Wearable teleoperation master manipulator

Abstract

The invention discloses a wearable teleoperation master hand, and belongs to the technical field of robot teleoperation and wearable equipment. The main hand comprises main glove sets symmetrically arranged on the two sides of a carbon fiber tube, each set comprises a shoulder joint, an elbow joint, a wrist joint and an adjustable large / small arm wearing structure, and each joint is integrated with an angle sensor to collect motion data in real time. The master manipulator adapts to different users through the length adjusting device, and naturalness and precision of teleoperation are improved. The upper limb motion information of an operator is captured through lightweight wearable design, and a more visual and efficient input mode is provided for remote control of the robot.

Description

Technical Field

[0001] This invention relates to the field of robot teleoperation and wearable device technology, and in particular to a wearable teleoperation master hand for capturing human upper limb movement information. Background Technology

[0002] Robotic teleoperation technology is a key technology for expanding human operational capabilities and achieving precise remote control, playing an irreplaceable role in fields such as deep space exploration, deep-sea operations, nuclear emergency response, and remote surgery. A high-performance teleoperation system highly depends on its master device, i.e., the input device used to accurately capture the operator's movement intentions.

[0003] Based on their structural form, master hand devices can be divided into fixed-base type and wearable type. Fixed-base type master hands have high positioning accuracy, but restrict the operator's natural movement and lack immersive operation. Wearable master hands, especially exoskeleton type master hands, can be fixed to the operator's limbs and directly measure the angles of various joints, making it possible to achieve intuitive and natural human-computer interaction.

[0004] However, current wearable exoskeleton main hands still have several significant drawbacks. First, their structures are often bulky, and their size adjustment range is limited or the adjustment process is cumbersome, making it difficult to quickly adapt to users of different body types and arm lengths. This results in low human-machine compatibility and a tendency for "parasitic movements" during exercise, severely affecting the accuracy of motion data collection. Second, to ensure rigidity, traditional designs often sacrifice comfort; rigid structures in prolonged contact with the human body can easily cause pressure and fatigue. Furthermore, the installation stability and anti-interference capability of the angle sensors at the joints directly determine data quality. If the sensors experience radial or axial wobble, it will introduce measurement noise, reducing the control accuracy of the entire system.

[0005] Therefore, in order to address the shortcomings of existing wearable master hands in terms of personalized adaptation, wearing comfort, and motion capture accuracy, there is an urgent need for a new type of teleoperation master hand design that can achieve rapid adaptation and comfortable wear while ensuring structural stability and data accuracy, thereby improving the naturalness, intuitiveness, and overall efficiency of teleoperation tasks. Summary of the Invention

[0006] This invention aims to overcome the shortcomings of existing wearable teleoperation master hands in terms of personalization adaptability, wearing comfort, and motion capture accuracy. It provides a wearable teleoperation master hand that can achieve rapid adaptation, stable wearing, and high-precision joint angle measurement capabilities, so as to achieve high-fidelity capture of human upper limb motion information and provide natural, efficient, and reliable control command input for remote robots.

[0007] To achieve the above objectives, this invention proposes a wearable teleoperated master hand. This master hand employs a symmetrical dual-arm structure, achieving a stable fit to the human torso through shoulder and waist supports, and is secured to the back with a carbon fiber tube for support via connectors. The left and right sides are respectively equipped with master glove assemblies containing shoulder, elbow, and wrist joints, each joint integrating a high-precision angle sensor for real-time acquisition of rotation angle information for the corresponding degree of freedom. The upper and lower arms utilize a modular wearable structure, equipped with an adjustable sleeve-type adjustment device, combined with elastic deformation buckles for quick locking and personalized adaptation, meeting the needs of users with different arm lengths. The wearable structure securely connects the user's arm to the master hand, and, in conjunction with the "arm-shoulder-waist" three-in-one stable support frame, effectively reduces parasitic movements and improves data acquisition accuracy.

[0008] Specifically, a wearable remote control master hand includes: a shoulder and waist support belt, a carbon fiber tube, a first connector, a second connector, and a wearable master glove assembly arranged symmetrically on the left and right sides.

