Wearable human exoskeleton for measuring motion state of waist of human body
By designing a wearable human exoskeleton, collecting lumbar joint motion data and mapping it to a humanoid robot, the problems of high difficulty and low precision in lumbar control of humanoid robots are solved, improving control accuracy and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-12
- Publication Date
- 2026-03-24
AI Technical Summary
Existing technologies face challenges in controlling the movement of the waist joints of humanoid robots, including difficulties, insufficient precision, and inadequate flexibility.
A wearable human exoskeleton was designed, including a back strap-like exoskeleton, telescopic push rods, sensors, a fixing plate, sliders, and slide rails. The sensors measure the telescopic distance of the push rods, collect lumbar joint motion data, and map it onto the humanoid robot to improve control accuracy and flexibility.
It achieves precise control and improved flexibility of the waist joint movement of humanoid robots, reducing the difficulty of motion control.
Smart Images
Figure CN224027658U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to master-slave remote operation technical field, specifically, relate to a wearable human exoskeleton of measuring human waist movement state. BACKGROUND
[0002] Master-slave remote operation is a kind of technology by establishing the mapping relationship of master operator and slave end manipulator, drives slave end manipulator to move and operate, is widely used in remote medical treatment, special industry, anti-terrorist explosion, deep space deep sea etc. Currently, handle, operating rod, data glove, wearable exoskeleton are the mainstream of the several schemes of the pose mapping of master operator and slave end manipulator.Wearable exoskeleton can restore human action to a greater extent, and compared with the former, action capture scheme has the advantages of high control precision, simple mapping relationship, high degree of restoration of human action etc.The structure of human waist is complex, and the degree of freedom is high (90 ° forward flexion, 30 ° back extension, 30 ° lateral flexion, 90 ° rotation), and some joint coupling will appear when waist moves, so humanoid robot has great difficulty in the movement control of each joint of waist, and control precision and flexibility also need to be improved. SUMMARY
[0003] In view of the defects in the prior art, the utility model aims at providing a wearable human exoskeleton for measuring human waist movement state.
[0004] According to one aspect of the utility model, provide a wearable human exoskeleton for measuring human waist movement state, it include: exoskeleton, push rod, sensor, fixed plate, sliding block, slide rail and seat;
[0005] The exoskeleton is a harness structure, and is worn by human body;The push rod is a telescopic structure, one push rod is located above, two push rods are located below left and right sides, and three push rods are arranged in a triangular shape;One sensor is installed at one end of each push rod, and the sensor measures the telescopic distance of the push rod caused by human waist movement;The end of three push rods, where the sensors are installed, shares one fixed plate, and the sensor is hinged to the fixed plate;The other end is hinged to the exoskeleton respectively;The slide rail is fixed on the seat along the up-down direction;The sliding block is fixed at the bottom of the fixed plate, and the sliding block moves up and down along the slide rail.
[0006] Preferably, the sensor includes a pull-wire sensor base and a pull-wire sensor body, the pull-wire sensor base is hinged to the fixed plate, and the pull-wire sensor is fixed to the pull-wire sensor base and connected to the push rod.
[0007] Preferably, the push rod comprises a nested outer cylinder, a first return spring, an inner two-bar, a second return spring, an inner three-bar, an outer cylinder cover plate, an inner two-bar cover plate and a rod end joint bearing;
[0008] The outer cylinder, the inner two-bar and the inner three-bar are nested from outside to inside; the bottom of the outer cylinder is fixed with the pull wire sensor base;
[0009] The first return spring is embedded between the outer cylinder and the inner two-bar;
[0010] The second return spring is embedded between the inner two-bar and the inner three-bar;
[0011] The bottom of the inner three-bar is hinged with the pull wire head of the pull wire sensor body, and when the inner three-bar is pulled out, the pull wire sensor body calculates the distance of the movement of the inner three-bar; the top of the inner three-bar is installed with the rod end joint bearing for connection with the exoskeleton;
[0012] The outer cylinder cover plate seals the gap between the outer cylinder and the inner two-bar; the inner two-bar cover plate seals the gap between the inner two-bar and the inner three-bar; and the inner two-bar cover plate is higher than the outer cylinder cover plate.
