Wearable data collection exoskeleton

Abstract

This application discloses a wearable data acquisition exoskeleton, comprising a mounting frame and a dual-arm acquisition assembly. The dual-arm acquisition assembly includes a proximal frame, a distal frame, a handle, and multiple data acquisition devices. The proximal frame is parallel to the proximal end of the limb, and the distal frame is parallel to the distal end of the limb. The proximal frame is movably connected to the mounting frame to form a shoulder joint, the proximal frame is movably connected to the distal frame to form an elbow joint, and the distal frame is movably connected to the handle to form a wrist joint. At least two data acquisition devices are positioned at the shoulder joint to collect shoulder motion data, at least two data acquisition devices are positioned at the elbow joint to collect elbow motion data, and at least three data acquisition devices are positioned at the wrist joint to collect wrist motion data. This application features a simple structure and low manufacturing cost, enabling it to accompany workers in various industries into real-world scenarios to collect data. It is applicable to fields such as robot motion, teleoperated robots, rehabilitation exoskeletons, and assistive exoskeletons.

Description

Technical Field

[0001] This application relates to the technical field of data acquisition, and more specifically, to a wearable data acquisition exoskeleton. Background Technology

[0002] Data acquisition exoskeleton technology is gradually becoming an important direction in the field of robotics. Data acquisition exoskeleton structures can monitor the human body's movement status and thus collect data, providing important data support for fields such as robot movement, rehabilitation training, sports science research, health monitoring, and human-computer interaction.

[0003] Among the relevant technical means, data collection usually uses real device collection, motion capture collection, or simulation. Real device collection and motion capture collection are costly and not portable, while the data obtained by simulation methods lacks interaction with the physical world and has distribution offset. Utility Model Content

[0004] This application provides a wearable data acquisition exoskeleton with a simple structure, low manufacturing cost, and the ability to collect human motion data in real time. It has relatively low requirements for the experimental environment and can accompany workers from various industries into real-world scenarios to collect data, thereby obtaining a large amount of real-world data.

[0005] The wearable data acquisition exoskeleton provided in this application adopts the following technical solution:

[0006] A wearable data acquisition exoskeleton, comprising:

[0007] Mounting rack;

[0008] A dual-arm data acquisition assembly includes a proximal frame, a distal frame, a handle, and multiple data acquisition devices. One end of the proximal frame is connected to the mounting frame, and the other end is connected to the distal frame. The handle is located at the end of the distal frame away from the proximal frame. The proximal frame is parallel to the proximal end of the limb, and the distal frame is parallel to the distal end of the limb.

[0009] The proximal frame is movably connected to the mounting bracket to form a shoulder joint, the proximal frame is movably connected to the distal frame to form an elbow joint, and the distal frame is movably connected to the grip to form a wrist joint. At least two data acquisition devices are disposed at the shoulder joint to collect shoulder motion data, at least two data acquisition devices are disposed at the elbow joint to collect elbow motion data, and at least three data acquisition devices are disposed at the wrist joint to collect wrist motion data.

[0010] Optionally, the shoulder joint includes a first rotary joint and a second rotary joint, the first rotary joint being rotatably connected to the mounting bracket, and the second rotary joint being disposed at the end of the proximal frame away from the distal frame, and the second rotary joint being rotatably connected to the first rotary joint.

[0011] Optionally, among the at least two data acquisition devices disposed in the shoulder joint, at least one is used to acquire the rotation angle between the first rotary joint and the mounting bracket, and at least one is used to acquire the rotation angle between the first rotary joint and the second rotary joint.

[0012] Optionally, the elbow joint includes a third rotary joint and a fourth rotary joint. The third rotary joint is located at the end of the proximal frame away from the mounting bracket and is rotatably connected to the fourth rotary joint. The fourth rotary joint is located at the end of the distal frame away from the handle and is rotatably connected to the distal frame.

[0013] Optionally, the wrist joint includes a fifth rotational joint, a sixth rotational joint, and a seventh rotational joint. The fifth rotational joint is located at one end of the distal frame near the handle and is rotatably engaged with the distal frame. The other end of the fifth rotational joint is rotatably connected to the sixth rotational joint. The seventh rotational joint is located at one end of the handle near the distal frame and is rotatably connected to the other end of the sixth rotational joint.

