An exoskeleton data acquisition device
By designing an exoskeleton data acquisition device with support components, arm acquisition components, and waist acquisition components, the problem of insufficient waist motion data acquisition in existing technologies has been solved, enabling more comprehensive motion status monitoring and data acquisition, reducing costs, and making it suitable for various application scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN GUOCHUANG EMBODIED INTELLIGENT ROBOT CO LTD
- Filing Date
- 2025-07-03
- Publication Date
- 2026-06-30
AI Technical Summary
Existing exoskeleton data acquisition devices lack the ability to collect lumbar motion data, resulting in an inability to comprehensively monitor human motion status and hindering the feasibility of building training datasets.
An exoskeleton data acquisition device was designed, including a support component, an arm acquisition component, and a waist acquisition component. The support component fits the torso, the arm acquisition component is used to collect arm motion data, and the waist acquisition component collects waist torsion data through multiple data acquisition devices. Combined with global and local cameras and microphones, multimodal data acquisition is achieved.
It can more comprehensively monitor human movement status, reduce data acquisition costs, build high-quality training datasets, and provide important data support for various fields.
Smart Images
Figure CN224425638U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of data acquisition, and more specifically, to an exoskeleton data acquisition device. Background Technology
[0002] Data acquisition exoskeleton technology is gradually becoming an important direction in the field of robotics. Exoskeletons support modular expansion and can follow workers from all walks of life into real-world scenarios to collect data. They can obtain a large amount of real-world data at low cost and achieve two-way motion mapping between humans and machines.
[0003] Among the relevant technical means, the exoskeletons used for data collection are mostly upper limb exoskeletons or lower limb exoskeletons, which are designed to collect motion data of the upper or lower limbs. However, they lack data collection devices for the human waist area, making it impossible to obtain waist motion data in the task scenario. This hinders the feasibility of comprehensively collecting human motion status and is not conducive to building training datasets. Utility Model Content
[0004] This application provides an exoskeleton data acquisition device that can more comprehensively monitor the human body's movement status, reduce the cost of acquiring data, and facilitate the construction of training datasets.
[0005] The exoskeleton data acquisition device provided in this application adopts the following technical solution:
[0006] An exoskeleton data acquisition device, comprising:
[0007] A support assembly for fitting against the torso, the support assembly including a back plate and a support frame, the support frame being adjustablely disposed on the back plate in a vertical direction;
[0008] An arm data acquisition component is used to collect arm movement data. Two sets of the arm data acquisition component are provided, and the two sets of the arm data acquisition component are respectively located at both ends of the back plate.
[0009] A waist acquisition component is provided for corresponding to the waist. The waist acquisition component includes a mounting frame connected to the support frame and a plurality of first data acquisition devices. The plurality of first data acquisition devices are disposed on the support frame and / or the mounting frame to acquire torsional data of the waist in multiple different planes.
[0010] Optionally, the support frame includes a first support portion and a second support portion, the first support portion and the second support portion are rotatably connected, and the second support portion is connected to the mounting frame via a rotating shaft;
[0011] Wherein, at least one of the first data acquisition devices is disposed on the first support part for acquiring rotation data of the waist in a first region, at least one of the first data acquisition devices is disposed on the rotating shaft for acquiring rotation data of the waist in a second region, and at least one of the first data acquisition devices is disposed on the mounting frame for acquiring rotation data of the waist in a third region.
[0012] Optionally, each of the arm acquisition components includes a proximal frame, a distal frame, and a second data acquisition device. One end of the proximal frame is disposed on the back plate, and the other end is rotatably engaged with the distal 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.
[0013] At least two second data acquisition devices are provided, wherein one second data acquisition device is provided on the proximal frame and the central axis of the second data acquisition device coincides with the central axis of the proximal end of the limb to acquire the torsional angle of the proximal end of the limb; and one second data acquisition device is provided on the distal frame and the central axis of the second data acquisition device coincides with the central axis of the distal end of the limb to acquire the torsional angle of the distal end of the limb.
