Exoskeleton configuration for measuring motion state of waist of human body
By designing linkage transmission components and sensing measurement components in an exoskeleton configuration, the problem of controlling the waist movement of humanoid robots was solved, achieving high-precision waist movement measurement and improved control accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG LINGQIAO INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2026-03-02
- Publication Date
- 2026-04-17
AI Technical Summary
Humanoid robots face challenges in controlling the movement of various joints in the human waist, especially under complex degrees of freedom and joint coupling, resulting in insufficient control precision and flexibility.
Design an exoskeleton configuration including a fixed base assembly, a linkage transmission assembly, and a sensing and measurement assembly. The linkage transmission assembly passively follows the movement of the human waist, and multiple encoders are used to collect motion parameters to achieve high-precision posture measurement.
It improves the control precision and flexibility of humanoid robots in waist movement, reduces control difficulty, simplifies motion control algorithms, and can reflect the waist movement status in real time.
Smart Images
Figure CN121870708A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more specifically, to an exoskeleton configuration for measuring the motion state of the human waist. Background Technology
[0002] With the continuous development of the manufacturing industry and its increasing level of intelligence, the use of robots and other intelligent equipment to replace humans in complex, heavy, and repetitive labor has become a major trend in the manufacturing sector. The unmanned and automated production lines have, to a certain extent, reduced the excessive workload of workers and lowered the risks associated with working in dusty or toxic gas environments.
[0003] The new generation of intelligent manufacturing technology emphasizes human-machine integration, which fully combines the wisdom of humans in making intelligent decisions and logical reasoning in unstructured environments with the performance of robots in terms of reliability, precision, and strength, forming a complementary advantage.
[0004] The human waist has a complex structure and a high degree of freedom (such as 90° forward flexion, 30° backward extension, 30° lateral flexion to the left and right, and 90° rotation). Some movements of the waist will also involve certain joint coupling. Therefore, it is very difficult for humanoid robots to control and simulate the movement of various joints in the waist. The control accuracy and flexibility also need to be improved. Summary of the Invention
[0005] In view of one of the defects in the prior art, the purpose of this application is to provide an exoskeleton configuration for measuring the motion state of the human waist.
[0006] A first aspect of this application provides an exoskeleton configuration for measuring the motion state of the human lumbar region, comprising: The mounting assembly includes a first positioning structure for connection to the upper body of a human body and a second positioning structure for connection to the waist of a human body; The linkage transmission assembly has its two ends movably connected to the first positioning structure and the second positioning structure, respectively, forming a mechanical transmission chain that can passively follow and simulate the movement trajectory of the human waist. The sensing and measurement component includes multiple encoders, which are respectively located at the motion node formed by the hinge of the linkage transmission component and at the end position connected to the fixed base component, for collecting motion parameters of the human waist during lateral flexion, extension and rotation.
[0007] Optionally, the first positioning structure is provided with an interface component that connects to the upper limb fixation device, and is provided with a first double-layer bracket parallel to the back; The second positioning structure is provided with an interface component that connects to the waist fixation device, and is also provided with a second double-layer bracket that is perpendicular to the back.
[0008] Optionally, the linkage transmission assembly includes an L-shaped linkage and at least three straight linkages that are hinged in sequence, with each linkage forming a kinematic node that can rotate relative to the others.
[0009] Optionally, the linkage drive assembly includes an L-shaped first link, a straight second link, a third link, and a fourth link; The first link includes a first arm and a second arm connected in an L-shaped structure. The first arm is parallel to the back and remains vertical in the standing position, while the second arm is perpendicular to the back and remains horizontal in the standing position. The first arm is hinged to the first positioning structure. The first end of the second link is connected to the second arm, and the last end is hinged to the third link; The first end of the third link is hinged to the end of the second link, and the end of the third link is hinged to the fourth link. The first end of the fourth link is hinged to the end of the third link and remains coaxial, and the end is hinged to the second positioning structure. The total length of each link is greater than the straight-line distance between the first positioning structure and the second positioning structure in a static standing state, so as to allow relative displacement during the lumbar flexion and extension process; The overall orientation of the second, third, and fourth links corresponds to the central axis region of the human spine. The orthogonal projection of their axes onto the back surface falls within a band-shaped region centered on the spine, reflecting the motion characteristics of the lumbar central axis region.