[0014] Optionally, the grip is provided with a clamping assembly, which includes a drive member, a first gripper, and a second gripper. The drive member is disposed on the grip and drives the first gripper to move toward the second gripper to clamp an object, or drives the first gripper to move away from the second gripper to disengage from the object.

[0015] Optionally, the wearable data acquisition exoskeleton also includes a local camera, which is disposed on the clamping assembly.

[0016] Optionally, the wearable data acquisition exoskeleton also includes multiple global cameras, which are respectively located on the head, chest, and shoulders.

[0017] Optionally, the mounting bracket is provided with retractable shoulder straps on both sides, which can support the mounting bracket on the shoulders.

[0018] Optionally, the wearable data acquisition exoskeleton also includes a microphone, which is mounted on the retractable shoulder strap and is used to record voice description information throughout the process.

[0019] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0020] When data collection is required, the mounting frame is installed on the back of the user, and the hands hold the handles to drive the synchronous movement of the dual-arm data acquisition components. The dual-arm data acquisition components can better adapt to various movement postures of the human arm through various joints. During the movement of the arms, since each joint is equipped with a data acquisition device, and the proximal frame is parallel to the proximal end of the limb, and the distal frame is parallel to the distal end of the limb, the data acquisition device can capture motion data consistent with the actual movement direction of the human arm, thereby more accurately capturing the movement direction and rotation angle of the limb and achieving the effect of real-time collection of human motion data. At the same time, this wearable data acquisition exoskeleton has a simple structure, low manufacturing cost, and relatively low requirements for the experimental environment. It can accompany workers in various industries into real-world scenarios to collect data, thereby obtaining a large amount of real-world data. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of a wearable data acquisition exoskeleton disclosed in this application;

[0023] Figure 2 This is a structural schematic diagram of a wearable data acquisition exoskeleton disclosed in this application from another perspective.

[0024] Figure 3 This is a schematic diagram of the structure of a wearable data acquisition exoskeleton with prominent dual-arm acquisition components disclosed in this application.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Mounting frame; 11. Retractable shoulder strap; 2. Dual-arm acquisition assembly; 21. Proximal frame; 22. Distal frame; 23. Grip; 231. Clamping assembly; 24. Data acquisition unit; 25. Shoulder joint; 251. First rotational joint; 252. Second rotational joint; 26. Elbow joint; 261. Third rotational joint; 262. Fourth rotational joint; 27. Wrist joint; 271. Fifth rotational joint; 272. Sixth rotational joint; 273. Seventh rotational joint; 3. Local camera; 4. Global camera; 5. Microphone. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings.

[0028] This application provides a wearable data acquisition exoskeleton with a simple structure, low manufacturing cost, and the ability to collect human motion data in real time. It has relatively low requirements for the experimental environment and can accompany workers from various industries into real-world scenarios to collect data, thereby obtaining a large amount of real-world data.

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0030] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Please see Figure 1 and Figure 2 This is one embodiment of a wearable data acquisition exoskeleton in this application. The wearable data acquisition exoskeleton includes a mounting frame 1 and a dual-arm acquisition component 2. The mounting frame 1 provides a mounting base for the dual-arm acquisition component 2. The mounting frame 1 is a rectangular long plate. Retractable shoulder straps 11 are provided on both sides of the mounting frame 1. The retractable shoulder straps 11 can load the mounting frame 1 onto the shoulders. The mounting frame 1 can be tied to the human torso through the retractable shoulder straps 11, which is conducive to the portability of the data acquisition exoskeleton, so that it can accompany workers in various industries to enter real-world scenarios to collect data.