[0009] The shoulder and waist support belt includes a shoulder support section that conforms to the contour of the human shoulder, a waist support section that conforms to the contour of the waist and abdomen, a shoulder fixing component that fixes the shoulder support section to the human shoulder, and a waist fixing component that fixes the waist support section to the human waist and abdomen; the inner side of the shoulder and waist support belt is provided with a cushioning pad to improve wearing comfort.

[0010] The shoulder and waist support belt is fixed to the back of the carbon fiber tube, forming a central support structure; the carbon fiber tube is connected to the wearable main glove assembly through the first connector and the second connector, forming a stable "arm-shoulder-waist" three-in-one wearable frame to distribute the load and improve overall stability.

[0011] Each wearable main glove assembly includes a three-degree-of-freedom shoulder joint, a two-degree-of-freedom elbow joint, a two-degree-of-freedom wrist joint, an upper arm wear structure, and a forearm wear structure.

[0012] The joints are connected by linkages equipped with length adjustment devices to achieve overall length adjustment of the main glove assembly to accommodate the different arm spans of different users.

[0013] The upper arm wearable structure and the lower arm wearable structure are used to securely connect the user's arm to the main hand structure, thereby reducing parasitic movements and improving the accuracy of joint angle information acquisition.

[0014] Furthermore, the shoulder joint includes a first angle sensor, a shoulder lateral swing connector, a second angle sensor, a shoulder rotation connector, a third angle sensor, and a shoulder pitch connector;

[0015] In this structure, the stator of the first angle sensor is connected to the outer side of the lower end of the shoulder lateral swing connector, the outer rotor of the second angle sensor is connected to the inner side of the upper end of the shoulder lateral swing connector, the stators of the second and third angle sensors are respectively connected to both ends of the shoulder rotation connector, and the outer rotor of the third angle sensor is connected to the shoulder pitch connector. This structure achieves decoupling and measurement of the three degrees of freedom of shoulder lateral swing, rotation, and pitch.

[0016] Furthermore, the elbow joint includes a fourth angle sensor, an elbow pitch connector, a fifth angle sensor, and an elbow rotation connector. The stators of the fourth and fifth angle sensors are respectively connected to the two ends of the elbow pitch connector, and the outer rotor of the fifth angle sensor is connected to the elbow rotation connector. This structure achieves decoupling and measurement of the elbow's pitch and rotation degrees of freedom.

[0017] Furthermore, the wrist joint includes a sixth angle sensor, a wrist pitch connector, a seventh angle sensor, and a wrist lateral swing connector. The stators of the sixth and seventh angle sensors are respectively connected to the two ends of the wrist pitch connector, and the outer rotor of the seventh angle sensor is connected to the wrist lateral swing connector. This structure achieves decoupling and measurement of the two degrees of freedom of wrist pitch and lateral swing.

[0018] Furthermore, the upper arm wearable structure includes a main upper arm support, a main upper arm cushion, a main upper arm strap, an upper arm length adjustment mechanism, a secondary upper arm support, a secondary upper arm cushion, and a secondary upper arm strap. The inner surface contours of the main and secondary upper arm support are contoured to mimic the shape of a human arm. The main upper arm support has a main upper arm cushion and a main upper arm strap on its inner surface, and the secondary upper arm support has a secondary upper arm cushion and a secondary upper arm strap on its inner surface. The length adjustment device is an upper arm length adjustment mechanism, with the main and secondary upper arm support connected to both ends of the mechanism to accommodate different users' upper arm lengths and circumferences. The main and secondary upper arm cushions can be made of elastic materials such as EVA, memory foam, or sponge to improve comfort and support. The main and secondary upper arm straps provide a stable and adjustable connection.

[0019] Furthermore, the forearm wearable structure includes a main forearm support, a main forearm cushioning pad, a main forearm strap, a forearm length adjustment mechanism, a secondary forearm support, a secondary forearm cushioning pad, and a secondary forearm strap. The inner surface contours of the main and secondary forearm support are contoured to mimic the shape of a human arm. The main forearm support has a main forearm cushioning pad and a main forearm strap on its inner surface, and the secondary forearm support has a secondary forearm cushioning pad and a secondary forearm strap on its inner surface. The length adjustment device is a forearm length adjustment mechanism, with the main and secondary forearm support connected to both ends of the mechanism to accommodate different users' forearm lengths and circumferences. The main and secondary forearm cushioning pads can be made of elastic materials such as EVA, memory foam, or sponge to improve comfort and support. The main and secondary forearm straps provide a stable and adjustable connection.

