Wearable powered exoskeleton data collection device

Abstract

The application provides a wearable power-assisted exoskeleton data acquisition device, and relates to the technical fields of human-computer interaction, industrial human motion data acquisition and wearable exoskeleton equipment. The device comprises a data acquisition assembly for acquiring visual images and motion posture sensing data; a back support for providing back support and also for bearing the data acquisition assembly; a waist support connected to the bottom of the back support for providing waist support; two sets of power-assisted mechanisms for outputting power assistance to compensate for the weight of the exoskeleton and mechanical resistance and to provide upper limb power assistance to reduce muscle burden when lifting arms to hold objects; the back support, the waist support and the power-assisted mechanisms are connected through a harness for fitting the user's torso and sharing the weight of the wearable power-assisted exoskeleton data acquisition device; and a power supply assembly. The application relies on the power-assisted mechanisms to offset the weight of the device and mechanical damping, and can be worn for a long time in real industrial work scenarios to obtain continuous human work motion data with no load interference and high restoration.

Description

Technical Field

[0001] This application relates to the fields of human-computer interaction, industrial human motion data acquisition, and wearable exoskeleton equipment technology, specifically, to a wearable assistive exoskeleton data acquisition device. Background Technology

[0002] In industrial human-robot collaboration, robot simulation training, and ergonomic analysis scenarios, it is necessary to collect motion visual images and limb posture sensor data of humans under real working conditions over extended periods. Existing technologies fall into two categories: one is assistive exoskeletons, which primarily reduce the user's physical load during work through passive or active assistance. The design and application of this type of exoskeleton are usually for human assistance, with data acquisition not being its primary function; the other is wearable data acquisition exoskeletons, which only carry image and posture acquisition sensors. The device's own weight and joint mechanical damping significantly increase the load on the wearer's arms and torso.

[0003] Traditional data acquisition equipment is only suitable for short-term static data acquisition in the laboratory. Wearers experience heavy loads and cannot wear it for extended periods in real industrial work scenarios for continuous data acquisition. At the same time, existing equipment lacks an integrated back support structure, making it cumbersome to wear and causing concentrated pressure on the body, resulting in poor comfort during long-term wear. The acquisition camera and posture sensor lack a unified time synchronization mechanism, leading to time offset between image and posture data and low data matching accuracy. Furthermore, the lack of an adaptive pre-tensioning assist adjustment structure makes it impossible to adapt to the assistance needs of different body types and different work load scenarios, making it difficult to obtain original human motion data with no motion interference and high fidelity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides a wearable assistive exoskeleton data acquisition device. This device solves the technical problems of existing acquisition devices being unable to simultaneously handle long-term natural wear, continuous data acquisition in real industrial work scenarios, and the increased human motion load due to the device's own weight and mechanical damping. It integrates the assistive mechanism, multi-source synchronous data acquisition, and human-fitting back structure, reducing the burden of wearable movement and ensuring the authenticity and integrity of human motion data acquisition during long-term work.

[0005] According to a first aspect of this application, at least one embodiment of this application provides a wearable assistive exoskeleton data acquisition device, comprising: a data acquisition component for acquiring visual images and motion posture sensing data; a back support component that conforms to the user's back for providing back support and also for supporting the data acquisition component; a waist support component connected to the bottom of the back support component for providing waist support; two sets of assist mechanisms symmetrically arranged on the left and right sides of the back support component for outputting assistance to compensate for the exoskeleton's own weight and mechanical resistance, and to provide upper limb assistance, reducing muscle burden when raising arms to hold objects, wherein the back support component, the waist support component, and the assist mechanisms are connected by a shoulder strap for conforming to the user's torso and evenly distributing the weight of the wearable assistive exoskeleton data acquisition device; and a power supply component disposed on the back support component and connected to the data acquisition component for supplying power to the data acquisition component.

[0006] For example, in some embodiments of this application, the data acquisition component includes: a data acquisition camera, disposed on the left and right shoulder positions of the back support, for acquiring visual images without obstruction; and an IMU sensor, disposed on the back support and the assist mechanism, for acquiring motion posture sensing data of multiple parts of the user.