[0032] Please see Figure 1 and Figure 3The dual-arm data acquisition component 2 can move synchronously with the arms to obtain relevant data information such as human posture, velocity, and acceleration. The dual-arm data acquisition component 2 includes a proximal frame 21, a distal frame 22, a handle 23, and multiple data acquisition devices 24 (not shown in the figure). One end of the proximal frame 21 is connected to the mounting frame 1, and the other end is connected to the distal frame 22. The handle 23 is located at the end of the distal frame 22 away from the proximal frame 21. The handle 23 is used for gripping by the human hand; the proximal end of the limb is the upper arm, and the distal end is the forearm. The proximal frame 21 is parallel to the proximal end of the limb, and the distal frame 22 is parallel to the distal end of the limb. The proximal frame 21 is movably connected to the mounting frame 1 to form a shoulder joint 25, the proximal frame 21 and the distal frame 22 are movably connected to form an elbow joint 26, and the distal frame 22 is movably connected to the handle 23 to form a wrist joint 27. To collect motion data from each joint, at least two data acquisition units 24 are disposed at the shoulder joint 25 to collect shoulder motion data, at least two data acquisition units 24 are disposed at the elbow joint 26 to collect elbow motion data, and at least three data acquisition units 24 are disposed at the wrist joint 27 to collect wrist motion data. In this embodiment, the data acquisition units 24 employ built-in potentiometers, Hall sensors, encoders, etc.

[0033] Understandably, when data collection is required, the mounting frame 1 is installed on the back of the human body, and the hands hold the handles 23 to drive the arm collection components 2 to move synchronously. The arm collection components 2 can better adapt to various movement postures of the human arm through various joints. During the movement of the arms, since each joint is equipped with a data collector 24, and the proximal frame 21 is parallel to the proximal end of the limb, and the distal frame 22 is parallel to the distal end of the limb, the data collector 24 can capture motion data that is consistent with the actual movement direction of the human arm, thereby more accurately capturing the movement direction and rotation angle of the limb, and achieving the effect of real-time collection of human motion data. At the same time, this wearable data collection exoskeleton has a simple structure, low manufacturing cost, and relatively low requirements for the experimental environment. It can accompany workers in various industries into real-world scenarios to collect data, thereby obtaining a large amount of real-world data.

[0034] Please see Figure 3Specifically, the shoulder joint 25 includes a first rotary joint 251 and a second rotary joint 252. The first rotary joint 251 is rotatably connected to the mounting frame 1, and the second rotary joint 252 is located at the end of the proximal frame 21 away from the distal frame 22, and is rotatably connected to the first rotary joint 251. At least two data acquisition units 24 are installed in the shoulder joint 25, at least one for acquiring the rotation angle between the first rotary joint 251 and the mounting frame 1, and at least one for acquiring the rotation angle between the first rotary joint 251 and the second rotary joint 252. It can be understood that the rotatable connection between the first rotary joint 251 and the mounting frame 1 forms the first degree of freedom, and the rotatable connection between the first rotary joint 251 and the second rotary joint 252 forms the second degree of freedom. The first degree of freedom is the forward and backward swing in the horizontal plane, and the second degree of freedom is the left and right swing in the vertical plane. By setting up data acquisition devices 24 on the two motion planes of the shoulder, motion data of the shoulder in two degrees of freedom can be obtained. Secondly, the shoulder is the connection point between the upper limb and the trunk. Setting two degrees of freedom can simplify the motion model, reduce computational complexity, and meet the needs of most motion analysis. Compared with setting more degrees of freedom, setting two degrees of freedom can reduce the number of data acquisition devices 24 and actuators, thereby reducing the cost of the exoskeleton. Furthermore, fewer degrees of freedom can improve the structural stability of the exoskeleton and reduce the cumulative error caused by too many joints.

[0035] The elbow joint 26 includes a third rotational joint 261 and a fourth rotational joint 262. The third rotational joint 261 is located at the end of the proximal frame 21 away from the mounting frame 1, and is rotatably connected to the fourth rotational joint 262. The fourth rotational joint 262 is located at the end of the distal frame 22 away from the handle 23, and is rotatably connected to the distal frame 22. At least two data acquisition units 24 are provided in the elbow joint 26, at least one for acquiring the rotation angle between the third rotational joint 261 and the fourth rotational joint 262, and at least one for acquiring the rotation angle between the fourth rotational joint 262 and the distal frame 22. It is understood that the rotatable connection of the third rotational joint 261 and the fourth rotational joint 262 forms a third degree of freedom, and the rotatable connection of the fourth rotational joint 262 and the distal frame 22 forms a fourth degree of freedom. The third degree of freedom is a forward and backward swing in the horizontal plane, and the fourth degree of freedom is a vertical swing in the vertical plane. The elbow is a key joint of the upper limb; providing two degrees of freedom allows for more precise control and analysis of arm movement.

