Application of 3D printing technology in walking auxiliary tool for poliomyelitis patient

Abstract

The invention discloses a method for printing a human exoskeleton based on 3D. The method comprises the following steps: S1, performing three-dimensional scanning on the appearance shape of a human body; s2, performing transmission and three-dimensional construction on the scanned human body information; s3, three-dimensional design of the human exoskeleton; s4, human body exoskeleton printing is conducted through a 3D printer; s5, the entity obtained through 3D printing is polished; through three-dimensional scanning of the human body appearance shape, three-dimensional model construction of the human body exoskeleton and selection and use of the joint connection structures through the joint model library, the robot better fits the human body joint curvature, and through design of connection end points through the squatting and rising assisting module, installation and connection of a spring or a hydraulic mechanism are facilitated; and after the human exoskeleton is subjected to three-dimensional model scanning processing, the 3D printer is controlled to operate according to a three-dimensional model scanning result, so that the 3D printer can print the exoskeleton.

Description

Technical Field

[0001] This invention belongs to the field of 3D printing technology, specifically relating to the application of 3D printing technology in walking aids for polio patients. Background Technology

[0002] Poliomyelitis, also known as infantile paralysis, commonly causes sequelae in the lower limbs, resulting in limb length discrepancies, muscle atrophy, limb deformities, and hip and knee joint deformities and instability. Poliomyelitis sequelae also manifest in the feet, causing various deformities such as heel-to-toe inability to touch the ground while walking, or foot inversion with gait on the outer side of the foot. Existing walking aids utilize hip, knee, and ankle joint stability, with the patellar ligament and ischial tuberosity acting as weight-bearing mechanisms. However, polio patients often experience joint deformities and muscle atrophy. 3D printing technology can be used to scan and model the user's lower limbs, allowing for personalized walking aid design.

[0003] 3D printers, also known as three-dimensional printers, are a type of additive manufacturing technology, or rapid prototyping technology. They use a digital model file as a basis and employ special waxes, powdered metals, or plastics—materials that can be bonded—to create three-dimensional objects by printing layer by layer. Currently, 3D printers are used to manufacture products. The principle of a 3D printer is to put data and materials into the printer, and the machine will build the product layer by layer according to the program. Surgeons use printing equipment to print bones of various sizes for clinical use or to prepare exoskeletons for assistive support of the human body. However, various problems still exist with the printing of human exoskeletons on the market.

[0004] For example, the 3D-printed exoskeleton disclosed in the authorization announcement number CN217592267U, although it achieves flexible connection of the Velcro straps and ropes through the structure of the first and second hooks at different positions, so as to facilitate the binding and fixation of equipment or devices placed on the reinforcing plate and improve the fixation effect, does not solve the problems of rough and inaccurate 3D scanning in the existing technology, the inability to adjust the 3D design, the exoskeleton being prone to wear and tear on the human body or not fitting the human body, and the inability to automatically detect and customize the exoskeleton. Therefore, we propose the application of 3D printing technology in walking aids for polio patients. Summary of the Invention

[0005] The purpose of this invention is to provide a method and system based on 3D printing of human exoskeletons to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a method for 3D printing a human exoskeleton, comprising the following steps:

[0007] S1. Three-dimensional scanning of human body surface shape: Non-contact three-dimensional scanning technology is used to scan the human body surface and obtain the dimensional data information of the human body surface;

[0008] S2. Transmit and 3D model the scanned human body information: 3D model the collected 3D scan data information to build the shape of the human exoskeleton;

[0009] S3. Three-dimensional design of human exoskeleton: The constructed human exoskeleton is decomposed, the joint connections are then trimmed, and the joint connection points are assembled and installed using the joint model library. Similarly, the connection endpoints are designed using the squatting module. The constructed three-dimensional model is then divided into layer-by-layer sections, i.e. slices, to guide the printer to print layer by layer.