[0020] Furthermore, the length adjustment device is a sleeve structure with an elastic deformation buckle structure, which enables rapid, stepless adjustment and reliable locking of the connecting rod length, simplifying the adjustment process to accommodate individual differences among different users.

[0021] Furthermore, the angle sensor is a high-precision Hall effect angle sensor, which includes: an outer rotor, a stator, a fixing frame, a circuit board, a radial magnet, a first bearing, a second bearing, and a fastening ring;

[0022] The fixing frame is fixedly connected to the stator; the circuit board is clamped and fixed between the two, and the circuit board integrates a Hall effect chip and a signal processing circuit for detecting the rotation angle of the outer rotor.

[0023] The first bearing is disposed between the outer rotor and the fixed frame; the second bearing is disposed between the fastening ring and the assembly composed of the fixed frame and the stator; the fastening ring and the outer rotor are connected by adjustable fasteners, and an axial assembly gap is preset at the connection interface between the two; the first bearing and the second bearing constitute a double bearing support structure for axially interlocking all components and allowing only the outer rotor to retain rotational freedom around the central axis relative to the stator. By tightening the fasteners to eliminate the axial assembly gap, an axial preload is applied to the double bearing support structure to compensate for axial clearance and suppress movement.

[0024] Furthermore, the fixing frame has a first mounting surface, the outer rotor has a first boss, the inner ring of the first bearing is positioned on the first boss, and the outer ring of the first bearing is positioned on the first mounting surface. After the fixing frame and the stator are fixedly connected, they form an assembly with a second boss, and the inner ring of the second bearing is positioned on the second boss; the fastening ring has a second mounting surface, and the outer ring of the second bearing is positioned on the second mounting surface. The fixing frame and the stator are connected by screws, and the circuit board is clamped and fixed between them.

[0025] The angle sensor uses a dual-bearing support structure to lock the components together, ensuring that the outer rotor and stator retain only one degree of freedom of rotation around the central axis. Furthermore, an axial assembly gap is preset at the connection interface between the outer rotor and the fastening ring. This gap can actively compensate for the machining tolerances of the parts and the slight axial displacement that may exist between the first and second bearings through manual pre-tightening force, thereby eliminating axial movement between the outer rotor and the stator, ensuring the purity of the rotational motion, avoiding the influence of the resulting magnetic field changes on the measurement accuracy of the sensor chip, and improving the accuracy and reliability of the angle measurement data.

[0026] The beneficial effects of this invention are as follows:

[0027] (1) Through modular and adjustable wearable structure, the device’s ability to adapt to differences in human body size is significantly improved, and the comfort of long-term operation is enhanced;

[0028] (2) The integration of multi-degree-of-freedom joints and high-precision angle sensors ensures high-fidelity acquisition of human upper limb motion data, providing accurate remote operation commands for the slave robot;

[0029] (3) The overall structure is lightweight and has good rigidity. It adopts carbon fiber materials and compact mechanical design, which reduces the burden on users while ensuring strength. It is suitable for complex remote operation scenarios such as medical care, rescue, and industry.

[0030] (4) Through a lightweight and modular structural design, it accurately captures the seven degrees of freedom motion information of the operator's upper limbs. Its rapid adjustment mechanism enables seamless adaptation to different users. The high-precision Hall sensor and stable mechanical structure ensure the quality of motion data. The "arm-shoulder-waist" three-in-one stable support frame provides a comfortable wearing experience and ensures the feasibility of long-term operation. Through the above comprehensive design, a wearable master hand input device that is flexible, comfortable to wear, and accurate in data is provided for remote robot teleoperation, effectively improving the naturalness, intuitiveness, and overall operational efficiency of human-computer interaction. Attached Figure Description

[0031] Figure 1 This is a front view of the structure of the present invention;