[0036] The wrist joint 27 includes a fifth rotational joint 271, a sixth rotational joint 272, and a seventh rotational joint 273. The fifth rotational joint 271 is located at the end of the distal frame 22 near the handle 23 and is rotatably engaged with the distal frame 22. The other end of the fifth rotational joint 271 is rotatably connected to the sixth rotational joint 272. The seventh rotational joint 273 is located at the end of the handle 23 near the distal frame 22 and is rotatably connected to the other end of the sixth rotational joint 272. At least three data acquisition units 24 are installed on the wrist joint 27. At least one unit is used to acquire the rotation angle between the fifth rotational joint 271 and the distal frame 22, at least one unit is used to acquire the rotation angle between the fifth rotational joint 271 and the sixth rotational joint 272, and at least one unit is used to acquire the rotation angle between the sixth rotational joint 272 and the seventh rotational joint 273. Understandably, the fifth rotational joint 271 is rotatably connected to the distal frame 22 to form the fifth degree of freedom, which is rotation around the wrist axis; the fifth rotational joint 271 is rotatably connected to the sixth rotational joint 272 to form the sixth degree of freedom, which is the left and right lateral swaying of the wrist; the sixth rotational joint 272 and the seventh rotational joint 273 are rotatably connected to form the seventh degree of freedom, which is the up and down pitching of the wrist. The wrist is the end of the upper limb, and its three degrees of freedom can accommodate complex hand movements. At least three data acquisition units 24 can more comprehensively capture hand movements, including rotation, pitch, and sway, improving the accuracy of motion capture and meeting the high-precision requirements for hand motion analysis. The shoulder, elbow, and wrist all possess multiple degrees of freedom, accurately simulating human arm movements. Whether it's complex multi-angle movements or omnidirectional posture changes, they can be accurately captured and remotely controlled, providing strong support for motion data acquisition and analysis. The combination of multiple data acquisition devices (24 units) can accurately capture every subtle change in movement, accurately record human information, and perfectly reproduce the movements, providing a solid guarantee for high-precision data acquisition.

[0037] Furthermore, the grip 23 is provided with a clamping assembly 231, which includes a drive member, a first gripper, and a second gripper. The drive member is disposed on the grip 23 and drives the first gripper to move toward the second gripper to clamp an object, or drives the first gripper to move away from the second gripper to release the object. The clamping assembly 231 can be replaced with a dexterous hand. This design makes control and interaction extremely intuitive, allowing users to easily issue various operation commands and conveniently adjust the device status.

[0038] Please continue reading. Figure 1 and Figure 2This wearable data acquisition exoskeleton also includes a global camera 4 and multiple local cameras 3. The global camera 4 has a wide field of view, capable of capturing a large range of motion, used to capture the movement trajectory of the entire body or multiple joints. The global camera 4 provides a macroscopic perspective, recording the overall movement of the human body in space. The local cameras 3 provide local details and high-precision data. Understandably, the combined data from the global camera 4 and local cameras 3 can complement and verify each other, reducing errors and improving data reliability and accuracy. Furthermore, the simultaneous recording of video information by both the global camera 4 and local cameras 3 allows for the acquisition of multi-angle and multi-directional video information, improving the system's adaptability and flexibility, enabling it to better cope with different application scenarios and needs.

[0039] Specifically, multiple global cameras 4 are respectively positioned on the head, chest, and shoulders. In this embodiment, four global cameras 4 and two local cameras 3 are provided; one global camera 4 is fixed to the head via a head-mounted device to acquire global video information from the head position, one global camera 4 is fixed to the front of the chest via a retractable shoulder strap 11 to acquire global video information from the chest position, and two global cameras 4 are respectively positioned at both ends of the backplate to acquire global video information from the shoulder position. By using multiple global cameras 4, the relative positions and movement trajectories of various parts of the exoskeleton in space are determined, and the obstruction of individual global cameras 4 during movement is prevented. Furthermore, images of the target object can be captured from different angles, allowing for precise determination of the target object's position in three-dimensional space.