[0010] Optionally, a first encoder is provided at the connection between the first link and the first positioning structure; A second encoder is provided at the connection between the first link and the second link; A third encoder is provided at the connection between the second link and the third link; A fourth encoder is provided at the connection between the third link and the fourth link; A fifth encoder is provided at the connection between the fourth link and the second positioning structure.
[0011] Optionally, the portion of the third link near its end is provided with a hollow cavity, the fourth encoder is embedded in the hollow cavity, its rotor is connected to the fourth link, and its stator is fixed to the third link; The connection between the third link and the fourth link is also equipped with an anti-loosening ring to strengthen the stability of the connection.
[0012] Optionally, the sensing and measurement component dynamically calls data from the corresponding encoder according to different motion modes, including: During lateral flexion, data from the first encoder and the fourth encoder are used; During flexion and extension movements, data from the second, third, and fifth encoders are used; In axial rotational motion, all encoder data is used.
[0013] Optionally, the linkage transmission assembly undergoes bending deformation within the coronal plane of the human body during lateral flexion movements, wherein: When the upper body tilts to the side relative to the waist, the first positioning structure drives the first arm of the L-shaped first link to rotate around its hinge point, and transmits the motion to the first end of the second link through the second arm; The second, third, and fourth links are hinged and deflected in sequence, forming a C-shaped bend, which simulates the continuous curvature change of the human spine during lateral flexion. The first encoder and the fourth encoder respectively collect angle information.
[0014] Optionally, the linkage transmission assembly performs folding and unfolding actions within the sagittal plane of the human body during flexion and extension movements, specifically as follows: When the first positioning structure presses down or lifts up with the upper body, it pulls the first link and sequentially drives the second, third, and fourth links to bend or extend in a coordinated manner. The second, third, and fifth encoders synchronously record the angle information of each motion node.
[0015] Optionally, the linkage transmission assembly rotates axially at the waist, generating a spatial helical deformation, specifically: The first positioning structure fixed to the upper body drives the first arm of the L-shaped first link to rotate synchronously, causing its horizontally positioned second arm to swing laterally. The lateral swing is transmitted to the second link, which in turn causes the subsequent third and fourth links to shift laterally in stages, conforming to the torsional deformation of the waist in space; Encoders distributed at each motion node collect angle information in real time.
[0016] The exoskeleton configuration provided in this application for measuring the movement state of the human waist passively follows the movement of the human waist through a linkage transmission chain, reproduces the lateral flexion, extension and rotation trajectory, and achieves high-precision posture measurement by combining with a multi-point encoder.
[0017] Other technical effects resulting from the additional features will be further illustrated in the corresponding embodiments. Attached Figure Description Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of an exoskeleton configuration for measuring the motion state of the human waist, according to an exemplary embodiment. Figure 2 This is a schematic diagram of an exoskeleton configuration for measuring the movement state of the human waist, according to an exemplary embodiment. Figure 3 The following is a schematic diagram of the linkage and encoder fixed according to an exemplary embodiment: (a) is a side view of the mechanical transmission chain; (b) is a connection diagram of the first and second linkages; and (c) is a connection diagram of the third and fourth linkages. Figure 4 The state of the exoskeleton used to measure the lumbar movement of a human body during flexion / extension, according to an exemplary embodiment; Figure 5 The state of the exoskeleton used to measure the movement of the human waist during left flexion / right flexion, as shown in an exemplary embodiment.
[0018] In the diagram, 100-fixed seat assembly, 200-linkage transmission assembly, 300-sensing measurement assembly, 101-first positioning structure, 102-second positioning structure, 1011-positioning seat, 1021-waist positioning plate, 1012-first double-layer bracket, 1022-second double-layer bracket, 201-first connecting rod, 202-second connecting rod, 203-third connecting rod, 204-fourth connecting rod, 205-set screw, 206-anti-loosening ring; 1-First encoder, 2-Second encoder, 3-Third encoder, 4-Fourth encoder, 5-Fifth encoder. Detailed Implementation
[0019] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all fall within the protection scope of the present application. Parts not described in detail in the following embodiments can be implemented using existing technology.