[0013] Preferably, the sensor and the fixed plate are hinged through a cross hinge seat to realize two degrees of freedom of swinging and rotating; the cross hinge seat comprises a rotary bearing, a rotary shaft, an upper swinging seat and a swinging shaft; the rotary bearing is embedded in the fixed plate, the rotary shaft is connected in the rotary bearing, the upper swinging seat is connected with the rotary shaft, and the swinging shaft is inserted into the protruding end of the sensor and the upper swinging seat.
[0014] Preferably, a locking member is further included, which is located on the left side of the sliding block and is used to limit the up and down movement of the sliding block.
[0015] Preferably, an offset measurement sensor is further included, which is arranged on the right side of the sliding block and is used to measure the distance of the up and down movement of the sliding block.
[0016] Preferably, two origin mark pins are further included; the origin mark pins pass through the fixed plate, the sliding block and the sliding rail at the same time.
[0017] Preferably, when the human body is forward bent, three push rods are elongated; three push rods are compressed.
[0018] Preferably, when the left / right side is bent, the upper push rod is compressed, and the lower left / right push rod is elongated / compressed.
[0019] Preferably, when rotating the waist to the left, the upper push rod rotates to the left and is elongated, the lower left push rod rotates to the left and is compressed, and the lower right push rod rotates to the left and is elongated.
[0020] When rotating the waist to the right, the upper push rod rotates to the right and is elongated, the lower right push rod rotates to the right and is compressed, and the lower left push rod rotates to the right and is elongated.
[0021] Compared with the prior art, the embodiment of the utility model has at least one of the following beneficial effects:
[0022] The wearable human exoskeleton for measuring the motion state of the waist of the human body in the embodiment of the utility model can collect the joint action data of the waist of the human exoskeleton;
[0023] The collected action data can be further mapped to a humanoid robot, so that the difficulty of motion control is reduced; and the accuracy and flexibility of the control of the waist joint of the humanoid robot are improved. BRIEF DESCRIPTION OF DRAWINGS
[0024] Other features, objects and advantages of the utility model will become more apparent through reading the detailed description of the non-restrictive embodiments with reference to the following drawings:
[0025] Figure 1 It is a push rod structure schematic view in the preferred embodiment of the utility model;
[0026] Figure 2a It is a side view of the wearable human exoskeleton for measuring the motion state of the waist of the human body in the preferred embodiment of the utility model;
[0027] Figure 2b It is a rear view of the wearable human exoskeleton for measuring the motion state of the waist of the human body in the preferred embodiment of the utility model;
[0028] Figure 3 It is a front view of the wearable human exoskeleton structure for measuring the motion state of the waist of the human body in the preferred embodiment of the utility model;
[0029] Figure 4 It is a push rod bottom and fixed plate connection structure schematic view in the preferred embodiment of the utility model;
[0030] Figure 5a It is a push rod and fixed plate connection relationship schematic view in the preferred embodiment of the utility model;
[0031] Figure 5b It is a push rod and fixed plate three-dimensional structure view in the preferred embodiment of the utility model;
[0032] Figure 6It is the structure schematic view of the locking piece in the preferred embodiment of the utility model;
[0033] Wherein, 11 - stay sensor body, 12 - stay sensor base, 13 - outer cylinder, 14 - first reset spring, 15 - inner two rods, 16 - second reset spring, 17 - inner three rods, 18 - outer cylinder cover plate, 19 - inner two rod cover plate, 110 - rod end joint bearing;
[0034] 100 - first push rod, 200 - second push rod, 300 - third push rod;
[0035] 2 - fixed plate, 3 - locking piece, 4 - origin positioning pin, 5 - sliding block, 6 - slide rail, 7 - slide rail backing plate, 8 - exoskeleton, 9 - seat, 10 - offset measurement sensor, 11 - offset measurement sensor support;
[0036] 41 - rotary bearing, 42 - rotary mandrel, 43 - upper swing seat, 44 - swing mandrel. DETAILED DESCRIPTION
[0037] The utility model will be described in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the utility model, a number of variations and improvements can be made. These all belong to the protection scope of the utility model.
