Breast motion simulation device, method, bra and breast prosthesis evaluation system

Abstract

The application provides a breast motion simulation device, a method, a bra and a breast prosthesis evaluation system, wherein the breast motion simulation device comprises a mannequin, a mechanical arm and a motion capture component, the mannequin comprises a simulated breast, the mechanical arm has multiple degrees of freedom, and the mannequin is connected to the mechanical arm, the mechanical arm is used for driving the mannequin to simulate human motion, and the motion capture component is used for recording motion data of the simulated breast. The breast motion simulation device of the application adopts the mechanical arm with multiple degrees of freedom to control the mannequin to simulate human motion, and records the motion data of the simulated breast through the motion capture component, so that diversified motion states can be fully simulated, higher reliability and accuracy are achieved, and damage to the breast of a human subject caused by testing can be avoided.

Description

Technical Field

[0001] This application belongs to the field of human motion simulation, and more specifically, relates to a breast motion simulation device, method, bra and breast implant evaluation system. Background Technology

[0002] Bras, especially sports bras, are designed to provide support during physical activity and minimize breast movement, thereby improving comfort and protection during exercise. Humanoid simulation testing devices are key tools for evaluating bra performance, measuring the bra's support and shock absorption capabilities by simulating human movement.

[0003] However, existing testing devices often have limitations in motion simulation, such as only being able to simulate unidirectional or low-intensity movements, making it difficult to fully simulate diverse movements such as yoga, cycling, jumping, basketball, and boxing. Summary of the Invention

[0004] The purpose of this application is to provide a breast movement simulation device, method, bra and breast implant evaluation system to solve the technical problem that existing breast movement simulation devices are unable to fully simulate diverse movement states.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a breast movement simulation device, the breast movement simulation device comprising:

[0006] Human body models; human body models include simulated breasts;

[0007] Robotic arm; The robotic arm has multiple degrees of freedom of motion. A human body model is attached to the robotic arm, and the robotic arm is used to drive the human body model to simulate human movement.

[0008] Motion capture component; The motion capture component is used to record motion data of the simulated breast.

[0009] Optionally, the human body model includes a torso model, with simulated breasts mounted on the torso model and a robotic arm attached to the neck of the torso model.

[0010] Optionally, a connecting bracket is provided on the back of the neck of the torso model, and the robotic arm is connected to the connecting bracket.

[0011] Optionally, the robotic arm has at least six degrees of freedom.

[0012] Optionally, the human body model also includes a rigid inner support and an outer covering, with the outer covering covering the rigid inner support, a simulated breast attached to the outer covering, and a robotic arm attached to the rigid inner support.

[0013] Alternatively, the materials used for simulated breasts include silicone and silicone oil.

[0014] Optionally, at least three non-collinear torso markers are set on the human body model, and the motion capture component is used to capture the motion trajectory of the torso markers.

[0015] Optionally, at least three non-collinear torso markers include a first torso marker, a second torso marker, and a third torso marker;

[0016] The first trunk marker is located at the clavicle of the human model, the second trunk marker is located at the 10th left rib of the human model, and the third trunk marker is located at the 10th right rib of the human model.

[0017] Optionally, the simulated breast is provided with breast markers, and the motion capture component is used to capture the motion trajectory of the breast markers.

[0018] This application also provides a breast movement simulation method, which employs the aforementioned breast movement simulation device, and includes:

[0019] Acquire human motion data;

[0020] Based on human motion data, the movement of the human model is controlled by a robotic arm.

[0021] The motion capture component records the motion data of the simulated breast.

[0022] Optionally, before controlling the movement of the human body model via a robotic arm, the breast movement simulation method also includes:

[0023] The mixing ratio of silicone and silicone oil in the simulated breast is adjusted to prepare a simulated breast that meets the preset requirements.

[0024] Optionally, acquiring human motion data includes:

[0025] At least three non-collinear torso markers are placed on the human torso;

[0026] Record the raw motion data of trunk markers during human movement;

[0027] Align the plane defined by at least three non-collinear torso markers with the end effector of the robotic arm, and derive human motion data based on the raw motion data.

[0028] This application also provides a bra assessment system, which includes the aforementioned breast movement simulation device.

[0029] This application also provides a breast implant assessment system, which includes the aforementioned breast motion simulation device.