[0010] S4, 3D printer prints human exoskeleton: The control module transmits the processed 3D design in S3 to the 3D printer through the processing module, enabling the 3D printer to print human exoskeleton. The 3D printer reads the cross-sectional information in the file and prints these cross-sections layer by layer with liquid, powder or sheet materials. Then, the cross-sections are glued together in various ways to create a solid.

[0011] S5. Polishing the 3D printed entity: Polish the 3D printed entity to remove burrs and round the edges of the entity. Then, assemble and install the various component entities through joint connection points. Finally, connect the auxiliary squatting spring or hydraulic mechanism through the connection endpoints.

[0012] Preferably, the non-contact 3D scanning technology in S1 includes both active and passive methods. The active method includes time-of-flight method and structured light method, while the passive method includes photogrammetry and laser scanning method. Photogrammetry and laser scanning methods are used to acquire data information of the 3D human body model, and the data information is processed through a multi-source heterogeneous algorithm.

[0013] Preferably, the multi-source heterogeneous algorithm includes the following processing steps: data preprocessing, data transformation, data fusion, and data analysis;

[0014] The data preprocessing is used to clean, deduplicatize, and normalize data from different data sources;

[0015] The data transformation is used to transform and map data from different data sources, and then process and analyze them under the same data model;

[0016] The data fusion is used to merge the transformed data to generate an integrated dataset;

[0017] The data analysis is used to analyze and mine the integrated dataset to extract useful information and knowledge.

[0018] Preferably, the normalization calculation method includes max-min normalization, z-score normalization, or neural network normalization;

[0019] The formula for calculating the maximum and minimum standardized values ​​is as follows:

[0020] The linear function transforms the original data into the range of

[01] , where x′ is the normalized data obtained after calculation, x is the original data, max(x) is the maximum value in the original data, and min(x) is the minimum value in the original data;

[0021] The formula for calculating the z-score standardization is as follows:

[0022] The original dataset is normalized to a dataset with a mean of 0 and a variance of 1, requiring the original data to approximate a Gaussian distribution. Here, x′ is the normalized data obtained after calculation, x is the original data, and u and σ are the mean and variance of the original dataset, respectively.

[0023] Preferably, the standard file format for collaboration between the control module in S4 and the 3D printer is the STL file format or the PLY file format. The STL file uses triangular faces to approximate the surface of an object. The smaller the triangular face, the higher the surface resolution of the generated object. The PLY file format is a scanner that generates three-dimensional files through scanning. The VRML or WRL files generated by it are often used as input files for full-color printing.

[0024] Preferably, the 3D printer in S4 uses a metal material, including a metal solution, metal powder, and metal sheet. The metal solution is cooled and shaped during extrusion, and the metal powder and metal sheet are heated and melted during extrusion and stacking. The metal material used in the 3D printer includes iron-based alloys, titanium and titanium-based alloys, nickel-based alloys, cobalt-chromium alloys, aluminum alloys, copper alloys, and precious metals.

[0025] A system based on 3D-printed human exoskeleton includes a control module electrically connected to a processing module for processing and transmitting data. The processing module is electrically connected to a scanning module for scanning the human body. The scanning module includes a photogrammetry instrument and a laser scanner. The photogrammetry instrument and the laser scanner scan the data on the human body surface using photogrammetry and laser scanning methods, respectively. The processing module is electrically connected to a 3D model library, which performs 3D modeling using the data collected by the photogrammetry instrument and the laser scanner. The 3D model library is electrically connected to... The system includes a 3D design module electrically connected to an auxiliary squatting / standing module, and a 3D model library electrically connected to a joint model library. The 3D design module decomposes the 3D model, refines joint connections, and assembles joint connections using the joint model library. Similarly, the auxiliary squatting / standing module designs connection endpoints. Finally, the 3D model is divided into layered sections. A processing module electrically connected to a communication module is connected to a 3D printer. The communication module transmits 3D model data to the 3D printer, which then prints the 3D model.