[0020] The human waist has a complex structure and is highly mobile (able to flex forward, extend backward, flex laterally, and rotate to varying degrees), and some movements involve joint coordination. This makes it difficult for humanoid robots to control their waist joints precisely and flexibly.
[0021] Based on the above problems, this application provides an exoskeleton configuration for measuring the movement state of the human waist, in order to solve the aforementioned problems.
[0022] Reference Figure 1 As shown in one embodiment of this application, an exoskeleton configuration for measuring the movement state of the human waist includes: The fixed seat assembly 100 includes a first positioning structure 101 for connecting to the upper body of a human body and a second positioning structure 102 for connecting to the waist of a human body. The linkage transmission assembly 200 has its two ends movably connected to the first positioning structure 101 and the second positioning structure 102 respectively, forming a mechanical transmission chain that can passively follow and simulate the movement trajectory of the human waist. Specifically, by using the mechanical structure itself to passively follow human movement, the signal drift problem can be fundamentally avoided.
[0023] The sensing and measurement component 300 includes multiple encoders, which are respectively set at the motion nodes formed by the hinge of the linkage transmission component 200 and at the end positions connected to the fixed base component 100, for collecting motion parameters of the human waist during lateral flexion, extension and rotation.
[0024] Specifically, the motion parameters include at least angular displacement, angular velocity, angular acceleration in each direction, and the coupled motion relationships between multiple degrees of freedom. After encoder signal fusion and kinematic calculation, complete three-dimensional attitude information is output.
[0025] The above embodiments of this application directly collect the movement status and joint angles of various joints in the human waist (such as flexion, extension, lateral flexion, and waist rotation). The exoskeleton uses a linkage structure, which is simple to measure directly, has high flexibility, and basically does not restrict the freedom of human movement.
[0026] Collecting motion parameters serves two purposes: first, it maps the motion data of the human waist to the waist of the humanoid robot, simplifying the robot's motion control algorithm; second, it maps the human waist motion data to other robots that need to be controlled (for example, controlling the forward and backward movement of an AGV by the forward and backward movement of the human waist, and controlling the AGV's direction by the left and right rotation of the waist). Therefore, adopting a master-slave teleoperation method, using a wearable exoskeleton to remotely operate the humanoid robot, can reduce the difficulty of waist control and improve control accuracy.
[0027] Traditional exoskeleton positioning structures often employ a single-layer rigid frame with a single fixation point, which can easily lead to localized stress concentration and displacement deviation during human movement. Therefore, in some specific embodiments of this application, a fixation assembly including a first positioning structure 101 and a second positioning structure 102 is proposed. The first positioning structure 101 includes an interface component connected to an upper limb fixation device and a first double-layer frame parallel to the back. The second positioning structure 102 includes an interface component connected to a lumbar fixation device and a second double-layer frame perpendicular to the back.
[0028] Specifically, such as Figure 2As shown, the upper limb fixation device is specifically a strap-type structure with numerous weight-reducing holes. The lumbar fixation device is specifically a restraint belt. It is important to note that the upper limb and lumbar fixation devices are not part of the exoskeleton itself; their function is to anchor the exoskeleton's first and second positioning structures to the body parts.
[0029] Specifically, the interface component of the first positioning structure refers to the positioning seat 1011, which has four threaded holes for fixing to the upper limb fixation device using screws. The interface component of the second positioning structure refers to the waist positioning plate 1021, which has four threaded holes for fixing to the waist fixation device using screws.
[0030] The first double-layer bracket 1012 of the first positioning structure 101 is an L-shaped rod structure with a U-shaped opening at one end to form two lugs for hinged connection with the first connecting rod 201 via a pin. The second double-layer bracket 1022 is a U-shaped connecting piece structure, which is hinged to the fourth connecting rod 204 via a pin, providing stable rotational support.
[0031] In the above embodiments of this application, the first double-layer support increases the hinge point height, avoids the back contour, and reduces motion interference; its U-shaped opening structure, while enabling the first link to rotate around the pin axis, restricts lateral displacement and improves connection stability. The U-shaped connector of the second positioning structure provides a stable hinge for the fourth link. The double-layer support structure helps reduce measurement errors caused by loosening or offset, and improves the reliability of the exoskeleton under dynamic working conditions.