[0030] The beneficial effects of the breast motion simulation device, method, bra and breast implant evaluation system provided in this application are as follows: Compared with the prior art, the breast motion simulation device of this application uses a robotic arm with multiple degrees of freedom to control a human body model to simulate human motion, and captures and records motion data of the simulated breast through motion capture components. It can fully simulate diverse motion states, has higher reliability and accuracy, and can also avoid breast damage to human subjects caused by testing. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the breast movement simulation device in the embodiments of this application;

[0033] Figure 2 This is a schematic diagram of the human body model and robotic arm from the first perspective in the embodiments of this application;

[0034] Figure 3 This is a schematic diagram of the human body model and robotic arm from a second perspective in the embodiments of this application;

[0035] Figure 4 This is a schematic diagram of the human body model and robotic arm from a third perspective in the embodiments of this application;

[0036] Figure 5 This is a schematic diagram showing the connection between the human body model and the robotic arm in an embodiment of this application;

[0037] Figure 6 This is a schematic diagram illustrating the setting of the flag bit in an embodiment of this application;

[0038] Figure 7 This is a flowchart of the breast movement simulation method in the embodiments of this application;

[0039] Figure 8 This is a flowchart illustrating the acquisition of human motion data in an embodiment of this application.

[0040] In the figure, the following labels are used: human body model 1; simulated breast 11; rigid inner support 12; outer covering 13; robotic arm 2; motion capture component 3; connecting bracket 4; first torso marker 501; second torso marker 502; third torso marker 503; breast marker 504. Detailed Implementation

[0041] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0042] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0043] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying 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.

[0044] 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. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] The primary function of a bra is to protect and support the breasts. Sports bras, in particular, are designed to reduce discomfort during exercise, prevent tissue damage, and improve athletic performance by stabilizing the breasts. A well-designed sports bra provides crucial support and stability, minimizing breast movement, avoiding discomfort, and reducing pressure on ligaments and surrounding tissues. Sports bras are generally classified according to the level of support they provide, which is determined by the intensity of the exercise they are designed for.

[0046] Humanoid testing equipment is now mature and widely used in various fields, such as warm-body mannequins, impact testing mannequins, and deformable mannequins for clothing fitting. However, simulated breast models with multi-degree-of-freedom motion simulation capabilities, which can be used to accurately determine the bra support level (from high to low), are extremely scarce. Therefore, the development of standardized equipment and methods is urgently needed. This will ensure consistent and reliable test results each time, and make test results from different laboratories, organizations, or time periods comparable, which is of great significance for establishing industry benchmarks and maintaining quality control.

[0047] Currently, bra support assessment techniques mainly fall into the following categories:

[0048] Indirect Method – Computer Simulation: Finite Element Modeling (FEM) simulation of breast biomechanics requires accurate representation of various tissue properties to capture realistic mechanical behavior under different conditions. The elastic modulus is crucial, reflecting the stiffness of fat, glands, and fibrous tissues, and determining the degree of deformation under load. Poisson's ratio is equally important, determining the tissue's volumetric response and ensuring that simulated deformation under multiaxial stress conditions accurately reflects the actual material properties.

[0049] Direct Method – Human Wearing Tests: Routine evaluation of sports bras relies on human subjects, as bras need to conform to the unique curves of a woman's body. Participants are recruited to perform various exercises to assess bra performance, particularly breast support. Sensors or motion capture cameras record trunk and breast movements. Evaluation typically involves comparing breast movement in a bare-chested state with while wearing a sports bra during exercise. Reduced breast movement indicates that the sports bra effectively supports the breasts and reduces the range of motion.

[0050] The Manikin system: Previous Manikin systems focused primarily on static or low-dynamic scenarios. Instrumented mannequins equipped with advanced sensors (measuring parameters such as pressure, temperature, and airflow) provide crucial data for research on comfort, thermal performance, and clothing performance. The dynamic human model system, incorporating movement and perspiration functions, can realistically simulate real-world dressing scenarios.

[0051] However, all of the above methods have certain limitations.