[0026] Preferably, the control module is electrically connected to a voltage regulating module, and the voltage regulating module is electrically connected to a power supply module. The power supply module uses the mains power grid and is also electrically connected to the photogrammetric instrument, the laser scanner, and the 3D printer. The voltage regulating module includes a step-down circuit for reducing the high voltage of the power supply module, a rectifier circuit for converting the AC voltage of the power supply module into DC voltage, a voltage regulator circuit for stabilizing the output voltage, and a filter circuit for filtering out the AC voltage from the DC voltage.

[0027] Preferably, the control module is electrically connected to an auxiliary module, which includes a display screen for displaying data information and processing three-dimensional models, a keyboard and mouse for control and adjustment, and a memory for storing data information, including a ROM memory for storing system data information and a RAM memory for storing system operation logs. The communication module uses wired communication such as RS485 communication or wireless communication such as WIFI communication or Bluetooth communication.

[0028] Preferably, the processing module includes a receiving unit for acquiring data information, a gain unit for amplifying the data information, a conversion unit for analog-to-digital conversion of the data information, and a filtering unit for filtering out noise from the data information.

[0029] The filtering unit uses IIR filters and FIR filters;

[0030] The IIR filter used is a second-order IIR low-pass filter, and the calculation formula for the second-order IIR low-pass filter is as follows:

[0031]

[0032] y(n) represents the output data, x n The input data is a and b, the filter coefficients are n, the number of filtering iterations is n, k=0 represents the data information processed in this iteration, k=1 represents the data information processed in the next iteration, and nk represents the position of the data information.

[0033] The FIR filter used is a finite-length unit impulse response filter. The definition of an M-order FIR filter is as follows:

[0034] The relationship between the FIR output of length M and the input time series z(n) is given by a finite convolution sum:

[0035]

[0036] The above formula represents an M-1 order FIR filter, which has M taps, and therefore consists of M multipliers and M-1 accumulators. Each tap requires a multiplier-accumulator unit that consumes logic resources.

[0037] Where z(n) is the input signal, h(j) is the FIR filter coefficient, and v(n) is the filtered signal.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] In use, this invention involves 3D scanning of the human body's external shape, followed by 3D modeling to create a 3D exoskeleton. To improve the comfort of the exoskeleton and ensure the joints are flexible, a joint model library is used to select joint connection structures that better fit the curvature of human joints. An auxiliary squatting module is included to facilitate the installation of springs or hydraulic mechanisms. After the 3D model of the exoskeleton is scanned, the 3D printer is controlled based on the scan results to complete the printing of the exoskeleton. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the steps of the present invention;

[0041] Figure 2 This is a schematic diagram of the system structure of the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0043] Please see Figures 1-2 This invention provides a technical solution: a method for 3D printing a human exoskeleton, comprising the following steps:

[0044] S1. Three-dimensional scanning of human body surface shape: Non-contact three-dimensional scanning technology is used to scan the human body surface and obtain the dimensional data information of the human body surface;

[0045] S2. Transmit and 3D model the scanned human body information: 3D model the collected 3D scan data information to build the shape of the human exoskeleton;

[0046] S3. Three-dimensional design of human exoskeleton: The constructed human exoskeleton is decomposed, the joint connections are then trimmed, and the joint connection points are assembled and installed using the joint model library. Similarly, the connection endpoints are designed using the squatting module. The constructed three-dimensional model is then divided into layer-by-layer sections, i.e. slices, to guide the printer to print layer by layer.

[0047] S4, 3D printer prints human exoskeleton: The control module transmits the processed 3D design in S3 to the 3D printer through the processing module, enabling the 3D printer to print human exoskeleton. The 3D printer reads the cross-sectional information in the file and prints these cross-sections layer by layer with liquid, powder or sheet materials. Then, the cross-sections are glued together in various ways to create a solid.