[0038] It should be noted that the terms "a", "two" and the like in the description and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model described herein can be implemented in an order other than those illustrated or described herein.
[0039] In this paper, the front, back, up, down and other orientation words are defined by the position of the parts in the drawing and the position of the parts relative to each other in the drawing, just to express the technical scheme clearly and conveniently. It should be understood that the use of the orientation words should not limit the scope of the application claimed.
[0040] In an embodiment of the utility model, a wearable human exoskeleton for measuring the motion state of human waist is provided, as shown in Figure 1 、 Figure 2a 、 Figure 2b 、 Figure 3 As shown, it comprises: exoskeleton 9, push rod (there are three, which are first push rod 100, second push rod 200 and third push rod 300), sensor, fixed plate 2, sliding block 5, slide rail 6 and seat 10.
[0041] The exoskeleton 9 is a harness structure for a human body to wear; the push rods are telescopic structures, one push rod is located at the top, and two push rods are located at the left and right sides below the top push rod, and the three push rods are arranged in a triangular shape; one sensor is installed at one end of each push rod, and the sensor measures the telescopic distance of the push rod caused by the movement of the waist of the human body; the three push rods, which are installed with sensors at one end, share one fixed plate 2, and the sensors are hinged to the fixed plate 2; the other end is hinged to the exoskeleton 9 respectively; the slide rail 6 is fixed on the seat 10 along the up-down direction; the slide block 6 is fixed at the bottom of the fixed plate 2, and the slide block 5 moves up and down along the slide rail 6.
[0042] The above embodiment can collect the joint action data of the human body exoskeleton waist and map it to the humanoid robot, thereby reducing the difficulty of motion control; and can also improve the accuracy and flexibility of the control of the humanoid robot waist joint.
[0043] In a preferred embodiment, as shown in Figure 1 The sensor includes a pull wire sensor base 11 and a pull wire sensor body 12, the pull wire sensor base 11 is hinged to the fixed plate 2, and the pull wire sensor body 12 is fixed to the pull wire sensor base 11 and connected to the push rod.
[0044] In order to better realize the stretching and compression of the push rod, a preferred structure of the push rod is provided in a preferred embodiment, as shown in Figure 1 The push rod includes a nested outer cylinder 13, a first return spring 14, an inner two-bar 15, a second return spring 16, an inner three-bar 17, an outer cylinder cover plate 18, an inner two-bar cover plate 19, and a rod end joint bearing 110.
[0045] The outer cylinder 13, the inner two-bar 15, and the inner three-bar 17 are nested from outside to inside in sequence; the bottom of the outer cylinder 13 is fixed with the pull wire sensor base 12; the first return spring 14 is embedded between the outer cylinder 13 and the inner two-bar 15; the second return spring 16 is embedded between the inner two-bar 15 and the inner three-bar 17, and keeps the inner two-bar 15 and the inner three-bar 17 in a state of being pressed out or retracted; the bottom of the inner three-bar 17 is hinged with the pull wire head of the pull wire sensor body 11, and when the inner three-bar 17 is pulled out, the pull wire sensor body 11 can accurately calculate the moving distance; the top of the inner three-bar 17 is installed with the rod end joint bearing 110 for connecting with the exoskeleton 9; the outer cylinder cover plate 18 seals the gap between the outer cylinder 13 and the inner two-bar 15; the inner two-bar cover plate 19 seals the gap between the inner two-bar 15 and the inner three-bar 17; and the inner two-bar cover plate 19 is higher than the outer cylinder cover plate 18. In this embodiment, the push rod is designed in a nested structure, which can effectively save space under the premise of ensuring the range.
[0046] In order to ensure greater range of motion and offset part of the weight of the exoskeleton, improve the comfort of wearing, in a preferred embodiment, the three push rods are arranged in a triangular layout, using the following initial state: the push rod at the top of the triangle is in the state of pressing back, and the two push rods below the triangle are in the state of pushing out.