[0014] Optionally, the second data acquisition device includes a fixed ring, a rotating ring, and a reading head. The fixed ring is fixedly disposed on the proximal frame and / or the distal frame, and the fixed ring is sleeved outside the rotating ring and coaxially disposed. The rotating ring is rotatably disposed on the fixed ring and moves synchronously with the limb. The reading head is fixedly disposed on the fixed ring to measure the rotation angle of the rotating ring.
[0015] Optionally, the rotating ring is provided with a magnetic ring, which is coaxially arranged with the rotating ring and fixedly disposed on one side of the rotating ring; the reading head is provided with a magnetic sensor, which measures the rotation angle of the magnetic ring by detecting changes in magnetic field strength.
[0016] Optionally, it also includes a local camera, which is located at the end of the remote frame away from the near frame.
[0017] Optionally, the back plate is provided with a connecting plate, and the end of the proximal frame away from the distal frame is slidably disposed on the connecting plate in the horizontal direction; the arm acquisition assembly is also provided with multiple third data acquisition devices, which are used to acquire torsional data of the shoulder in multiple different planes.
[0018] Optionally, the back panel is provided with at least two first connection ports and at least two second connection ports, and the mounting bracket is provided with at least two third connection ports;
[0019] The support assembly also includes multiple restraint straps, at least one of the restraint straps passing through at least two of the first connection ports and tied to the shoulder, at least one of the restraint straps passing through at least two of the second connection ports and tied to the abdomen, and at least one of the restraint straps passing through at least two of the third connection ports and tied to the waist.
[0020] Optionally, it also includes multiple global cameras, which are respectively located on the head, chest, abdomen and shoulders.
[0021] Optionally, it also includes a microphone, which is disposed on the restraint strap and is used to record voice description information throughout the process.
[0022] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:
[0023] The data acquisition device is worn by the operator, with an arm-mounted acquisition component and a waist-mounted acquisition component. Through various movements in real-world scenarios, the arm-mounted acquisition component can collect arm motion data, while the waist-mounted acquisition component, through multiple primary data acquisition devices, can collect various waist data. By combining arm and waist motion data in a single task scenario, the device can more comprehensively monitor the human body's motion status, reduce the cost of data acquisition, facilitate the construction of training datasets, and provide important data support for various fields. Attached Figure Description
[0024] 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.
[0025] Figure 1 This is a schematic diagram of the overall structure of an exoskeleton data acquisition device disclosed in this application;
[0026] Figure 2 This is a structural schematic diagram of an exoskeleton data acquisition device disclosed in this application from another perspective.
[0027] Figure 3 This is a schematic diagram of the structure of the waist acquisition component of an exoskeleton data acquisition device disclosed in an embodiment of this application;
[0028] Figure 4 This is a schematic diagram of the structure of the arm acquisition component of an exoskeleton data acquisition device disclosed in this application;
[0029] Figure 5 The image shows a cross-sectional view highlighting the second data acquisition unit of an exoskeleton data acquisition device disclosed in this application.
[0030] Explanation of reference numerals in the attached figures:
[0031] 1. Support assembly; 11. Backplate; 111. Connecting plate; 112. First connection port; 113. Second connection port; 12. Support frame; 121. First support part; 122. Second support part; 13. Restraint strap; 2. Arm acquisition assembly; 21. Proximal frame; 22. Distal frame; 23. Second data acquisition device; 231. Fixing ring; 232. Rotating ring; 233. Reading head; 234. Magnetic ring; 236. Velcro strap; 237. Bearing; 24. Third data acquisition device; 25. Connecting shaft; 26. Fourth data acquisition device; 3. Waist acquisition assembly; 31. Mounting bracket; 311. Third connection port; 32. First data acquisition device; 4. Local camera; 5. Global camera; 6. Microphone. Detailed Implementation
[0032] The present application will be further described in detail below with reference to the accompanying drawings.
[0033] This application provides an exoskeleton data acquisition device that can more comprehensively monitor the human body's movement status, reduce the cost of acquiring data, and facilitate the construction of training datasets.
[0034] 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.
[0035] 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.
