibility of the waist joint control of the humanoid robot.
[0053] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention. The above preferred features can be used in any combination without conflicting with each other.
Claims
1. A wearable human exoskeleton for measuring the motion state of human waist, characterized in that: include: exoskeletons, actuators, sensors, mounting plates, sliders, rails and seats; The exoskeleton is a strap-like structure for human body to wear; The push rod is a telescopic structure, with one push rod located at the top, two push rods located on the left and right sides below it, and the three push rods arranged in a triangle; a sensor is installed at one end of each push rod, and the sensor measures the telescopic distance of the push rod caused by the movement of the human waist; the three push rods with one end equipped with the sensor share a fixed plate, and the sensor is hinged to the fixed plate; the other ends are respectively hinged to the exoskeleton; the slide rail is fixed to the seat in the up and down direction; the slider is fixed to the bottom of the fixed plate, and the slider moves up and down along the slide rail.
2. A wearable human exoskeleton for measuring the motion state of human waist according to claim 1, characterized in that: The sensor comprises a wire sensor base and a wire sensor body. The wire sensor base is hinged on the fixing plate. The wire sensor is fixed on the wire sensor base and connected to the push rod.
3. A wearable human exoskeleton for measuring the motion state of human waist according to claim 2, characterized in that: The push rod comprises a telescopic outer cylinder, a first return spring, two inner rods, a second return spring, three inner rods, an outer cylinder cover plate, two inner rod cover plates and a rod end joint bearing; The outer cylinder, the inner two rods and the inner three rods are stacked in sequence from outside to inside; the bottom of the outer cylinder is fixed to the base of the wire sensor; The first return spring is embedded between the outer cylinder and the inner two rods; The second return spring is embedded between the inner second rod and the inner third rod; The bottom of the inner three rods is hinged to the wire head of the wire sensor body. When the inner three rods are pulled out, the wire sensor body calculates the distance the inner three rods move. The rod end joint bearing is installed on the top of the inner three rods for connecting with the exoskeleton. The outer cylinder cover plate seals the gap between the outer cylinder and the inner two rods; the inner two rod cover plate seals the gap between the inner two rods and the inner three rods; and the inner two rod cover plate is higher than the outer cylinder cover plate.
4. A wearable human exoskeleton for measuring the motion state of human waist according to claim 1, characterized in that: The sensor and the fixed plate are hinged via a cross hinge seat, which can achieve two degrees of freedom: swing and rotation; the cross hinge seat includes a slewing bearing, a slewing core shaft, an upper slewing seat and a slewing core shaft; the slewing bearing is embedded in the fixed plate, and the slewing core shaft is connected to the slewing bearing; the upper slewing seat is connected to the slewing core shaft, and the slewing core shaft is inserted into the protruding end of the sensor and the upper slewing seat.
5. A wearable human exoskeleton for measuring the motion state of human waist according to claim 1, characterized in that: The utility model also comprises a locking member, which is located on the left side of the sliding block and is used for limiting the upward and downward movement of the sliding block.
6. A wearable human exoskeleton for measuring the motion state of human waist according to claim 1, characterized in that: It also includes an offset measurement sensor, which is arranged on the right side of the slider and is used to measure the distance the slider moves up and down.
7. A wearable human exoskeleton for measuring the motion state of human waist according to claim 6, characterized in that: It also includes two origin marking pins; the origin marking pins pass through the fixed plate, the sliding block and the sliding rail at the same time.
8. The wearable human exoskeleton for measuring the motion state of the human waist according to claim 1, characterized in that: When the human body bends forward, the three push rods are stretched; and the three push rods are compressed.
9. The wearable human exoskeleton for measuring the motion state of the human waist according to claim 1, characterized in that: When bending left / right, the push rod located at the top is compressed, and the push rod located at the bottom left / right is stretched / compressed.
10. A wearable human exoskeleton for measuring the motion state of human waist according to claim 1, characterized in that: When you rotate your waist to the left, the upper push rod rotates to the left and is stretched, the lower left push rod rotates to the left and is compressed, and the lower right push rod rotates to the left and is stretched; When you rotate your waist to the right, the upper putter rotates to the right and is stretched, the lower right putter rotates to the right and is compressed, and the lower left putter rotates to the right and is stretched.