[0047] In order to enhance the flexibility of the hinge between the sensor and the fixed plate, in a preferred embodiment, the sensor and the fixed plate are connected through a cross hinge seat, which can realize two degrees of freedom of swing and rotation. Specifically, as shown in Figure 4 The cross hinge seat includes a rotary bearing 41, a rotary shaft 42, an upper swing seat 43 and a swing shaft 44; the rotary bearing 41 is embedded in the fixed plate 2, and the rotary shaft 42 is connected in the rotary bearing 41; the upper swing seat 43 is hinged with the rotary shaft 42, and the swing shaft 44 is inserted into the protruding end of the tension sensor base and the upper swing seat 43.
[0048] In the above embodiment, the fixed plate at the tail of the sensor is arranged on a linearly moving slider 5, and a slide rail 6 is arranged below the slider 5, the slider 5 can move up and down on the slide rail 6, and the upper and lower ends of the slide rail 6 are fixed on a specially designed seat. In order to fix the slider to a specified position, a locking piece is used in a preferred embodiment, which is located on the left side of the slider 5. In some specific embodiments, the locking piece can use a standard part, as shown in Figure 6 The locking piece includes a handle and a guide sleeve. The fixed plate is provided with two grooves for embedding the slide rail. The guide sleeve is embedded in the edge of the groove of the fixed plate, and the handle is fixed thereto. The handle can move left and right. When the fixed plate moves on the slide rail, the handle remains on the right side, at this time, the guide sleeve keeps flush with the edge of the groove of the fixed plate, and does not affect the up and down movement of the fixed plate. When the handle is pressed to the left side, at this time, the guide sleeve is separated from the edge of the groove of the fixed plate, the guide sleeve holds the guide rail, and the fixed plate cannot move up and down.
[0049] Further, in a preferred embodiment, another offset measurement sensor 10 is also provided, which is also a tension sensor, arranged on the right side of the slider 5. The offset measurement sensor 10 is used to measure the distance of the up and down movement of the slider. When the heights of different operators are different, the locking piece of the slider 5 is unlocked, the slider 5 drives the fixed plate 2 at the tail of the sensor to the position suitable for the operator, and then is locked, the offset measurement sensor 10 on the right side of the slider 5 can accurately record the distance of the movement of the slider, so as to obtain the height data of the operator.
[0050] Meanwhile, in order to improve the accuracy of the measurement, in a preferred embodiment, two origin positioning pins 4 are used, which are inserted into the slide, the fixed plate and the slide rail at the same time. After the operator is replaced and the distance of the slide is adjusted, the origin positioning pins 4 are inserted into the origin mark pin holes of the slide and the fixed plate to complete the zeroing of the three pull wire sensors, reducing the influence of the operator's body on the data recorded by the pull wire sensors. After the zeroing of the pull wire sensors is completed, the origin positioning pins are extracted, and normal operation can be performed.
[0051] For example, the origin positions of the three pull wire sensors are respectively 1 cm, 3 cm and 3 cm from the distance between the pull wire sensor body and the inner three bars. When the operator is replaced and the slide moves up and down, the height of the human body is different, and the position of the exoskeleton sitting on the seat is also different, which causes the origin positions of the three push rods to deviate. At this time, the offset measurement sensor 10 is used to measure the moving distance of the slide, so as to obtain the height data of the operator. In addition, the origin mark pin 4 is inserted into the slide, the fixed plate and the slide rail to keep the exoskeleton and other parts stable, and the origin positions of the three pull wire sensors are adjusted to keep the distances between the pull wire sensor body and the inner three bars as 1 cm, 3 cm and 3 cm respectively.
[0052] In some other embodiments, as shown in Figure 5a and Figure 5b , the joint action data of the human exoskeleton waist is collected through the extension data of the push rods. When the human body is bent forward, the three push rods are elongated; when the human body is stretched backward, the three push rods are compressed.
[0053] When the human body is bent left / right, the upper push rod is compressed, and the lower left / right push rod is elongated / compressed. When the human body rotates the waist to the left, the upper push rod rotates to the left and is elongated, the lower left push rod rotates to the left and is compressed, and the lower right push rod rotates to the left and is elongated; when the human body rotates the waist to the right, the upper push rod rotates to the right and is elongated, the lower right push rod rotates to the right and is compressed, and the lower left push rod rotates to the right and is elongated.