[0007] For example, in some embodiments of this application, the data acquisition component further includes: a data acquisition main controller, which has a built-in synchronization trigger source, which is used to synchronously output timing signals to the data acquisition camera and the IMU sensor, so that the data acquisition camera and the IMU sensor synchronously acquire the visual image and the motion posture sensing data.

[0008] For example, in some embodiments of this application, the data acquisition main controller includes at least one data channel, which includes at least one of a local memory card storage channel, a USB transmission channel, a CAN communication channel, an RS485 communication channel, a WiFi wireless transmission channel, and an Ethernet transmission channel. The data acquisition main controller transmits the visual image and the motion posture sensing data to the peripheral host computer through local caching or at least one of the data channels.

[0009] For example, in some embodiments of this application, the lumbar support includes: at least two lumbar extension mechanisms, each connected to the lower end of one of the two assistive mechanisms, for adjusting the longitudinal length of the lumbar support; and a lumbar support plate, connected to at least two of the lumbar extension mechanisms, for conforming to the user's waist to provide lower support and limiting for the entire wearable assistive exoskeleton data acquisition device.

[0010] For example, in some embodiments of this application, each set of assistive mechanisms includes: an arm support assembly for conforming to the user's upper arm and swinging with the arm's movements; an assistive box body including an assistive box bottom and an assistive box cover, the assistive box bottom and the assistive box cover being fastened together to form a guide receiving cavity; an elastic element housed inside the guide receiving cavity for generating assist; a UHMWPE rope, with its two ends connected to the arm support assembly and the elastic element respectively, for stretching or releasing the elastic element as the arm support assembly swings to output assist; and a pre-tension adjustment mechanism disposed at the upper end of the arm support assembly for adjusting the pre-tension force of the elastic element to change the output magnitude of assist.

[0011] For example, in some embodiments of this application, the pretension adjustment mechanism includes: an operating handwheel; a worm gear, coaxially linked with the operating handwheel, for adjusting the output magnitude of the assist; a cable bundler, disposed at the front end of the worm gear, for winding and storing the UHMWPE rope; and a guide wheel for constraining the movement trajectory of the UHMWPE rope.

[0012] For example, in some embodiments of this application, the elastic element includes at least one of the following: tension spring, compression spring, torsion spring, leaf spring, constant force spring, gas spring, elastic rope, and elastomer; the elastic rope is a flexible rope with elastic recovery capability, including: TPU elastic rope, latex elastic rope, and / or natural rubber elastic rope.

[0013] For example, in some embodiments of this application, the area where the shoulder strap contacts the user is provided with a cushioning pad to distribute the local pressure exerted by the shoulder strap on the user.

[0014] For example, in some embodiments of this application, the power supply component includes: a battery; a power management component, which communicates with the data acquisition main controller to collect the remaining power of the battery in real time and report it to the data acquisition main controller.

[0015] Through the above embodiments, the wearable assistive exoskeleton data acquisition device provided in this application has at least one of the following beneficial effects: 1. By relying on the assistive mechanism to offset the additional load caused by the weight and frictional resistance of the wearable assistive exoskeleton data acquisition device, the wearer has no extra exercise burden. It provides continuous assistance during overhead operations, arm lifting, and tool holding, offsetting part of the joint load caused by the weight of the upper limbs and tools, thereby reducing the burden on the shoulder muscles and improving the comfort and durability of long-term work. It can be worn for a long time in real industrial work scenarios to obtain continuous human work motion data with high fidelity and no load interference, breaking through the limitation of traditional equipment that can only be used for short-term collection in the laboratory.

[0016] 2. The back support, waist support, and assist mechanism are connected as a whole by a shoulder strap with a cushioned soft pad, so that the weight is evenly distributed on the back, waist, and upper arms of the human body, with less local pressure, comfortable to wear, and easy to put on and take off; the waist extension mechanism can adapt to users of different body types, making the equipment more versatile.