[0032] Figure 2 This is a schematic diagram of the rear side of the structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the outside of the wearable main glove assembly;

[0034] Figure 4 This is a schematic diagram of the inside of the wearable main glove assembly;

[0035] Figure 5 This is an exploded schematic diagram of a Hall effect angle sensor;

[0036] Labels in the diagram: 1-Shoulder joint, 1-1-First angle sensor, 1-2-Shoulder lateral swing connector, 1-3-Second angle sensor, 1-4-Shoulder rotation connector, 1-5-Third angle sensor, 1-6-Shoulder pitch connector, 2-Elbow joint, 2-1-Fourth angle sensor, 2-2-Elbow pitch connector, 2-3-Fifth angle sensor, 2-4-Elbow rotation connector, 3-Wrist joint, 3-1-Sixth angle sensor, 3-2-Wrist pitch connector, 3-3-Seventh angle sensor, 3-4-Wrist lateral swing connector, 4-Upper arm wearing structure, 4-1-Upper arm main support, 4-2-Upper arm main cushioning pad, 4-3-Upper arm main strap, 4-4-Upper arm length adjustment mechanism, 4-5-Upper arm secondary support. 4-6-Upper arm cushioning pad, 4-7-Upper arm secondary strap, 5-Forearm wearing structure, 5-1-Forearm main support support, 5-2-Forearm main cushioning pad, 5-3-Forearm main strap, 5-4-Forearm length adjustment mechanism, 5-5-Forearm secondary support support, 5-6-Forearm secondary cushioning pad, 5-7-Forearm secondary strap, 6-Shoulder and waist support belt, 6-1 Shoulder section, 6-2 Shoulder fixation component, 6-3 Waist section, 6-4 Waist fixation component, 7-First connector, 8-Carbon fiber tube, 9-Second connector, 10-Hall effect angle sensor, 10-1-Outer rotor, 10-2-First bearing, 10-3-Radial magnet, 10-4-Fixed frame, 10-5-Circuit board, 10-6-Second bearing, 10-7-Fastening ring, 10-8-Stator. Detailed Implementation

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] Example 1

[0039] like Figure 1 As shown, the wearable remote control master hand of the present invention consists of a shoulder joint 1, an elbow joint 2, a wrist joint 3, an upper arm wearing structure 4, a forearm wearing structure 5, a shoulder and waist support belt 6, a first connector 7, a carbon fiber tube 8, and a second connector 9.

[0040] like Figure 3 As shown, the stator of the first angle sensor 1-1 and the outer rotor of the second angle sensor 1-3 are respectively connected to both ends of the shoulder side swing connector 1-2. The stators of the second angle sensor 1-3 and the third angle sensor 1-5 are respectively connected to both ends of the shoulder rotation connector 1-4. The outer rotor of the third angle sensor 1-5 is connected to the shoulder pitch connector 1-6 to form the shoulder joint 1, thereby collecting shoulder three-degree-of-freedom angle change data through the first angle sensor 1-1, the second angle sensor 1-3 and the third angle sensor 1-5.

[0041] The stator of the fourth angle sensor 2-1 and the stator of the fifth angle sensor 2-3 are respectively connected to the two ends of the elbow pitch connector 2-2. The outer rotor of the fifth angle sensor 2-3 is connected to the elbow rotation connector 2-4 to form the elbow joint 2, thereby collecting elbow two-degree-of-freedom angle change data through the fourth angle sensor 2-1 and the fifth angle sensor 2-3.

[0042] The stator of the sixth angle sensor 3-1 and the stator of the seventh angle sensor 3-3 are respectively connected to the two ends of the wrist pitch connector 3-2. The outer rotor of the seventh angle sensor 3-3 is connected to the wrist lateral swing connector 3-4 to form the wrist joint 3, thereby collecting wrist two-degree-of-freedom angle change data through the sixth angle sensor 3-1 and the seventh angle sensor 3-3.