[0032] In some specific embodiments of this application, a linkage transmission assembly is further proposed to include an L-shaped linkage and at least three straight linkages that are hinged in sequence, with each linkage forming a joint structure that can rotate relative to the other.
[0033] In some specific embodiments, such as Figure 3 As shown in Figures (a), (b), and (c), the linkage drive assembly 200 includes an L-shaped first link 201, a straight second link 202, a third link 203, and a fourth link 204.
[0034] The first link 201 includes a first arm and a second arm connected in an L-shape. The first arm is parallel to the back and remains vertical in a standing position, while the second arm is perpendicular to the back and remains horizontal in a standing position. The first arm is hinged to the first positioning structure 101.
[0035] The first end of the second link 202 is connected to the second arm of the first link 201, and the end is hinged to the third link 203.
[0036] The first end of the third link 203 is hinged to the end of the second link 202, and the end is hinged to the fourth link 204.
[0037] The first end of the fourth link 204 is hinged to the end of the third link 203 and remains coaxial, and the end is hinged to the second positioning structure 102.
[0038] Specifically, the coaxial connection design of the fourth link and the third link can control the axial offset during the left and right rotation of the waist to a very small range, completely eliminating rotational interference, preventing encoder shaft jamming, and ensuring that the fourth encoder 4 accurately acquires the 90° rotation angle of the waist; moreover, this structure can reduce mechanical friction, reduce transmission resistance, adapt to the rapid rotation of the waist, and shorten the response time of the exoskeleton to the movement; at the same time, the absence of additional radial force can reduce component wear, extend service life, and reduce maintenance costs.
[0039] The total length of each link is greater than the straight-line distance between the first positioning structure 101 and the second positioning structure 102 in the static standing state, so as to allow relative displacement during the lumbar flexion and extension process.
[0040] The overall orientation of the second link 202, the third link 203, and the fourth link 204 corresponds to the central axis region of the human spine. The orthogonal projection of their axes onto the back surface falls within a band-shaped area of ±3cm centered on the spine, which is used to reflect the motion characteristics of the lumbar central axis region.
[0041] In the above embodiments of this application, the structure achieves high-fidelity passive following of waist movement through the coaxial design and projection layout of the linkage transmission assembly, effectively eliminating rotational interference, reducing friction and wear, improving encoder measurement accuracy and response speed, ensuring stable acquisition of three-dimensional posture data under large angles and rapid movements, extending the service life of the device, and improving the reliability of human-machine collaboration.
[0042] To obtain comprehensive motion information during lumbar movements, in some specific embodiments of this application, a first encoder 1 is provided at the connection between the first link 201 and the first positioning structure 101; a second encoder 2 is provided at the connection between the first link 201 and the second link 202; a third encoder 3 is provided at the connection between the second link 202 and the third link 203; a fourth encoder 4 is provided at the connection between the third link 203 and the fourth link 204; and a fifth encoder 5 is provided at the connection between the fourth link 204 and the second positioning structure 102. Each encoder is fixed by a set screw 205.
[0043] The encoder layout of the above embodiments of this application can simultaneously collect the rotation angles of each joint, realize multi-degree-of-freedom measurement of lateral flexion, extension and rotational movements, and improve the accuracy of posture calculation; the distributed setting avoids signal interference, enhances system stability, and ensures real-time and accurate response and data reconstruction of the exoskeleton to complex waist movements.
[0044] In some specific embodiments, the portion of the third link 203 near its free end is provided with a hollow cavity, the fourth encoder 4 is embedded in the cavity, its rotor is connected to the fourth link 204, and the stator is fixed to the third link 203; the connection between the third link 203 and the fourth link 204 is also provided with an anti-loosening ring 206 to strengthen the connection stability between the two.
[0045] The above embodiments of this application ensure the concealment and robustness of the fourth encoder.
[0046] In one embodiment of this application, the sensing and measurement component dynamically calls data from the corresponding encoders according to different motion modes, including: using data from the first and fourth encoders in lateral flexion motion; using data from the second, third, and fifth encoders in flexion-extension motion; and using all encoder data in axial rotational motion.