[0052] While finite element modeling (FEM) of breast biomechanics has reference value, it faces numerous challenges. The primary hurdle is obtaining accurate material properties for different breast tissues. The inherent variability of organisms, coupled with experimental limitations, makes accurately describing the behavior of soft tissues such as fat, glands, and fibrous tissues extremely difficult. To simplify calculations, researchers sometimes assume tissue homogeneity or isotropy, but in reality, these tissues are heterogeneous and anisotropic. Another major challenge is simulating the interaction between the bra and the breast, which requires accurate models of the bra's structure and material properties, significantly increasing simulation complexity. Capturing the geometry and deformation of the breast and bra during dynamic motion further increases computational load and time costs.

[0053] Human wearability testing also has limitations. Individual differences in movement during exercise are significant. For example, individuals with high fitness levels have strong motor control and less breast displacement, which may not be due to bra performance. Furthermore, fatigue from prolonged exercise can alter movement patterns, affecting the consistency of bra assessments. In addition, the extent of breast displacement during exercise is influenced by individual factors such as breast shape, volume, and tissue composition, and varies from person to person.

[0054] The Manikin system employs specific body motion simulators and preset motion patterns to simulate the dynamic movements of walking and running. Repetitive vertical motion is achieved through a circular cam profile, with movements controlled based on extracted waveform patterns. Stepper motors and servo motors are used simultaneously to simulate the vertical and rotational movements of a human running. These mechanical devices are custom-designed to simulate the dynamic human body movements during walking or running on a treadmill. However, these activities cannot cover the many sports that women participate in, such as yoga, cycling, jumping, basketball, and boxing. Different sports place varying demands on breast support on different motion planes. Therefore, the development of more motion simulation devices is essential.

[0055] The breast movement simulation device provided in the embodiments of this application will now be described. Please refer to... Figure 1 and Figure 2 In some embodiments of this application, the breast movement simulation device includes:

[0056] Human body model 1; Human body model 1 includes simulated breasts 11;

[0057] Robotic arm 2; Robotic arm 2 has multiple degrees of freedom of motion. Human model 1 is connected to robotic arm 2. Robotic arm 2 is used to drive human model 1 to simulate human movement.

[0058] Motion capture component 3; Motion capture component 3 is used to record motion data of the simulated breast 11.

[0059] In the breast movement simulation device, the human model 1 serves to support the simulated breast 11, providing a basic structure for simulating breast movement and enabling it to perform movement simulations in an environment close to that of a real human body. The dummy models in common anthropomorphic testing equipment are designed with human proportions and shapes in mind, effectively mimicking the outline of the human body. The human model 1 in this breast movement simulation device also possesses similar characteristics, especially in the chest area, where the accuracy of the simulated breast 11's position must be ensured.

[0060] The robotic arm 2 is the core driving component of the entire device, possessing multiple degrees of freedom, which is crucial for achieving diverse motion simulations. These degrees of freedom endow the robotic arm 2 with the ability to move and rotate flexibly in space, thereby driving the human body model 1 connected to it to simulate various complex human movements. Multiple degrees of freedom mean that the robotic arm 2 can move independently or collaboratively in multiple directions, greatly expanding the range of simulated movements. Different degrees of freedom can be selected for the robotic arm 2 according to requirements. For example, a common six-axis robotic arm 2 has linear motion degrees of freedom along the X, Y, and Z axes, as well as rotational degrees of freedom around these three axes. In the breast movement simulation device, the robotic arm 2 may also possess similar or even more degrees of freedom. For instance, it can simulate the forward and backward displacement of the human body by moving along the X-axis, lateral translation by moving along the Y-axis, and vertical jumping by moving along the Z-axis; it can simulate lateral tilting by rotating around the X-axis, pitching by rotating around the Y-axis, and torsion by rotating around the Z-axis. Through combinations of these different degrees of freedom, the human body model 1 can be driven to simulate various complex human movements such as the undulation and swaying of the body during running, the up-and-down movement during jumping, and the torsional movements during turning.

[0061] The motion capture component 3 is responsible for recording the motion data of the simulated breast 11 during the simulated motion process. This data is crucial for evaluating the bra's support performance and studying the breast's motion characteristics. By accurately recording parameters such as displacement, velocity, and acceleration of the breast under different motion states, accurate data can be provided for subsequent analysis and improvement. Common optical motion capture systems use multiple cameras arranged around the breast to track reflective markers attached to the simulated breast 11, thereby obtaining its three-dimensional coordinate information in space and calculating the breast's motion trajectory and various motion parameters. Motion capture systems composed of inertial measurement units can also be used to record the motion of the simulated breast 11 by measuring physical quantities such as acceleration and angular velocity and then calculating the object's motion data through algorithms.