[0048] S5. Polishing the 3D printed entity: Polish the 3D printed entity to remove burrs and round the edges of the entity. Then, assemble and install the various component entities through joint connection points. Finally, connect the auxiliary squatting spring or hydraulic mechanism through the connection endpoints.

[0049] In order to perform dimensional scanning of the human body surface and to fuse multi-source heterogeneous information, in this embodiment, preferably, the non-contact 3D scanning technology in S1 includes two types: active and passive. The active type includes time-of-flight method and structured light method, and the passive type includes photogrammetry and laser scanning method. Photogrammetry and laser scanning methods are used to acquire data information of the 3D human body structure, and the data information is processed through multi-source heterogeneous algorithm.

[0050] In order to process multi-source heterogeneous information using multi-source heterogeneous algorithms and complete the processing, transformation, fusion and analysis of data information, in this embodiment, preferably, the multi-source heterogeneous algorithm includes the following processing steps: data preprocessing, data transformation, data fusion and data analysis;

[0051] The data preprocessing is used to clean, deduplicatize, and normalize data from different data sources;

[0052] The data transformation is used to transform and map data from different data sources, and then process and analyze them under the same data model;

[0053] The data fusion is used to merge the transformed data to generate an integrated dataset;

[0054] The data analysis is used to analyze and mine the integrated dataset to extract useful information and knowledge.

[0055] In order to normalize the collected three-dimensional human body data and improve the accuracy of the data, in this embodiment, preferably, the normalization calculation method includes max-min standardization, z-score standardization or neural network normalization.

[0056] The formula for calculating the maximum and minimum standardized values ​​is as follows:

[0057] The linear function transforms the original data into the range of

[01] , where x′ is the normalized data obtained after calculation, x is the original data, max(x) is the maximum value in the original data, and min(x) is the minimum value in the original data;

[0058] The formula for calculating the z-score standardization is as follows:

[0059] The original dataset is normalized to a dataset with a mean of 0 and a variance of 1, requiring the original data to approximate a Gaussian distribution. Here, x′ is the normalized data obtained after calculation, x is the original data, and u and σ are the mean and variance of the original dataset, respectively.

[0060] In order to transmit the processed data to the 3D printer so that the 3D printer can print the human exoskeleton according to the control file, in this embodiment, preferably, the standard file format for cooperation between the control module in S4 and the 3D printer is the STL file format or the PLY file format. The STL file uses triangular faces to approximate the surface of the object. The smaller the triangular face, the higher the surface resolution of the generated surface. The PLY file format is a scanner that generates three-dimensional files through scanning. The VRML or WRL files generated by it are often used as input files for full-color printing.

[0061] To enable the exoskeleton to support the human body and facilitate stable walking, a metal exoskeleton is used for printing. The metal material is chosen to be lightweight yet strong enough for easy support and carrying. In this embodiment, preferably, the 3D printer in S4 uses a metal material, including molten metal, metal powder, and metal sheets. The molten metal is cooled and shaped during extrusion, while the metal powder and metal sheets are heated and melted during extrusion and stacking. The metal materials used in the 3D printer include iron-based alloys, titanium and titanium-based alloys, nickel-based alloys, cobalt-chromium alloys, aluminum alloys, copper alloys, and precious metals.

[0062] A system based on 3D-printed human exoskeleton includes a control module electrically connected to a processing module for processing and transmitting data. The processing module is electrically connected to a scanning module for scanning the human body. The scanning module includes a photogrammetry instrument and a laser scanner. The photogrammetry instrument and the laser scanner scan the data on the human body surface using photogrammetry and laser scanning methods, respectively. The processing module is electrically connected to a 3D model library, which performs 3D modeling using the data collected by the photogrammetry instrument and the laser scanner. The 3D model library is electrically connected to... The system includes a 3D design module electrically connected to an auxiliary squatting / standing module, and a 3D model library electrically connected to a joint model library. The 3D design module decomposes the 3D model, refines joint connections, and assembles joint connections using the joint model library. Similarly, the auxiliary squatting / standing module designs connection endpoints. Finally, the 3D model is divided into layered sections. A processing module electrically connected to a communication module is connected to a 3D printer. The communication module transmits 3D model data to the 3D printer, which then prints the 3D model.