[0017] 3. The main controller for data acquisition has a built-in unified synchronous trigger source. The IMU sensors on the shoulder, back, and assistive mechanisms share the same timestamp, ensuring that the visual images and limb posture data are perfectly aligned in time sequence, resulting in high data matching accuracy and improving the quality of human motion modeling and ergonomic analysis data. The device is equipped with multiple data transmission channels, including local storage, USB, CAN communication, RS485 communication, WiFi, and Ethernet, providing flexible data export methods.

[0018] 4. The power assist mechanism is equipped with a worm gear preload adjustment mechanism, and the high speed ratio transmission enables precise stepless adjustment of the power assist, adapting to the power assist needs of different loads and different work actions; the elastic element has multiple replacement options, which can be flexibly replaced according to the usage scenario, reducing production and maintenance costs.

[0019] 5. The power supply component monitors the battery level in real time and can promptly remind users to charge, ensuring uninterrupted data acquisition operations over long periods.

[0020] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit this application. Attached Figure Description

[0021] The above and other objects, features, and advantages of this application will become more apparent from the detailed description of exemplary embodiments with reference to the accompanying drawings. The drawings described below are merely some embodiments of this application and are not intended to limit the scope of this application.

[0022] Figure 1 This is a schematic diagram of the overall structure of the wearable assistive exoskeleton data acquisition device according to an embodiment of this application; Figure 2 This is a schematic diagram of the strap connection points in an embodiment of this application; Figure 3 This is a schematic diagram of the shoulder strap structure according to an embodiment of this application; Figure 4 This is a schematic diagram of the assembly structure of the waist support component according to an embodiment of this application; Figure 5 This is a schematic diagram of the disassembled structure of the assist mechanism according to an embodiment of this application; Figure 6A , Figure 6B This is a schematic diagram of the expansion and contraction motion state of the assist mechanism in an embodiment of this application; Figure 7 This is a schematic diagram of the pre-tightening adjustment mechanism according to an embodiment of this application; Figure 8A , Figure 8B This is a cross-sectional schematic diagram of the pre-tightening adjustment mechanism according to an embodiment of this application; Figure 9 This is an electrical schematic diagram of a wearable assistive exoskeleton data acquisition device according to an embodiment of this application. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make this application comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted.

[0024] The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of these specific details, or other methods, components, materials, devices, etc. In these cases, well-known structures, methods, devices, implementations, materials, or operations will not be shown or described in detail.

[0025] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0026] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0027] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of exemplary embodiments, and the modules or processes in the drawings are not necessarily essential for implementing this application, and therefore cannot be used to limit the scope of protection of this application.

[0028] Figure 1 This is a schematic diagram of the overall structure of the wearable assistive exoskeleton data acquisition device according to an embodiment of this application.

[0029] like Figure 1 As shown, the wearable assistive exoskeleton data acquisition device includes: a data acquisition component 101, a back support component 102, a waist support component 103, two sets of assistive mechanisms 104, and a power supply component 105.

[0030] The data acquisition component 101 is used to acquire visual images and motion posture sensing data. The back support 102 conforms to the curvature of the user's back, serving as a support base to provide back support. The data acquisition component 101 is mounted on the back support 102. The lumbar support 103 is installed at the bottom of the back support 102, conforming to the user's waist to provide lower body support. Two sets of assist mechanisms 104 are symmetrically fixed on the left and right sides of the back support 102. The power supply component 105 is integrated into the back support 102 and connected to the data acquisition component 101, used to power the data acquisition component 101.

[0031] Among them, the back support 102, waist support 103, and two sets of assistive mechanisms 104 are connected by multiple buckles on the back straps to fit the user's torso and evenly distribute the weight of the wearable assistive exoskeleton data acquisition device, so as to realize the quick putting on and taking off of the entire wearable assistive exoskeleton data acquisition device.

[0032] like Figure 2 As shown, the shoulder straps are fastened to the back support 102, waist support 103, and assist mechanism 104 at multiple points ABC, A'-B'-C', BbE, B'-b'-E', DaG, and Fc-F', respectively. A schematic diagram of the shoulder straps is shown below. Figure 3 As shown.

[0033] According to some embodiments, the areas where the shoulder straps contact the user are equipped with cushioning padding. For example, one-piece molded cushioning padding is provided in the contact areas of the chest, back, and waist to distribute the local pressure caused by the shoulder straps on the user, so that the user does not feel obvious pressure even after wearing it for a long time.