[0062] By attaching a human body model 1 to a robotic arm 2 with multiple degrees of freedom, a wide variety of human motion simulations can be achieved. The human body model 1 provides the attachment base for the simulated breast 11, while the robotic arm 2, with its multi-degree-of-freedom motion capabilities, drives the human body model 1 to perform complex movements in various directions. This allows the simulated breast 11 to experience a variety of different motion scenarios, far exceeding the scope of traditional simple motion simulations. The motion capture component 3 records detailed data of the simulated breast 11 in real time during these complex movements. Overall, due to the multi-degree-of-freedom characteristics of the robotic arm 2, this device can simulate a wider variety of movements, such as complex actions in various sports activities. Compared to previous simulation devices, it greatly enriches the types of breast motion simulations, providing strong support for a more comprehensive and accurate study of breast motion patterns and evaluation of bra support performance, and contributing to the development of high-quality sports bras that better meet the needs of different sports.

[0063] Please see Figures 2 to 5 In some embodiments of this application, the human body model 1 includes a torso model, a simulated breast 11 is disposed on the torso model, and a robotic arm 2 is connected to the neck position of the torso model.

[0064] This embodiment connects the robotic arm 2 to the neck position of the torso model, which has multiple considerations and advantages. From the perspective of motion simulation, the neck is the connecting hub between the human head and torso. By connecting the robotic arm 2 here, the movement of the entire torso model can be driven more directly and effectively. Since the robotic arm 2 has multiple degrees of freedom of motion, when driving the neck position, it can realize multi-dimensional motion simulation of the torso, such as simulating the posture of the human body when running, jumping, twisting the body, etc., and thus driving the simulated breast 11 set on the torso model to move together, realistically reproducing the movement state of the breast with the torso in various sports activities.

[0065] In terms of structural stability, the neck position is relatively stable. After connecting to the robotic arm 2, it can provide reliable support and drive force transmission for the entire model. Compared to connecting to other weaker parts or parts that are difficult to move in all directions, the neck can better withstand the forces generated by the movement of the robotic arm 2. This ensures that during the simulation of complex movements, the torso model and the simulated breast 11 will not wobble or deviate due to uneven force or unstable connection, thus guaranteeing the accuracy and repeatability of the motion simulation.

[0066] From a data acquisition perspective, the motion tracking system, combined with customized body markers, can accurately capture the 3D displacement data of the simulated breast 11 as it moves within the torso model driven by the robotic arm 2. Due to the precise control of the neck by the robotic arm 2, data such as breast displacement, specific support effects, and motion planes can be more accurately identified and recorded under different bra conditions and during various high-impact exercises. This provides a high-quality data foundation for subsequent design optimization of sports bras, helping to develop sports bras that better meet women's exercise needs and offer superior support.

[0067] Please see Figure 5 In some embodiments of this application, a connecting bracket 4 is provided on the back side of the neck of the torso model, and the robotic arm 2 is connected to the connecting bracket 4. Here, "back side" is distinguished by the front and back of the human body, and the back side of the neck of the torso model corresponds to the back side of the neck of the human body. In this embodiment, the connecting bracket 4 is placed on the back side of the neck of the torso model. From a spatial layout perspective, this position is quite clever, effectively avoiding obstruction of the motion capture component 3, and the placement of the connecting bracket on the back side of the neck will not affect the wearing and changing of the sports bra. The motion capture component 3 is usually arranged around the human body model 1, especially in front of the human body model 1, to record motion data of parts such as the simulated breast 11. The back side of the neck is located relatively far back in the human body model 1 and is generally not the main sensing area of ​​the motion capture component 3.

[0068] The connecting bracket 4 enhances the stability and convenience of the connection between the robotic arm 2 and the torso model. The connection between the robotic arm 2 and the connecting bracket 4 can be achieved through various methods, such as bolt connection, screw connection, or quick-release clips. Figure 5 In the embodiment shown, the end effector of the robotic arm 2 is connected to the connecting bracket 4 using four stainless steel M6 hex screws.