[0047] Furthermore, in some other embodiments, during lateral flexion, the linkage assembly passively follows and simulates the movement trajectory of the human waist, and the sensing and measurement assembly collects the corresponding motion parameters. For example... Figure 4 As shown, the specific process is as follows: When a person bends to the left or right, the ribcage and pelvis tilt asymmetrically, resulting in a relative angle in the coronal plane between the upper body and the waist.
[0048] The first positioning structure (connected to the upper body) then deflects, causing the first arm of the L-shaped first link to rotate around its hinge point with the first positioning structure; Since the second arm of the first link extends horizontally and is connected to the second link, the rotation is transmitted to the starting end of the main drive chain; The second, third, and fourth links bend in a coordinated manner, and the whole structure exhibits a "C" shaped deformation trend. In particular, the first and fourth encoders are most sensitive to the coronal plane rotation angle, obtaining angular information.
[0049] In the above embodiments, the bending center of the transmission chain is close to the actual active segment of the lumbar spine (such as L3-L4), and its curvature evolution process is highly consistent with the scoliosis morphology of the human spine, realizing the spatial mapping of the lateral flexion trajectory.
[0050] In some other embodiments, during flexion and extension, the linkage assembly passively follows and simulates the movement trajectory of the human waist, and the sensing and measurement assembly collects the corresponding motion parameters. For example... Figure 5 As shown, the specific process is as follows: When the human body bends forward (forward flexion) or leans backward (backward extension), the spine forms a continuous curve in the sagittal plane, with the thoracic and lumbar vertebrae moving in coordination.
[0051] The first positioning structure, fixed to the upper body, pulls the first link and the first arm around the hinge as the ribcage presses down or rises.
[0052] The main drive chain (second to fourth links) can automatically fold downwards or unfold upwards because each hinge node can rotate freely; During this process, the second encoder, the third encoder, and the fifth encoder simultaneously record the angle information of each node.
[0053] The design, with the total length of each link greater than the static spacing, ensures that no structural interference or tensile failure occurs even when the link is bent at a large angle (up to 90°).
[0054] The overall folding path of the transmission chain in the above embodiments of this application simulates the gradual flexion process of the lumbar spine from front to back, and collects angle information during the flexion and extension process.
[0055] In some other embodiments, during axial rotation, the linkage drive assembly passively follows and simulates the movement trajectory of the human waist, and the sensing and measurement assembly collects the corresponding motion parameters. The specific process is as follows: When the human body performs a twisting motion at the waist (such as turning around to pick up an object), the spine undergoes a spiral deformation, and the upper body and pelvis rotate relative to each other around the vertical axis.
[0056] Although each link is a rigid straight rod, the entire transmission chain exhibits a certain degree of torsional flexibility through the slight lateral offset and torsional deformation at multiple hinge points. In particular, the L-shaped first link has a spatial decoupling capability, allowing the second link to swing slightly laterally relative to the first arm during rotation; All five encoders detected varying degrees of angle changes, such as: The first and fourth encoders reflect the initial torsional difference between the shoulder and waist; The second, third, and fifth encoders capture the torsional gradient along the spine.
[0057] In subsequent processing, these data can be fused and the overall rotation angle can be reconstructed using a preset spinor model or the DH parameter method.
[0058] In the above embodiments of this application, the multi-node hinge has torsional flexibility characteristics. This transmission chain can effectively respond to and quantify waist rotational motion, and is especially suitable for slow, long-stroke torsional tasks.
[0059] The preferred features in the above embodiments can be used individually in any embodiment, or in any combination thereof, provided they do not conflict with each other. Furthermore, parts not described in detail in the embodiments can be implemented using existing technologies.
[0060] In the description of the embodiments of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0061] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
[0062] In the description of the embodiments in this application, "multiple" means two or more, unless otherwise explicitly specified. In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0063] The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or devices.
[0064] The foregoing has described some specific embodiments of this application. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.
Claims
1. An exoskeleton configuration for measuring the movement state of the human lumbar region, characterized in that, include: The mounting assembly includes a first positioning structure for connection to the upper body of a human body and a second positioning structure for connection to the waist of a human body; The linkage transmission assembly has its two ends movably connected to the first positioning structure and the second positioning structure, respectively, forming a mechanical transmission chain that can passively follow and simulate the movement trajectory of the human waist. The sensing and measurement component includes multiple encoders, which are respectively located at the motion node formed by the hinge of the linkage transmission component and at the end position connected to the fixed base component, for collecting motion parameters of the human waist during lateral flexion, extension and rotation.