[0036] Please see Figure 1 and Figure 2 This is one embodiment of the exoskeleton data acquisition device in this application. The data acquisition device includes a support component 1, an arm acquisition component 2, and a waist acquisition component 3. The support component 1 is used to fit the torso and is intended to serve as the connection base for the arm acquisition component 2 and the waist acquisition component 3, so as to facilitate the integration of the arm acquisition component 2 and the waist acquisition component 3. The arm acquisition component 2 is used to acquire arm movement data. The arm acquisition component 2 is provided with two sets to adapt to the two arms. The waist acquisition component 3 is set to correspond to the waist and is used to acquire arm movement data.
[0037] Specifically, the support component 1 includes a back panel 11, a support frame 12, and multiple restraint straps 13. In this embodiment, the back panel 11 is block-shaped, and the support frame 12 is elongated, which further reduces the weight of the support component 1 and achieves a lightweight design. The support frame 12 is vertically adjustable on the back panel 11, facilitating adjustment of the relative position between the support frame 12 and the back panel 11, aiming to adjust the back height according to different body types. Specifically, the support frame 12 includes a first support part 121 and a second support part 122, which are rotatably connected. The first support part 121 is slidably mounted on the back panel 11 in the vertical direction, and the second support part 122 is connected to the waist collection component 3. A first connector is provided at the end of the first support part 121 near the back panel 11, and the first connector passes through both the back panel 11 and the first support part 121 to fix the first support part 121 to the back panel 11. Adjust the position of the first support part 121 relative to the back plate 11 and lock it through the first connector to adjust the length of the second support part 122 from the back plate 11, thereby adjusting the position of the waist collection component 3 to meet the back height of different body types for wearing.
[0038] To facilitate the portability of the data acquisition device, the back panel 11 is provided with at least two first connection ports 112 and at least two second connection ports 113. The first connection ports 112 are located at the upper ends of the left and right sides of the back panel 11, and the second connection ports 113 are located at the lower ends of the left and right sides of the back panel 11. At least one restraint strap 13 passes through at least two of the first connection ports 112 and is tied to the shoulder, and at least one restraint strap 13 passes through at least two of the second connection ports 113 and is tied to the abdomen. With the restraint straps 13 tied to the shoulder and the restraint straps 13 tied to the abdomen, the back panel 11 and the arm acquisition assembly 2 connected to the back panel 11 can be supported by the shoulder and abdomen.
[0039] Please see Figure 2 and Figure 3 The waist acquisition component 3 includes a mounting frame 31 and multiple first data acquisition units 32. The mounting frame 31 is connected to a support frame 12, and the multiple first data acquisition units 32 are disposed on the support frame 12 and / or the mounting frame 31 to acquire torsional data of the waist in multiple different planes. Specifically, the mounting frame 31 is located at the end of the second support portion 122 away from the first support portion 121, and the second support portion 122 and the mounting frame 31 are connected by a pivot. At least one first data acquisition unit 32 is disposed on the first support portion 121 to acquire torsional data of the waist in a first region, at least one first data acquisition unit 32 is disposed on the pivot to acquire torsional data of the waist in a second region, and at least one first data acquisition unit 32 is disposed on the mounting frame 31 to acquire torsional data of the waist in a third region. In this embodiment, three first data acquisition units 32 are provided. Each first data acquisition unit 32 is an encoder. The first region is a region formed with the spine as the rotation center, which is intended to collect torsional data of the waist during circumferential rotation. The second region is a region formed by the spine and hips in the front-back direction, which is intended to collect rotational data of the waist during pitching movements. The third region is a region formed by the spine and hips in the left-right direction, which is intended to collect rotational data of the waist during lateral bending. By adding three first data acquisition units 32, it is possible to collect data records of the three rotational degrees of freedom of the waist during movement. Furthermore, the waist acquisition component 3, together with the arm acquisition component 2, can combine arm movement data and waist movement data in a single task scenario, thereby more comprehensively monitoring the human body's movement state, reducing the cost of obtaining data, and facilitating the construction of training datasets, providing important data support for various fields.
[0040] Please see Figure 3To further enhance the installation stability of the waist-mounted data acquisition component 3, the mounting frame 31 is provided with at least two third connection ports 311, located at the left and right ends of the mounting frame 31. At least one restraint strap 13 passes through at least two of the third connection ports 311 and is tied to the waist. By binding the waist with the restraint strap 13, the stability of the waist-mounted data acquisition component 3 can be further enhanced, allowing the waist-mounted data acquisition component 3 to fit more closely to the waist, facilitating data acquisition by the first data acquisition device 32. Secondly, the shoulder, abdomen, and waist form a multi-point support, which can reasonably distribute the weight of each component and further improve portability.