[0069] Please see Figure 2 and Figure 3 In some embodiments of this application, to enable the simulation device to meet more diverse motion simulation needs, the robotic arm 2 has at least six degrees of freedom. These six degrees of freedom typically include translational motion along the x, y, and z axes, and rotational motion about these three axes. This multi-degree-of-freedom design allows the robotic arm 2 to move and position flexibly in three-dimensional space. Fewer degrees of freedom might limit the range of motion and flexibility of the robotic arm 2, making it impossible to fully simulate certain complex human movements. The design of at least six degrees of freedom effectively avoids this situation, ensuring that the robotic arm 2 is not overly restricted when simulating various sports activities and body movements, and can freely move the human model 1 in space to adapt to different movement requirements. Figure 2 and Figure 3In the embodiment shown, the UR10e robotic arm 2 is used. This is a medium-sized six-degree-of-freedom robotic arm 2 with a maximum load of 10kg and an arm length range of 1300mm.

[0070] Please see Figure 4 In some embodiments of this application, the human body model 1 further includes a rigid inner support 12 and an outer covering 13. The outer covering 13 covers the rigid inner support 12, the simulated breast 11 is connected to the outer covering 13, and the robotic arm 2 is connected to the rigid inner support 12.

[0071] The rigid inner support 12 provides a solid structural foundation for the human body model 1. It can withstand the forces transmitted by the robotic arm 2 during movement, ensuring that the human body model 1 will not deform or be damaged when simulating various complex movements. For example, when the robotic arm 2 performs rapid and large-amplitude movements, the rigid inner support 12 can effectively disperse and transmit these forces, maintaining the overall shape and stability of the human body model 1, allowing it to move as expected and ensuring the accuracy of the motion simulation. Figure 4 In the embodiment shown, the rigid inner support 12 is made of hard 3D printing resin, which is strong and has a very smooth surface.

[0072] The outer layer 13 covers the rigid inner support 12, providing a soft texture to the hard surface of the inner support 12 and a suitable surface for connecting the simulated breast 11. The outer layer 13 can be made of a soft material to simulate the texture of human skin, making the entire model more realistic. The outer layer 13 can be made of suitable materials such as silicone.

[0073] The simulated breast 11 is connected to the outer covering layer 13, and the robotic arm 2 is connected to the rigid inner support 12. This ensures that the robotic arm 2 can accurately control the posture and movement of the human body model 1 while ensuring a more realistic simulation, thereby simulating various complex human movements and improving the accuracy and reliability of motion simulation.

[0074] In some embodiments of this application, the simulated breast 11 is made of silicone and silicone oil. Silicone is a material with good elasticity and flexibility, which can simulate the shape and elastic texture of a breast. Silicone oil has low viscosity and good fluidity, which can increase the softness of the simulated breast 11. The weight ratio of silicone oil is inversely proportional to the elastic modulus; the higher the weight ratio of silicone oil, the lower the elastic modulus. Therefore, by adjusting the mixing ratio of silicone and silicone oil in the simulated breast 11, a simulated breast 11 that meets the preset requirements can be prepared, thereby simulating dynamic breast movement according to specific circumstances. For example, if it is necessary to simulate a relatively small swaying amplitude of the breast during movement, the proportion of silicone can be appropriately increased and the content of silicone oil reduced, making the simulated breast 11 firmer and more elastic. Conversely, if it is necessary to simulate a softer breast with a larger swaying amplitude, the proportion of silicone oil can be increased and the content of silicone can be reduced, making the simulated breast 11 softer. The specific types of silicone and silicone oil can be selected according to actual needs. For example, in some embodiments, Ecoflex 00-30 silicone is used, and Dow low-viscosity silicone oil is used.

[0075] Please see Figure 6 In some embodiments of this application, the human body model 1 is provided with at least three non-collinear torso markers, and the motion capture component 3 is used to capture the motion trajectory of the torso markers.