[0034] According to some embodiments, the straps are buckled, making them easy to assemble and disassemble, and enabling the wearable assistive exoskeleton data acquisition device to be quickly put on and taken off.

[0035] like Figure 1 As shown, the data acquisition component 101 includes: a data acquisition camera 1011, an IMU sensor 1012, and a data acquisition main controller (not shown in the figure).

[0036] Among them, there are two data acquisition cameras 1011, which are respectively arranged on the left and right shoulders of the back support 102, facing the front of the wearer, for collecting visual images of human operation without obstruction.

[0037] IMU sensors 1012 include multiple units, which are set at the left and right shoulder positions and torso positions of the back support 102, and the upper arm support positions of the two sets of assist mechanisms 104, respectively, to collect motion posture sensing data of multiple parts of the human torso and left and right upper arms.

[0038] According to some embodiments, the figure only shows a few units corresponding to the torso and arms as examples. In actual application scenarios, the number of IMU sensors can be increased or decreased according to the data collection requirements.

[0039] The main data acquisition controller has a built-in synchronous trigger source. The synchronous trigger source synchronously outputs a unified timing signal to the two data acquisition cameras 1011 and all IMU sensors 1012, so that visual images and attitude sensing data are acquired synchronously with the same timestamp, eliminating data timing deviations.

[0040] According to some embodiments, the data acquisition main controller is equipped with multiple independent data channels. These data channels include: local memory card storage channel, USB transmission channel, CAN communication channel, RS485 communication channel, WiFi wireless transmission channel, Ethernet transmission channel, etc.

[0041] The main data acquisition controller caches the acquired visual images and motion posture sensing data on a local storage card. Users can transmit the data to an external host computer via local caching or any channel as needed for ergonomic analysis and robot motion modeling.

[0042] like Figure 4 As shown, the lumbar support 103 includes at least two lumbar extension mechanisms 1031 and a lumbar support plate 1032.

[0043] At least two lumbar extension mechanisms 1031 are connected at their upper ends to the lower ends of the left and right assist mechanisms 104, respectively. The lumbar extension mechanism 1031 can be longitudinally extended and retracted to adjust the longitudinal length of the lumbar support component, adapting to different wearers. The lumbar support plate 1032 is simultaneously fixed to the bottom ends of at least two lumbar extension mechanisms 1031, conforming to the curvature of the human lumbar region, realizing the lower support and limiting of the entire wearable assistive exoskeleton data acquisition device, and evenly distributing the downward pressure of the assist mechanism 104 and the back support component 102 to the lumbar region.

[0044] The left and right sets of assist mechanisms 104 have identical structures. For example... Figure 5 As shown, the single-unit assist mechanism 104 includes: arm support assembly 1041, assist box 1042, elastic element 1043, UHMWPE rope 1044 (Ultra-High-Molecular-Weight Polyethylene) rope, and pre-tension adjustment mechanism 1045.

[0045] Among them, the arm support component 1041 is fitted and fixed to the wearer's upper arm, and swings synchronously with the arm's raising and lowering movements. Figure 6A This diagram illustrates how to help the mechanism relax, corresponding to a human arm hanging naturally without being raised. Figure 6B This diagram illustrates the extension of the assist mechanism, corresponding to the working condition of raising the human arm. The assist box 1042, formed by the sealing of the assist box bottom 10421 and the assist box cover 10422, creates a guide cavity, providing installation and movement guidance for internal components. The elastic element 1043 is housed within the guide cavity and generates assistive elastic force. The two ends of the UHMWPE rope 1044 are connected to the arm support assembly 1041 and the elastic element 1043, respectively. When the user's arm swings, it causes the arm support assembly 1041 to rotate, pulling or releasing the UHMWPE rope 1044, thereby stretching and retracting the elastic element 1043. The rebound force of the elastic element 1043 acts in the opposite direction on the upper arm, offsetting the additional load caused by the weight of the wearable assistive exoskeleton data acquisition device and frictional resistance. It provides continuous assistance during overhead operations, arm raising, and tool holding, offsetting part of the joint load caused by the weight of the upper limb and the tool, thereby reducing the burden on the shoulder muscles and improving the comfort and durability of long-term work.