[0054] In the above process, the three pull wire sensors respectively record the elongation or compression distance data of the push rods, and these data respectively correspond to a joint action of the human exoskeleton waist. The distance data and the corresponding joint action
[0055] can be further mapped into a humanoid robot as a reference basis, reducing the difficulty of motion control and improving the accuracy and flexibility of the control of the waist joint of the humanoid robot.
[0056] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The above preferred features can be arbitrarily combined for use in the case of not conflicting with each other.
Claims
1. A wearable exoskeleton for measuring the motion state of the waist of a human body, characterized by, Include: Exoskeleton, push rod, sensor, fixed plate, slider, slide rail and seat; The exoskeleton is a backpack structure, which is worn by the human body; The push rod is a telescopic structure, one push rod is located above, two push rods are located below the left and right sides, and three push rods are arranged in a triangular shape; one sensor is installed at one end of each push rod, the sensor measures the telescopic distance of the push rod caused by the movement of the human waist; the end of the three push rods provided with the sensor shares one fixed plate, the sensor is hinged to the fixed plate; the other end is respectively hinged to the exoskeleton; the slide rail is fixed on the seat along the up-down direction; the slider is fixed at the bottom of the fixed plate, and the slider moves up and down along the slide rail.
2. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, The sensor includes a pull wire sensor base and a pull wire sensor body, the pull wire sensor base is hinged to the fixed plate, and the pull wire sensor is fixed to the pull wire sensor base and connected with the push rod.
3. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 2, characterized in that, The push rod includes a nested outer cylinder, a first reset spring, an inner two-bar, a second reset spring, an inner three-bar, an outer cylinder cover plate, an inner two-bar cover plate and a rod end joint bearing; Wherein, the outer cylinder, the inner two-bar and the inner three-bar are nested from outside to inside; the bottom of the outer cylinder is fixed with the pull wire sensor base; The first reset spring is embedded between the outer cylinder and the inner two-bar; The second reset spring is embedded between the inner two-bar and the inner three-bar; The bottom of the inner three-bar and the pull wire head of the pull wire sensor body are hinged, when the inner three-bar is pulled out, the pull wire sensor body calculates the distance of the movement of the inner three-bar; the top of the inner three-bar is provided with the rod end joint bearing for connecting with the exoskeleton; The outer cylinder cover plate seals the gap between the outer cylinder and the inner two-bar; the inner two-bar cover plate seals the gap between the inner two-bar and the inner three-bar; and the inner two-bar cover plate is higher than the outer cylinder cover plate.
4. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, The sensor and the fixed plate are hinged through a cross hinge seat, which can realize two degrees of freedom of swinging and rotating; the cross hinge seat includes a rotary bearing, a rotary shaft, an upper swing seat and a swing shaft; the rotary bearing is embedded in the fixed plate, the rotary shaft is connected in the rotary bearing; the upper swing seat is connected with the rotary shaft, and the swing shaft is inserted into the convex end of the sensor and the upper swing seat.
5. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, It also includes a locking piece, which is located on the left side of the slider, for limiting the up-down movement of the slider.
6. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, It also includes an offset measurement sensor, which is arranged on the right side of the slider, for measuring the distance of the up-down movement of the slider.
7. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 6, characterized in that, It also includes two origin mark pins; the origin mark pins pass through the fixed plate, the slider and the slide rail at the same time.
8. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, When the human body is forward bending, the three push rods are elongated; the three push rods are compressed.
9. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, When the left / right side is bent, the push rod located above is compressed, and the push rod below the left / right side is elongated / compressed.
10. The wearable human exoskeleton for measuring the motion state of the waist of a human body according to claim 1, characterized in that, When the waist portion is rotated to the left, the upper push rod is rotated to the left and elongated, the lower left push rod is rotated to the left and compressed, and the lower right push rod is rotated to the left and elongated; When the waist portion is rotated to the right, the upper push rod is rotated to the right and elongated, the lower right push rod is rotated to the right and compressed, and the lower left push rod is rotated to the right and elongated.