[0076] In geometry, three points not on the same straight line can uniquely define a plane. Setting at least three non-collinear torso markers on the human body model 1 provides a reliable reference for accurately determining its posture and position. These markers serve as feature points, and the motion capture component 3 can capture their motion trajectories to obtain the dynamic information of the human body model 1 in space. The motion capture component 3 can, for example, employ the Vicon motion capture system. At least three non-collinear markers also improve the accuracy and reliability of the data. If the markers are collinear, it may be impossible to accurately distinguish different postures of the human body model 1 under certain motion conditions; non-collinear markers provide more dimensional information, reducing errors and uncertainties.

[0077] The motion capture component 3 captures the motion trajectory of the torso markers, enabling real-time recording of the position and posture changes of the human model 1 during movement. By recording the raw motion data of the torso markers during human movement, the motion capture component 3 can obtain the position and posture changes of the human torso in real time and completely. Then, the plane determined by the non-collinear torso markers can be aligned with the end effector of the robotic arm 2. Combining the inverse kinematics principle of the robotic arm 2, the angles and motion parameters of each joint of the robotic arm 2 can be calculated based on the known desired position and posture of the end effector. In this way, the robotic arm 2 can move accurately according to the human body's motion trajectory, thus obtaining human motion data.

[0078] Please see Figure 6 In some embodiments of this application, at least three non-collinear torso markers include a first torso marker 501, a second torso marker 502, and a third torso marker 503. The first torso marker 501 is located at the clavicle position of the human body model 1, the second torso marker 502 is located at the 10th left rib position of the human body model 1, and the third torso marker 503 is located at the 10th right rib position of the human body model 1. The first torso marker 501, the second torso marker 502, and the third torso marker 503 can form a virtual triangular plane. This virtual triangular plane provides a stable reference frame for describing the posture and position of the torso of the human body model 1. This plane can reflect the orientation information of the human torso in space. By analyzing the changes in this plane, the movement of the human torso can be understood, such as the tilt and rotation of the plane. For example, when the human body performs a sideways movement, the angle of the virtual triangular plane will change accordingly, and the motion capture component 3 can obtain information such as the angle and amplitude of the sideways movement by detecting these changes.

[0079] Please see Figure 6In some embodiments of this application, a breast marker 504 is provided on the simulated breast 11, and the motion capture component 3 is used to capture the motion trajectory of the breast marker 504. The breast undergoes complex movements during human movement. By capturing the motion trajectory of the breast marker 504, the motion capture component 3 can record the position and posture changes of the breast in real time and accurately. Using the coordinate system determined by the torso marker as a reference, the coordinate change of the breast marker 504 can directly represent the position change of the breast relative to the torso. Through this analysis of relative positional relationships, the specific position of the breast on the torso and its changes over time can be accurately described, thereby allowing for the assessment of the impact of the sports bra during this process. For example, by analyzing the breast displacement data, it is possible to determine whether the height, width, and elasticity of the sports bra's side wings are appropriate and whether they can effectively prevent lateral displacement of the breast during movement; furthermore, by analyzing the breast displacement data, it is also possible to determine whether the tightness of the sports bra's underband is appropriate, ensuring that it provides sufficient support without being too tight to restrict breathing or cause chest and abdominal discomfort.

[0080] This application also provides a method for simulating breast movement; please refer to [link / reference]. Figure 7 In some embodiments of this application, the breast movement simulation method employs the breast movement simulation device of any one of claims 1-9, and the breast movement simulation method includes:

[0081] S100: Acquiring Human Motion Data; This is the foundation and starting point of the entire breast motion simulation method. Accurate human motion data is crucial for the subsequent simulation process, as it determines the realism and reliability of the simulation. Only by acquiring data that truly reflects various human motion states can the subsequent movements of the human model 1 and the simulated breast 11 more closely approximate reality. The acquired data can cover a variety of human motion scenarios, such as aerobic exercises like running and skipping rope at different intensities, strength training, yoga, and various other movements, to comprehensively simulate the actual situation of the breast under different motion states.

[0082] S200: Based on human motion data, the robotic arm 2 controls the movement of the human body model 1. Using the acquired human motion data, the robotic arm 2 calculates the motion parameters of each joint through algorithms such as inverse kinematics, thereby precisely controlling the movement of the human body model 1. The human motion data provides the robotic arm 2 with motion commands and targets. The robotic arm 2 adjusts its own motion state in real time based on this data to ensure that the movement of the human body model 1 is consistent with the actual human body movement, enabling the simulated breast 11 to experience the same motion environment as a real human body.