[0046] According to some embodiments, the elastic element 1043 includes, but is not limited to, at least one of tension spring, compression spring, torsion spring, leaf spring, constant force spring, gas spring, elastic rope and elastomer. The elastic rope includes flexible ropes with elastic recovery capabilities such as TPU elastic rope, latex elastic rope, and natural rubber elastic rope, which can be flexibly replaced according to the target assistance size during manufacturing.

[0047] A preload adjustment mechanism 1045 is located at the upper end of the arm support assembly 1041 and is used to adjust the preload tension of the elastic element to change the output magnitude of the assist. Figure 7 and Figure 8A , Figure 8B As shown, Figure 7 This is a schematic diagram of the preload adjustment mechanism. Figure 8A , Figure 8B This is a cross-sectional view of the preload adjustment mechanism. The preload adjustment mechanism 1045 includes: an operating handwheel 10451, a worm gear 10452, a cable tie 10453, and a guide wheel 10454.

[0048] The operating handwheel 10451 is exposed, allowing the user to rotate it manually. The handwheel 10451 is coaxially linked with the worm gear 10452, utilizing the large reduction ratio of the worm gear 10452 to achieve precise torque adjustment and regulate the output of the assist. The cable bundle 10453 is fixed to the output end of the worm gear 10452 and is used to wind and store the UHMWPE rope 1044. The guide wheel 10454 is positioned between the cable bundle 10453 and the assist housing 1042 to constrain the movement trajectory of the UHMWPE rope 1044, ensuring smooth entry and exit of the cable bundle 10453 and preventing rope deviation, jamming, and wear.

[0049] The user rotates the operating handwheel, which drives the cable reel to wind or release the UHMWPE rope via a worm gear, changing the initial tension of the elastic element to achieve stepless adjustment of the preload with one hand. This allows for adjustment of the overall machine's assist output, adapting to different work scenarios such as light assembly and heavy handling. This application partially reduces the user's load through the assist mechanism, enabling data acquisition to shift from a purely laboratory-based environment to a real-world scenario involving long-term, continuous operation, thereby solving the technical problem.

[0050] According to some embodiments, the worm gear can also be replaced by a ratchet, eccentric wheel, lead screw and nut, cam mechanism, motor preload adjustment (semi-active), etc., and a connecting rope can be used to achieve preload.

[0051] The power supply component 105 includes a battery 1051 and a power management component 1052.

[0052] Battery 1051 can simultaneously provide continuous power to the data acquisition camera, IMU sensor, and data acquisition main controller.

[0053] According to some embodiments, battery 1051 is a rechargeable lithium battery with an LED display screen on its surface that can intuitively show the remaining power.

[0054] The power management unit 1052 is communicatively connected to the data acquisition main controller, used to collect real-time data on the battery 1051 voltage and remaining power, and report this data to the main controller. Users can view the remaining battery life of the entire device through the host computer and schedule charging in advance.

[0055] In the aforementioned solution, the assist mechanism is a passive assist solution. This application also provides an alternative solution with active assist, as detailed below: The elastic element 1043 inside the assist box 1042 is replaced with a brushless DC motor. A coil is mounted at the output end of the brushless DC motor, and the coil is connected to the pretension adjustment mechanism to achieve UHMWPE rope tension adjustment. The power supply component 105 also supplies power to the brushless DC motor. The brushless DC motor is electrically connected to the data acquisition main controller. The data acquisition main controller identifies real-time human operation movements based on visual images captured by the data acquisition camera and motion posture sensing data from the IMU sensor, and outputs matching drive signals to the brushless DC motor to achieve active following assist output. This is suitable for high-precision human-machine collaboration, rehabilitation training, and other scenarios, or for applications in industrial manufacturing, medical, data acquisition, and engineering construction.