[0063] The entire system is controlled and adjusted by a control module, facilitating control and adjustment. A scanning module scans and processes the human body's 3D data, facilitating data acquisition. A 3D model is then created using a 3D model library, further processed through 3D design, allowing for model decomposition and refinement of joint connections. The joint model library is used to assemble and install joint connections. Similarly, the auxiliary squatting module designs connection endpoints. Finally, the 3D model is divided into layered sections. The processing module is electrically connected to a communication module, which transmits the 3D model data or drawings to a 3D printer, which then prints the 3D model.

[0064] To power the system and ensure stable operation and voltage stability, in this embodiment, preferably, the control module is electrically connected to a voltage regulating module, which is electrically connected to a power supply module. The power supply module uses the mains power grid and is also electrically connected to the photogrammetric instrument, the laser scanner, and the 3D printer. The voltage regulating module includes a step-down circuit to reduce the high voltage of the power supply module, a rectifier circuit to convert the AC voltage of the power supply module into DC voltage, a voltage regulator circuit to stabilize the output voltage, and a filter circuit to filter out the AC voltage from the DC voltage.

[0065] To assist system operation and improve ease of use, this embodiment allows for the display and control of data information and 3D images, as well as the storage of system data. Preferably, the control module is electrically connected to an auxiliary module. This auxiliary module includes a display screen for displaying data information and processing 3D models, a keyboard and mouse for control and adjustment, and a memory for storing data information. The memory includes a ROM memory for storing system data information and a RAM memory for storing system operation logs. The communication module uses wired communication (RS485), wireless communication (WIFI), or Bluetooth communication.

[0066] In order to process the data information acquired by the scanning module and improve the accuracy and security of the data information, in this embodiment, preferably, the processing module includes a receiving unit for acquiring data information, a gain unit for amplifying data information, a conversion unit for analog-to-digital conversion of data information, and a filtering unit for filtering out noise from data information.

[0067] The filtering unit uses IIR filters and FIR filters;

[0068] The IIR filter used is a second-order IIR low-pass filter, and the calculation formula for the second-order IIR low-pass filter is as follows:

[0069]

[0070] y(n) represents the output data, x n The input data is a and b, the filter coefficients are n, the number of filtering iterations is n, k=0 represents the data information processed in this iteration, k=1 represents the data information processed in the next iteration, and nk represents the position of the data information.

[0071] The FIR filter used is a finite-length unit impulse response filter. The definition of an M-order FIR filter is as follows:

[0072] The relationship between the FIR output of length M and the input time series z(n) is given by a finite convolution sum:

[0073]

[0074] The above formula represents an M-1 order FIR filter, which has M taps, and therefore consists of M multipliers and M-1 accumulators. Each tap requires a multiplier-accumulator unit that consumes logic resources.

[0075] Where z(n) is the input signal, h(j) is the FIR filter coefficient, and v(n) is the filtered signal.

[0076] Working principle and usage process of this invention:

[0077] Step 1: 3D scanning of the human body's external shape: Non-contact 3D scanning technology is used to scan the human body's surface and obtain dimensional data information of the human body's surface;

[0078] The second step is to transmit and 3D build the scanned human body information: the collected 3D scan data information is used to build a 3D model and construct the shape of the human exoskeleton;

[0079] The third step is the 3D design of the human exoskeleton: the constructed human exoskeleton is decomposed, the joint connections are then trimmed, and the joint connection points are assembled and installed using the joint model library. Similarly, the connection endpoints are designed using the auxiliary squatting module. The constructed 3D model is then divided into layer-by-layer sections, i.e. slices, to guide the printer to print layer by layer.