[0083] S300: Motion capture component 3 records the motion data of the simulated breast 11. During the movement of the human body model 1, the motion capture component 3 records the motion data of the simulated breast 11 by capturing the motion trajectory of the breast markers 504 set on the simulated breast 11. This data includes information on multiple dimensions such as breast displacement, velocity, acceleration, and motion posture. This data plays an irreplaceable role in in-depth research on breast movement patterns and evaluation of the performance of sports bras.

[0084] In some embodiments of this application, before controlling the movement of the human body model 1 via the robotic arm 2, the breast movement simulation method further includes: adjusting the mixing ratio of silicone and silicone oil in the simulated breast 11 to prepare a simulated breast 11 that meets preset requirements. Silicone has good elasticity and support, which can give the simulated breast 11 a certain shape stability, allowing it to maintain its basic contour during static processes. Silicone oil, on the other hand, has low viscosity and good fluidity, which can increase the softness and realistic feel of the simulated breast 11. By adjusting the mixing ratio of the two, the physical properties of the simulated breast 11, such as hardness, elasticity, and softness, can be precisely controlled, making it closer to the characteristics of real breasts of different individuals. For example, for cases requiring the simulation of large and soft breasts, the proportion of silicone oil can be appropriately increased to make the simulated breast 11 softer and have a larger range of motion; to simulate small and firm breasts, the proportion of silicone can be increased and the silicone oil content reduced to make the simulated breast 11 more elastic and supportive. This adjustment of the material ratio provides the possibility for achieving diversified and personalized breast simulation.

[0085] Please see Figure 8 In some embodiments of this application, acquiring human motion data includes:

[0086] S110: At least three non-collinear torso markers are set on the human torso; three points not on the same straight line can uniquely determine a plane. Setting at least three non-collinear markers on the human torso, such as selecting the first torso marker 501 located at the clavicle position of human model 1, the second torso marker 502 located at the 10th left rib position, and the third torso marker 503 located at the 10th right rib position, provides a stable reference frame for accurately determining the posture and position of the human torso in space.

[0087] S120: Records raw motion data of torso markers during human movement. Real-time recording of this raw motion data during human movement allows for a complete understanding of the torso's position and posture changes under different movement states. The motion capture component 3 tracks the movement trajectory of the markers, accurately recording information including displacement, velocity, and acceleration.

[0088] S130: Align the plane defined by at least three non-collinear torso markers with the end effector of robotic arm 2, and derive human motion data based on the original motion data. Aligning the plane defined by the markers with the end effector of robotic arm 2 is a crucial step in enabling robotic arm 2 to accurately simulate human motion. Through this alignment method, combined with the inverse kinematics principle of robotic arm 2, the angles and motion parameters of each joint of robotic arm 2 can be calculated based on the known desired position and orientation of the end effector, thus allowing robotic arm 2 to move along the trajectory of the human body.

[0089] In various embodiments of this application, the versatility of the robotic arms 2 enables them to easily replicate different body movements in a repeatable and consistent manner during various sports activities. By connecting a properly designed soft breast mannequin 1 (including the torso) to the robotic manipulator, the complexity of 3D torso and breast movements can be accurately and conveniently reproduced, covering the characteristics of more representative female group movements in performing various body actions and sports activities.

[0090] By combining a motion tracking system with custom-designed body markers, it is possible to accurately identify the displacement of the 3D breasts under different bra conditions, as well as data related to specific support effects, motion planes, and high-impact activities such as yoga and jumping. This will provide a strong basis for designing future sports bras that can better support women's breasts, allowing women of all ages, breast sizes, and preferred sports to exercise comfortably.

[0091] In summary, the breast movement simulation device in this application has significant advantages. Utilizing the robotic arm 2, the device can accurately simulate various movements, from single actions like jumping and lateral movement to complex movements like running. Furthermore, the robotic arm 2 can continuously and repeatedly move regardless of time or location, exhibiting extremely high reliability. Its six-degree-of-freedom robotic arm 2 can precisely replicate and reproduce trunk movements with excellent accuracy. In addition, by using a machine and human model 1 instead of human subjects, the device effectively avoids potential damage to the human body during breast biomechanical experiments, especially when tested under bare-chested conditions.