[0056] Combined with appendix Figure 9 The electrical schematic diagram of the wearable assistive exoskeleton data acquisition device shown illustrates the overall electrical operating logic of the device. The core of the electrical system of this wearable assistive exoskeleton data acquisition device is the main data acquisition controller. The main data acquisition controller integrates a synchronous trigger source, local storage components, and multi-channel communication components.

[0057] All IMU sensors, including the data acquisition camera on the shoulder, the back support, and the assist mechanism, are connected to the main data acquisition controller via the Serdes bus. The timing signal is uniformly output by the synchronous trigger source to achieve synchronous acquisition of visual images and motion posture sensing data from multiple parts, and is marked with a unified timestamp.

[0058] The battery in the power supply component continuously supplies power to the entire electrical system. The power management component collects status information such as the remaining battery power and operating voltage in real time and uploads it to the data acquisition main controller through the communication line to monitor the device's battery life status in real time.

[0059] The main data acquisition controller is equipped with multiple data output channels, including a local memory card storage channel, a USB transmission channel, a CAN communication channel, an RS485 communication channel, a WiFi wireless transmission channel, and an Ethernet transmission channel. Acquired visual images and motion posture sensing data can be preferentially cached to the local memory card, or transmitted in real-time to an external host computer via USB, WiFi, or Ethernet channels for subsequent ergonomic analysis and robot motion modeling.

[0060] Through the above-described embodiments, the wearable assistive exoskeleton data acquisition device provided in this application integrates a passive assistive mechanism and a multi-source synchronous data acquisition component. The assistive mechanism counteracts the additional load caused by the device's own weight and frictional resistance, eliminating the wearer's extra movement burden. It provides continuous assistance during overhead work, arm lifting, and tool holding, offsetting some of the joint load generated by upper limb gravity and tool weight, thereby reducing shoulder muscle burden and improving comfort and durability during long-term work. It can be worn for extended periods in real industrial work scenarios to acquire continuous human movement data with high fidelity and no load interference, overcoming the limitation of traditional acquisition devices that are only suitable for short-term laboratory data collection. The back support, waist support, and assistive mechanism are integrated through a shoulder strap with cushioning padding, evenly distributing the weight of the entire device across the user's back, waist, and upper arms, resulting in less localized pressure, better wearing comfort, and easy donning and doffing. Combined with a retractable waist extension mechanism, it can adapt to wearers of different body types. It boasts enhanced versatility; relying on a built-in unified synchronous trigger source data acquisition main controller, the shoulder data acquisition camera, the IMU sensors mounted on the back and assist mechanism share the same timestamp to complete synchronous acquisition, ensuring complete time-series alignment of visual images and limb posture data, significantly improving the data accuracy of human motion modeling and ergonomic analysis. It also features multiple data transmission channels including local storage card, USB, CAN communication, RS485 communication, WiFi, and Ethernet, offering flexible and diverse data export methods. The assist mechanism is equipped with a worm gear preload adjustment mechanism, achieving precise stepless adjustment of assist level through a high-speed ratio transmission, adapting to various load and work action requirements. The elastic element supports multiple types of replacement such as tension springs and gas springs, allowing for flexible selection based on the application scenario, effectively reducing equipment production and subsequent maintenance costs. The power supply component is equipped with a power management unit to monitor the remaining battery power in real time, providing timely feedback on battery status and reminders to charge, ensuring uninterrupted long-term continuous industrial data acquisition operations.

[0061] It should be clearly understood that this application describes how specific examples are formed and used, but this application is not limited to any details of these examples. Rather, based on the teachings of the disclosure of this application, these principles can be applied to many other embodiments.

[0062] Furthermore, it should be noted that the above figures are merely illustrative representations of the processes included in the method according to exemplary embodiments of this application, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0063] Exemplary embodiments of this application have been specifically shown and described above. It should be understood that this application is not limited to the detailed structures, arrangements, or implementation methods described herein; rather, this application is intended to cover various modifications and equivalent arrangements that fall within the objectives and scope of the appended claims.