[0080] Step 4: The 3D printer prints the human exoskeleton: The control module transmits the processed 3D design in S3 to the 3D printer through the processing module, enabling the 3D printer to print the human exoskeleton. The 3D printer reads the cross-sectional information in the file and prints these cross-sections layer by layer with liquid, powder or sheet materials. Then, the cross-sections are glued together in various ways to create a solid object.

[0081] Step 5: Polish the 3D printed object: Polish the 3D printed object to remove burrs and round the edges of the object. Then, assemble and install the various components together through joint connection points. Finally, connect the spring or hydraulic mechanism that assists in squatting through the connection endpoints.

[0082] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for 3D printing a human exoskeleton, characterized in that, It includes the following steps: S1. Three-dimensional scanning of human body surface shape: Non-contact three-dimensional scanning technology is used to scan the human body surface and obtain the dimensional data information of the human body surface; S2. Transmit and 3D model the scanned human body information: 3D model the collected 3D scan data information to build the shape of the human exoskeleton; S3. Three-dimensional design of human exoskeleton: The constructed human exoskeleton is decomposed, the joint connections are then trimmed, and the joint connection points are assembled and installed using the joint model library. Similarly, the connection endpoints are designed using the auxiliary squatting module. The constructed three-dimensional model is then divided into layer-by-layer sections, i.e. slices, to guide the printer to print layer by layer. S4, 3D printer prints human exoskeleton: The control module transmits the processed 3D design in S3 to the 3D printer through the processing module, enabling the 3D printer to print human exoskeleton. The 3D printer reads the cross-sectional information in the file and prints these cross-sections layer by layer with liquid, powder or sheet materials. Then, the cross-sections are glued together in various ways to create a solid. S5. Polishing the 3D printed entity: Polish the 3D printed entity to remove burrs and round the edges of the entity. Then, assemble and install the various component entities through joint connection points. Finally, connect the auxiliary squatting spring or hydraulic mechanism through the connection endpoints.

2. The method for 3D printing a human exoskeleton according to claim 1, characterized in that: The non-contact 3D scanning technology in S1 includes two types: active and passive. The active type includes time-of-flight method and structured light method, while the passive type includes photogrammetry and laser scanning method. Photogrammetry and laser scanning methods are used to acquire data information for the 3D model of the human body, and the data information is processed through a multi-source heterogeneous algorithm.

3. The method for 3D printing a human exoskeleton according to claim 2, characterized in that: The multi-source heterogeneous algorithm includes the following processing steps: data preprocessing, data transformation, data fusion, and data analysis; The data preprocessing is used to clean, deduplicatize, and normalize data from different data sources; The data transformation is used to transform and map data from different data sources, and then process and analyze them under the same data model; The data fusion is used to merge the transformed data to generate an integrated dataset; The data analysis is used to analyze and mine the integrated dataset to extract useful information and knowledge.

4. The method for 3D printing a human exoskeleton according to claim 3, characterized in that: The normalization calculation method includes max-min normalization, z-score normalization, or neural network normalization; The formula for calculating the maximum and minimum standardized values ​​is as follows: The linear function transforms the original data into the range of [01], where x′ is the normalized data obtained after calculation, x is the original data, max(x) is the maximum value in the original data, and min(x) is the minimum value in the original data; The formula for calculating the z-score standardization is as follows: The original dataset is normalized to a dataset with a mean of 0 and a variance of 1, requiring the original data to approximate a Gaussian distribution. Here, x′ is the normalized data obtained after calculation, x is the original data, and u and σ are the mean and variance of the original dataset, respectively.

5. The method for 3D printing a human exoskeleton according to claim 1, characterized in that: The standard file format for collaboration between the control module in S4 and the 3D printer is either STL or PLY. The STL file uses triangular faces to approximate the surface of an object; the smaller the triangular face, the higher the surface resolution. The PLY file format is a scanner that generates 3D files through scanning, and the VRML or WRL files it generates are often used as input files for full-color printing.