2. The exoskeleton configuration for measuring the movement state of the human waist according to claim 1, characterized in that, The first positioning structure is provided with an interface component that connects to the upper limb fixation device, and is also provided with a first double-layer bracket parallel to the back. The second positioning structure is provided with an interface component that connects to the waist fixation device, and is also provided with a second double-layer bracket that is perpendicular to the back.
3. The exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 1, characterized in that, The linkage transmission assembly includes an L-shaped linkage and at least three straight linkages that are hinged in sequence, with each linkage forming a kinematic node that can rotate relative to the others.
4. The exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 3, characterized in that, The linkage drive assembly includes an L-shaped first link, a straight second link, a third link, and a fourth link; The first link includes a first arm and a second arm connected in an L-shaped structure. The first arm is parallel to the back and remains vertical in the standing position, while the second arm is perpendicular to the back and remains horizontal in the standing position. The first arm is hinged to the first positioning structure. The first end of the second link is connected to the second arm, and the last end is hinged to the third link; The first end of the third link is hinged to the end of the second link, and the end of the third link is hinged to the fourth link. The first end of the fourth link is hinged to the end of the third link and remains coaxial, and the end is hinged to the second positioning structure. The total length of each link is greater than the straight-line distance between the first positioning structure and the second positioning structure in a static standing state, so as to allow relative displacement during the lumbar flexion and extension process; The overall orientation of the second, third, and fourth links corresponds to the central axis region of the human spine. The orthogonal projection of their axes onto the back surface falls within a band-shaped region centered on the spine, reflecting the motion characteristics of the lumbar central axis region.
5. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 4, characterized in that, A first encoder is provided at the connection between the first connecting rod and the first positioning structure; A second encoder is provided at the connection between the first link and the second link; A third encoder is provided at the connection between the second link and the third link; A fourth encoder is provided at the connection between the third link and the fourth link; A fifth encoder is provided at the connection between the fourth link and the second positioning structure.
6. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 5, characterized in that, The third link has a hollow cavity near its end, the fourth encoder is embedded in the hollow cavity, its rotor is connected to the fourth link, and its stator is fixed to the third link; The connection between the third link and the fourth link is also equipped with an anti-loosening ring to strengthen the stability of the connection.
7. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 5, characterized in that, The sensing and measurement component dynamically calls data from the corresponding encoder according to different motion modes, including: During lateral flexion, data from the first encoder and the fourth encoder are used; During flexion and extension movements, data from the second, third, and fifth encoders are used; In axial rotational motion, all encoder data is used.
8. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 5, characterized in that, The linkage transmission assembly undergoes bending deformation within the coronal plane of the human body during lateral flexion movements, wherein: When the upper body tilts to the side relative to the waist, the first positioning structure drives the first arm of the L-shaped first link to rotate around its hinge point, and transmits the motion to the first end of the second link through the second arm; The second, third, and fourth links are hinged and deflected in sequence, forming a C-shaped bend, which simulates the continuous curvature change of the human spine during lateral flexion. The first encoder and the fourth encoder respectively collect angle information.
9. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 4, characterized in that, The linkage transmission assembly folds and unfolds within the sagittal plane of the human body during flexion and extension movements, specifically as follows: When the first positioning structure presses down or lifts up with the upper body, it pulls the first link and sequentially drives the second, third, and fourth links to bend or extend in a coordinated manner. The second, third, and fifth encoders synchronously record the angle information of each motion node.
10. An exoskeleton configuration for measuring the movement state of the human lumbar region according to claim 4, characterized in that, The linkage transmission assembly rotates axially at the waist, generating a spatial spiral deformation, specifically: The first positioning structure fixed to the upper body drives the first arm of the L-shaped first link to rotate synchronously, causing its horizontally positioned second arm to swing laterally. The lateral swing is transmitted to the second link, which in turn causes the subsequent third and fourth links to shift laterally in stages, conforming to the torsional deformation of the waist in space; Encoders distributed at each motion node collect angle information in real time.