[0043] like Figure 4As shown, the main upper arm cushioning pad 4-2 and the main upper arm strap 4-3 are respectively connected to the main upper arm support 4-1, and the secondary upper arm cushioning pad 4-6 and the secondary upper arm strap 4-7 are respectively connected to the secondary upper arm support 4-5. The main upper arm support 4-1 and the secondary upper arm support 4-5 are respectively connected to both ends of the upper arm length adjustment mechanism 4-4, forming the upper arm wearing structure 4. The inner surface contours of the main upper arm support 4-1 and the secondary upper arm support 4-5 are contoured to resemble the human arm, and are made of materials with a certain degree of deformability. Made of materials, it can provide a certain adjustment space according to the thickness of different people's arms, improving the versatility of the exoskeleton; the upper arm main cushioning pad 4-2 and upper arm secondary cushioning pad 4-6 can improve the wrapping of the exoskeleton on the arm and reduce the pressure of rigid parts on the contact surface of the arm; the upper arm main strap 4-3 and upper arm secondary strap 4-7 can be freely adjusted for tightness; the upper arm length adjustment mechanism 4-4 allows the remote control hand to be adjusted according to the upper arm length of different users, thereby achieving a compatible connection with the human upper arm.

[0044] The forearm main cushioning pad 5-2 and the forearm main strap 5-3 are respectively connected to the forearm main support 5-1, and the forearm secondary cushioning pad 5-6 and the forearm secondary strap 5-7 are respectively connected to the forearm secondary support 5-5. The forearm main support 5-1 and the forearm secondary support 5-5 are respectively connected to both ends of the forearm length adjustment mechanism 5-4, forming the forearm wearing structure 5. The inner surface contours of the forearm main support 5-1 and the forearm secondary support 5-5 are contoured to resemble the human arm and are made of a material with a certain degree of deformability. The system provides adjustment space to accommodate different arm sizes, improving the exoskeleton's versatility. The main forearm cushioning pad 5-2 and secondary forearm cushioning pad 5-6 enhance the exoskeleton's support for the arm, reducing pressure from rigid components on the arm's contact surface. The main forearm strap 5-3 and secondary forearm strap 5-7 allow for adjustable tightness. The forearm length adjustment mechanism 5-4 enables the remote control hand to be adjusted according to different users' forearm lengths, thus achieving a compatible connection with the human forearm. In this embodiment, the cushioning pad is preferably a sponge pad.

[0045] like Figure 2 As shown, the first connector 7 is fixedly connected to the shoulder and waist support belt 6. The carbon fiber tube 8 passes through the circular through hole of the first connector 7 and is fixedly connected to the first connector 7. The second connector 9 is fixedly connected to the end of the carbon fiber tube 8. The outer rotor of the first angle sensor 1-1 is connected to the second connector 9, thereby indirectly connecting the wearable main hand to the shoulder and waist support belt 6, so that the exoskeleton has a three-in-one wearing method of arm-shoulder-waist, improving the connectivity between the human body and the exoskeleton main hand and the accuracy of the collected angle data.

[0046] The output signals from each angle sensor are transmitted to the central controller via a signal conditioning circuit. The central controller then sends the joint angle data to the slave robot via a wireless or wired communication module, enabling remote operation mapping.

[0047] Example 2

[0048] like Figure 5 The figure shows a Hall effect angle sensor of the present invention. The inner ring of the first bearing 10-2 contacts the inner boss of the outer rotor 10-1, and the outer ring of the first bearing 10-2 contacts the upper surface of the fixed frame 10-4. The relative rotational motion between the outer rotor 10-1 and the fixed frame 10-4 is realized through the first bearing 10-2.

[0049] The inner ring of the second bearing 10-6 contacts the outer boss of the fixed frame 10-4 and the outer boss of the stator 10-8. The outer ring of the second bearing 10-6 contacts the inner boss of the fastening ring 10-7. The relative rotational movement of the fastening ring 10-7 with the fixed frame 10-4 and the stator 10-8 is achieved through the second bearing 10-6.

[0050] The outer rotor 10-1 is connected to the fastening ring 10-7, and the fixing frame 10-4 is connected to the stator 10-8. The mutual locking of all components is achieved through the double bearing support structure of the first bearing 10-2 and the second bearing 10-6, and only the relative rotational movement of the outer rotor 10-1 and the stator 10-8 is retained.