Claims

1. A wearable assistive exoskeleton data acquisition device, characterized in that, include: The data acquisition component is used to acquire visual images and motion posture sensing data; The back support conforms to the user's back, providing back support and also supporting the data acquisition component; A lumbar support member, connected to the bottom of the back support member, is used to provide lumbar support; Two sets of assist mechanisms are symmetrically arranged on the left and right sides of the back support to provide assistance, compensate for the weight of the exoskeleton and mechanical resistance, and provide upper limb assistance to reduce muscle burden when lifting arms to hold objects. The back support, the waist support and the assist mechanism are connected by a shoulder strap to fit the user's torso and evenly distribute the weight of the wearable assist exoskeleton data acquisition device. A power supply component is disposed on the back support and connected to the data acquisition component, and is used to supply power to the data acquisition component.

2. The wearable assistive exoskeleton data acquisition device as described in claim 1, characterized in that, The data acquisition component includes: A data acquisition camera is installed on the left and right shoulders of the back support to acquire visual images without obstruction. An IMU sensor is installed on the back support and the assist mechanism to collect motion posture sensing data of multiple parts of the user.

3. The wearable assistive exoskeleton data acquisition device as described in claim 2, characterized in that, The data acquisition component also includes: The main controller for data acquisition has a built-in synchronization trigger source, which is used to synchronously output timing signals to the data acquisition camera and the IMU sensor, so that the data acquisition camera and the IMU sensor can synchronously acquire the visual images and the motion posture sensing data.

4. The wearable assistive exoskeleton data acquisition device as described in claim 3, characterized in that, The data acquisition main controller includes at least one data channel, which includes at least one of the following: local memory card storage channel, USB transmission channel, CAN communication channel, RS485 communication channel, WiFi wireless transmission channel, and Ethernet transmission channel. The data acquisition main controller transmits the visual image and the motion posture sensing data to the peripheral host computer through local cache or at least one of the data channels.

5. The wearable assistive exoskeleton data acquisition device as described in claim 1, characterized in that, The lumbar support includes: At least two waist extension mechanisms are respectively connected to the lower ends of the two assist mechanisms for adjusting the longitudinal length of the waist support member; A lumbar support plate, connected to at least two of the lumbar extension mechanisms, is used to conform to the user's waist to provide lower support and limitation for the entire wearable assistive exoskeleton data acquisition device.

6. The wearable assistive exoskeleton data acquisition device as described in claim 1, characterized in that, Each of the aforementioned assistive mechanisms includes: Arm support components are designed to fit the user's upper arm and swing with the arm's movements; The power assist box body includes a power assist box bottom and a power assist box cover, wherein the power assist box bottom and the power assist box cover are fastened together to form a guide receiving cavity; An elastic element, housed within the guide cavity, is used to generate assistance; The UHMWPE rope is connected at both ends to the arm support assembly and the elastic element, respectively, and is used to stretch or release the elastic element as the arm support assembly swings to provide assistance. A preload adjustment mechanism is located at the upper end of the arm support assembly and is used to adjust the preload tension of the elastic element to change the output magnitude of the assist.

7. The wearable assistive exoskeleton data acquisition device as described in claim 6, characterized in that, The pre-tightening adjustment mechanism includes: Operate the handwheel; The worm gear is coaxially linked with the operating handwheel and is used to adjust the output of the assist. A cable bundler, located at the front end of the worm gear, is used to wind and hold the UHMWPE rope. The guide wheel is used to constrain the movement trajectory of the UHMWPE rope.

8. The wearable assistive exoskeleton data acquisition device as described in claim 6, characterized in that, The elastic element includes at least one of the following: tension spring, compression spring, torsion spring, leaf spring, constant force spring, gas spring, elastic rope, and elastic body; The elastic rope is a flexible rope with elastic recovery capability, including: TPU elastic rope, latex elastic rope and / or natural rubber elastic rope.

9. The wearable assistive exoskeleton data acquisition device as described in claim 1, characterized in that, The area where the shoulder strap contacts the user is equipped with a cushioning pad to distribute the local pressure exerted on the user by the shoulder strap.

10. The wearable assistive exoskeleton data acquisition device as described in claim 3, characterized in that, The power supply component includes: Battery; The power management component communicates with the main data acquisition controller to collect the remaining power of the battery in real time and report it to the main data acquisition controller.

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