6. The method for 3D printing a human exoskeleton according to claim 1, characterized in that: The 3D printer in S4 uses metal materials, including molten metal, metal powder, and metal sheets. The molten metal is cooled and shaped during extrusion. The metal powder and metal sheets are heated and melted during extrusion and stacking. The metal materials used in the 3D printer include iron-based alloys, titanium and titanium-based alloys, nickel-based alloys, cobalt-chromium alloys, aluminum alloys, copper alloys, and precious metals.

7. A system based on 3D-printed human exoskeleton, characterized in that, The system includes a control module electrically connected to a processing module for processing and transmitting data. The processing module is electrically connected to a scanning module for scanning the human body. The scanning module includes a photogrammetric instrument and a laser scanner. The photogrammetric instrument and the laser scanner scan the human body surface using photogrammetry and laser scanning methods, respectively. The processing module is electrically connected to a 3D model library, which performs 3D modeling using data collected by the photogrammetric instrument and the laser scanner. The 3D model library is electrically connected to a 3D design module. The 3D design module is electrically connected to an auxiliary squatting module, and the 3D model library is electrically connected to a joint model library. The 3D design module is used to decompose the 3D model, trim the joint connections, and assemble the joint connection points using the joint model library. Similarly, the auxiliary squatting module is used to design connection endpoints. Finally, the 3D model is divided into layer-by-layer sections. The processing module is electrically connected to a communication module, and the communication module is electrically connected to a 3D printer. The communication module is used to transmit 3D model data to the 3D printer, which is used to print the 3D model.

8. The system based on 3D-printed human exoskeleton according to claim 7, characterized in that: The control module is electrically connected to a voltage regulating module, which is electrically connected to a power supply module. The power supply module uses the mains power grid and is also electrically connected to the photogrammetric instrument, the laser scanner, and the 3D printer. The voltage regulating module includes a step-down circuit for reducing the high voltage of the power supply module, a rectifier circuit for converting the AC voltage of the power supply module into DC voltage, a voltage regulator circuit for stabilizing the output voltage, and a filter circuit for filtering out the AC voltage from the DC voltage.

9. The system based on 3D-printed human exoskeleton according to claim 7, characterized in that: The control module is electrically connected to an auxiliary module, which includes a display screen for displaying data information and processing 3D models, a keyboard and mouse for control and adjustment, and a memory for storing data information. The memory includes a ROM memory for storing system data information and a RAM memory for storing system operation logs. The communication module uses wired communication such as RS485 communication, or wireless communication such as WIFI communication or Bluetooth communication.

10. The system based on 3D-printed human exoskeleton according to claim 7, characterized in that: The processing module includes a receiving unit for acquiring data information, a gain unit for amplifying data information, a conversion unit for analog-to-digital conversion of data information, and a filtering unit for filtering out noise from data information. The filtering unit uses IIR filters and FIR filters; The IIR filter used is a second-order IIR low-pass filter, and the calculation formula for the second-order IIR low-pass filter is as follows: y(n) represents the output data, x n The input data is a and b, the filter coefficients are n, the number of filtering iterations is n, k=0 represents the data information processed in this iteration, k=1 represents the data information processed in the next iteration, and nk represents the position of the data information. The FIR filter used is a finite-length unit impulse response filter. The definition of an M-order FIR filter is as follows: The relationship between the FIR output of length M and the input time series z(n) is given by a finite convolution sum: The above formula represents an M-1 order FIR filter, which has M taps, and therefore consists of M multipliers and M-1 accumulators. Each tap requires a multiplier-accumulator unit that consumes logic resources. Where z(n) is the input signal, h(j) is the FIR filter coefficient, and v(n) is the filtered signal.

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