[0051] The circuit board 10-5 is embedded in the bottom of the fixing bracket 10-4. The top boss of the stator 10-8 provides support for the lower surface of the circuit board 10-5. The fixing bracket 10-4 and the stator 10-8 fix the position of the circuit board 10-5 by clamping it. The radial magnet 10-3 is embedded in the cylindrical groove inside the outer rotor 10-1, so that it follows the outer rotor 10-1 to rotate. The chip on the circuit board 10-5 detects the rotational movement of the radial magnet 10-3 and calculates the angle data to realize angle detection.

[0052] 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 wearable remote control master hand, characterized in that, Includes a shoulder and waist support belt (6), the back of which is connected to a carbon fiber tube (8) via a first connector (7); both ends of the carbon fiber tube (8) are connected to a set of wearable main gloves via a second connector (9), and are arranged symmetrically. Each wearable master glove assembly includes a shoulder joint (1), an elbow joint (2), and a wrist joint (3) connected in sequence. The shoulder joint (1), elbow joint (2), and wrist joint (3) are each equipped with an angle sensor that measures the rotation angle of the corresponding joint. An upper arm wearing structure (4) is installed on the elbow joint (2), and a forearm wearing structure (5) is installed on the wrist joint (3). The upper arm wearing structure (4) and the forearm wearing structure (5) are used to fix the user's arm to the master glove structure to reduce parasitic movement. The joints are connected by linkages with length adjustment devices to accommodate different users' arm lengths.

2. The wearable remote control master hand according to claim 1, characterized in that, The shoulder joint (1) is a three-degree-of-freedom shoulder joint, including a first angle sensor (1-1), a shoulder lateral swing connector (1-2), a second angle sensor (1-3), a shoulder rotation connector (1-4), a third angle sensor (1-5), and a shoulder pitch connector (1-6). The stator of the first angle sensor (1-1) is fixed to the outer side of the lower end of the shoulder side-swing connector (1-2). The outer rotor of the second angle sensor (1-3) is connected to the inner side of the upper end of the shoulder side-swing connector (1-2). The stators of the second angle sensor (1-3) and the third angle sensor (1-5) are respectively connected to the two ends of the shoulder rotation connector (1-4). The outer rotor of the third angle sensor (1-5) is connected to the shoulder pitch connector (1-6). The elbow joint (2) is a two-degree-of-freedom elbow joint, including the fourth angle sensor (2-1) and the elbow pitch connector. (2-2), fifth angle sensor (2-3) and elbow rotation connector (2-4); the stator of the fourth angle sensor (2-1) and the stator of the fifth angle sensor (2-3) are respectively connected to the two ends of the elbow pitch connector (2-2), and the outer rotor of the fifth angle sensor (2-3) is connected to the elbow rotation connector (2-4); the wrist joint (3) is a two-degree-of-freedom wrist joint, including a sixth angle sensor (3-1), wrist pitch connector (3-2), seventh angle sensor (3-3) and wrist lateral swing connector (3-4); The stator of the sixth angle sensor (3-1) and the stator of the seventh angle sensor (3-3) are respectively connected to the two ends of the wrist pitch connector (3-2), and the outer rotor of the seventh angle sensor (3-3) is connected to the wrist side swing connector (3-4).

3. The wearable remote control master hand according to claim 1, characterized in that, The upper arm wearable structure (4) is equipped with an upper arm length adjustment device to adjust its length, and the lower arm wearable structure (5) is equipped with a lower arm length adjustment device to adjust its length, so as to adapt to users with different arm lengths.

4. The wearable remote control master hand according to claim 3, characterized in that, The upper arm length adjustment device is a sleeve structure with an elastic deformation buckle structure to achieve length adjustment and locking; the lower arm length adjustment device is a sleeve structure with an elastic deformation buckle structure to achieve length adjustment and locking.