[0092] Based on the aforementioned breast motion simulation device, this application also provides a bra evaluation system, which includes the breast motion simulation device in any of the above embodiments. As a key component of the sports bra evaluation system, the breast motion simulation device plays a crucial role in simulating the actual state of the breast during human movement. Through a series of operations, including acquiring human motion data, controlling the movement of the human body model 1, and recording the motion data of the simulated breast 11, it can highly realistically reproduce the movement state of the breast in various motion scenarios. This simulation provides a fundamental condition for accurately evaluating the performance of sports bras, because only in a near-realistic breast motion environment can the bra's ability to support, fix, and protect the breast be effectively tested.

[0093] Based on the aforementioned breast motion simulation device, this application also provides a breast implant evaluation system, which includes the breast motion simulation device in any of the above embodiments. The breast motion simulation device provides a testing platform for breast implant evaluation that closely approximates a real human movement environment. Breast implants need to adapt to various daily activities and movement states within the human body. By simulating different human movements using this device, the breast implant can experience movement conditions similar to those encountered in actual use. For example, simulating running, jumping, and bending over allows observation of the breast implant's performance under these movements, thereby accurately evaluating its performance and quality.

[0094] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A breast movement simulation device, characterized in that, The breast movement simulation device includes: Human body model; the human body model includes a simulated breast; A robotic arm; the robotic arm has multiple degrees of freedom of motion, the human body model is connected to the robotic arm, and the robotic arm is used to drive the human body model to simulate human movement; Motion capture component; the motion capture component is used to record the motion data of the simulated breast.

2. The breast movement simulation device as described in claim 1, characterized in that, The human body model includes a torso model, the simulated breast is set on the torso model, and the robotic arm is connected to the neck position of the torso model.

3. The breast movement simulation device as described in claim 2, characterized in that, A connecting bracket is provided on the back of the neck of the torso model, and the robotic arm is connected to the connecting bracket.

4. The breast movement simulation device as described in claim 1, characterized in that, The robotic arm has at least six degrees of freedom.

5. The breast movement simulation device as described in claim 1, characterized in that, The human body model also includes a rigid inner support and an outer covering. The outer covering is wrapped around the rigid inner support, the simulated breast is connected to the outer covering, and the robotic arm is connected to the rigid inner support.

6. The breast movement simulation device as described in claim 1 or 5, characterized in that, The simulated breasts are made of materials including silicone and silicone oil.

7. The breast movement simulation device as described in claim 1, characterized in that, The human body model has at least three non-collinear torso markers, and the motion capture component is used to capture the motion trajectory of the torso markers.

8. The breast movement simulation device as described in claim 7, characterized in that, The at least three non-collinear torso markers include a first torso marker, a second torso marker, and a third torso marker; The first torso marker is located at the clavicle position of the human body model, the second torso marker is located at the 10th left rib position of the human body model, and the third torso marker is located at the 10th right rib position of the human body model.

9. The breast movement simulation device as described in claim 1, 7, or 8, characterized in that, The simulated breast is provided with breast markers, and the motion capture component is used to capture the motion trajectory of the breast markers.

10. A method for simulating breast movement, characterized in that, The breast movement simulation method employs the breast movement simulation device according to any one of claims 1-9, and the breast movement simulation method includes: Acquire human motion data; Based on the human motion data, the robotic arm controls the movement of the human model. The motion capture component records the motion data of the simulated breast.

11. The breast movement simulation method as described in claim 10, characterized in that, Before controlling the movement of the human body model via the robotic arm, the breast movement simulation method further includes: The mixing ratio of silicone and silicone oil in the simulated breast is adjusted to prepare the simulated breast that meets the preset requirements.

12. The breast movement simulation method as described in claim 10, characterized in that, The acquisition of human motion data includes: At least three non-collinear torso markers are placed on the human torso; Record the raw motion data of the trunk markers during human movement; Align the plane defined by at least three non-collinear torso markers with the end effector of the robotic arm, and derive the human motion data based on the original motion data.

13. A bra assessment system, characterized in that, The bra assessment system includes the breast movement simulation device as described in any one of claims 1-9.

14. A breast implant evaluation system, characterized in that, The breast prosthesis assessment system includes the breast movement simulation device as described in any one of claims 1-9.

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