[0040] Local camera 3 is positioned near the wrist joint 27 and is mounted on clamping assembly 231. In this embodiment, two local cameras 3 are respectively mounted on two clamping assemblies 231, acquiring local video information from the wrist position. This is used to capture detailed wrist motion data and provide high-resolution images, capturing minute motion changes.

[0041] To enable accompanying labeling during the data acquisition process, the wearable data acquisition exoskeleton also includes a microphone 5, which is mounted on the retractable shoulder strap 11 and is used to record voice descriptions throughout the process. Voice labeling can be performed continuously via the microphone 5, enabling accompanying labeling during the data acquisition process and facilitating subsequent data labeling and further processing.

[0042] This wearable data acquisition exoskeleton integrates multimodal sensors, including joint angle, vision, and voice sensors. By capturing human kinematic and dynamic parameters, it records visual, language, and motion data, adapting to different task scenarios. It can accompany workers from various industries into more real-world scenarios to collect data, obtaining a large amount of real-world data at low cost, and constructing a multimodal training dataset.

[0043] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A wearable data acquisition exoskeleton, characterized in that, include: Mounting rack; A dual-arm data acquisition assembly includes a proximal frame, a distal frame, a handle, and multiple data acquisition devices. One end of the proximal frame is connected to the mounting frame, and the other end is connected to the distal frame. The handle is located at the end of the distal frame away from the proximal frame. The proximal frame is parallel to the proximal end of the limb, and the distal frame is parallel to the distal end of the limb. The proximal frame is movably connected to the mounting bracket to form a shoulder joint, the proximal frame is movably connected to the distal frame to form an elbow joint, and the distal frame is movably connected to the grip to form a wrist joint. At least two data acquisition devices are disposed at the shoulder joint to collect shoulder motion data, at least two data acquisition devices are disposed at the elbow joint to collect elbow motion data, and at least three data acquisition devices are disposed at the wrist joint to collect wrist motion data.

2. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The shoulder joint includes a first rotary joint and a second rotary joint. The first rotary joint is rotatably connected to the mounting bracket, and the second rotary joint is located at the end of the proximal frame away from the distal frame. The second rotary joint is rotatably connected to the first rotary joint.

3. The wearable data acquisition exoskeleton according to claim 2, characterized in that, Of the at least two data acquisition devices disposed in the shoulder joint, at least one is used to acquire the rotation angle between the first rotary joint and the mounting bracket, and at least one is used to acquire the rotation angle between the first rotary joint and the second rotary joint.

4. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The elbow joint includes a third rotary joint and a fourth rotary joint. The third rotary joint is located at the end of the proximal frame away from the mounting bracket and is rotatably connected to the fourth rotary joint. The fourth rotary joint is located at the end of the distal frame away from the handle and is rotatably connected to the distal frame.

5. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The wrist joint includes a fifth rotational joint, a sixth rotational joint, and a seventh rotational joint. The fifth rotational joint is located at one end of the distal frame near the handle and is rotatably engaged with the distal frame. The other end of the fifth rotational joint is rotatably connected to the sixth rotational joint. The seventh rotational joint is located at one end of the handle near the distal frame and is rotatably connected to the other end of the sixth rotational joint.

6. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The grip is provided with a clamping assembly, which includes a drive member, a first gripper and a second gripper. The drive member is disposed on the grip and drives the first gripper to move toward the second gripper to clamp an object, or drives the first gripper to move away from the second gripper to detach from the object.

7. The wearable data acquisition exoskeleton according to claim 6, characterized in that, The wearable data acquisition exoskeleton also includes a local camera, which is disposed on the clamping assembly.

8. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The wearable data acquisition exoskeleton also includes multiple global cameras, which are respectively located on the head, chest, and shoulders.

9. The wearable data acquisition exoskeleton according to claim 1, characterized in that, The mounting bracket is provided with retractable shoulder straps on both sides, which can support the load of the mounting bracket on the shoulders.

10. The wearable data acquisition exoskeleton according to claim 9, characterized in that, The wearable data acquisition exoskeleton also includes a microphone, which is mounted on the retractable shoulder strap and is used to record voice description information throughout the process.

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