5. The wearable remote control master hand according to claim 4, characterized in that, The upper arm wearing structure (4) also includes an upper arm main support support (4-1), an upper arm main buffer pad (4-2), an upper arm main strap (4-3), an upper arm length adjustment mechanism (4-4), an upper arm secondary support support (4-5), an upper arm secondary buffer pad (4-6), and an upper arm secondary strap (4-7). The inner surface contours of the main upper arm support (4-1) and the secondary upper arm support (4-5) are contoured to resemble the shape of a human arm. The inner surface of the main upper arm support (4-1) is provided with a main upper arm cushioning pad (4-2) and a main upper arm strap (4-3). The inner surface of the secondary upper arm support (4-5) is provided with a secondary upper arm cushioning pad (4-6) and a secondary upper arm strap (4-7). The length adjustment device is an upper arm length adjustment mechanism (4-4). The main upper arm support (4-1) and the secondary upper arm support (4-5) are respectively connected to both ends of the upper arm length adjustment mechanism (4-4).

6. The wearable remote control master hand according to claim 5, characterized in that, The forearm wear structure (5) includes a main forearm support (5-1), a main forearm cushion (5-2), a main forearm strap (5-3), a forearm length adjustment mechanism (5-4), a secondary forearm support (5-5), a secondary forearm cushion (5-6), and a secondary forearm strap (5-7). The inner surface contours of the main forearm support (5-1) and the secondary forearm support (5-5) are contoured to resemble the shape of a human arm. The inner surface of the main forearm support (5-1) is provided with a main forearm cushioning pad (5-2) and a main forearm strap (5-3). The inner surface of the secondary forearm support (5-5) is provided with a secondary forearm cushioning pad (5-6) and a secondary forearm strap (5-7). The length adjustment device is a forearm length adjustment mechanism (5-4), and the forearm main support bracket (5-1) and the forearm secondary support bracket (5-5) are respectively connected to both ends of the forearm length adjustment mechanism (5-4).

7. The wearable remote control master hand according to claim 6, characterized in that, The inner side of the shoulder and waist support belt (6) is provided with a cushioning pad, including a shoulder support section (6-1) adapted to the contour of the human shoulder, a waist support section (6-3) adapted to the contour of the waist and abdomen, a shoulder fixing component (6-2) for fixing the shoulder support section to the human shoulder, and a waist fixing component (6-4) for fixing the waist support section to the human waist and abdomen.

8. The wearable remote control master hand according to claim 1, characterized in that, The angle sensor comprises: an outer rotor (10-1), a stator (10-8), a fixing frame (10-4), a circuit board (10-5), a radial magnet (10-3), a first bearing (10-2), a second bearing (10-6), and a fastening ring (10-7). The fixing frame (10-4) is fixedly connected to the stator (10-8); the circuit board (10-5) is clamped and fixed between the two, and the circuit board (10-5) integrates a Hall effect chip and a signal processing circuit. The first bearing (10-2) is disposed between the outer rotor (10-1) and the fixed frame (10-4); the second bearing (10-6) is disposed between the fastening ring (10-7) and the assembly formed by the fixed frame (10-4) and the stator (10-8); the fastening ring (10-7) and the outer rotor (10-1) are connected by adjustable fasteners, and an axial assembly gap is preset at the connection interface between the two; the first bearing (10-2) and the second bearing (10-6) 10-6) forms a double bearing support structure for axially interlocking all components and allowing only the outer rotor (10-1) to retain rotational freedom about the central axis relative to the stator (10-8). By tightening the fasteners to eliminate the axial assembly clearance, an axial preload is applied to the double bearing support structure to compensate for axial clearance and suppress movement. The circuit board (10-5) integrates a Hall effect chip and signal processing circuit for detecting the rotation angle of the outer rotor (10-1).

9. The angle sensor according to claim 8, characterized in that, The fixing frame (10-4) has a first mounting surface, the outer rotor (10-1) has a first boss, the inner ring of the first bearing (10-2) is positioned on the first boss, and the outer ring of the first bearing is positioned on the first mounting surface. After the fixing frame (10-4) and the stator (10-8) are fixedly connected, they form an assembly with a second boss, and the inner ring of the second bearing (10-6) is positioned on the second boss; the fastening ring (10-7) has a second mounting surface, and the outer ring of the second bearing (10-6) is positioned on the second mounting surface; the fixing frame (10-4) and the stator (10-8) are connected by screws, and the circuit board (10-5) is clamped and fixed between them.

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