[0041] In this embodiment, the mounting bracket 31 is formed by two semi-circular components. These semi-circular components can adapt to the shape of the human waist to improve wearing comfort. The two semi-circular components can be brought closer together or further apart to adjust the size of the space enclosed by them, aiming to adjust the width of the hips according to different body types. The specific structure is a conventional technical method and will not be described in detail here.
[0042] Please see Figure 4 and Figure 5 Two sets of arm acquisition components 2 are respectively set at both ends of the back plate 11. Since the two sets of arm acquisition components 2 have the same structure, the following description will take one set of arm acquisition components 2 as an example. The arm acquisition component 2 includes a proximal frame 21, a distal frame 22, and a second data acquisition device 23. One end of the proximal frame 21 is set on the back plate 11, and the other end is rotatably engaged with the distal frame 22. 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 end of the limb is the upper arm, and the distal end of the limb is the forearm. The rotatable engagement of the proximal frame 21 and the distal frame 22 is designed to accommodate bending movements between the upper arm and the forearm. At least two second data acquisition devices 23 are provided. One second data acquisition device 23 is provided on the proximal frame 21, and the central axis of the second data acquisition device 23 coincides with the central axis of the proximal end of the limb to collect the torsional angle of the proximal end of the limb, that is, to collect the torsional angle of the upper arm. The other second data acquisition device 23 is provided on the distal frame 22, and the central axis of the second data acquisition device 23 coincides with the central axis of the distal end of the limb to collect the torsional angle of the distal end of the limb, that is, to collect the torsional angle of the forearm.
[0043] Understandably, by adjusting the position and orientation of the second data acquisition units 23, aligning the measurement axis of one of the second data acquisition units 23 with the central axis of the upper arm, and the measurement axis of the other second data acquisition unit 23 with the central axis of the forearm, it is ensured that the motion data captured by one of the second data acquisition units 23 is consistent with the actual movement direction of the upper arm, and the motion data captured by the other second data acquisition unit 23 is consistent with the actual movement direction of the forearm. This eliminates measurement errors caused by the inconsistency between the central axis of the second data acquisition unit 23 and the central axes of the upper and forearms. For example, if the central axis of the second data acquisition unit 23 is not aligned with the central axes of the upper and forearms, it may capture additional offsets, resulting in inaccurate data. Coaxial setup, by accurately capturing the movement direction and speed of the arm, can more precisely reconstruct the arm's movement trajectory, thus providing more reliable data support for subsequent data analysis and applications. This makes it applicable to various application scenarios, such as rehabilitation training, motion analysis, and robot control, providing high-quality data support.
[0044] Specifically, the second data acquisition device 23 includes a fixed ring 231, a rotating ring 232, and a reading head 233. The fixed ring 231 is fixedly mounted on the proximal frame 21 and / or the distal frame 22, and is sleeved on the rotating ring 232 and coaxially arranged. The rotating ring 232 is rotatably mounted on the fixed ring 231 and moves synchronously with the limb. The reading head 233 is fixedly mounted on the fixed ring 231 to measure the rotation angle of the rotating ring 232. The arm drives the rotating ring 232 to move synchronously, and the rotating ring 232 rotates relative to the fixed ring 231 and the reading head 233. The reading head 233 reads and measures the rotation angle of the rotating ring 232, thereby measuring the torsional angle of the limb.
[0045] Please see Figure 5To measure the rotation angle of the rotating ring 232, in this embodiment, the rotating ring 232 is provided with a magnetic ring 234, which is coaxially arranged with the rotating ring 232 and fixedly mounted on one side of the rotating ring 232. The reading head 233 is provided with a magnetic sensor, which measures the rotation angle of the magnetic ring 234 by detecting changes in magnetic field strength. In this embodiment, the mounting area is configured as the hollow area between the magnetic ring 234, the rotating ring 232, and the fixed ring 2312. The magnetic ring 234 is typically made of permanent magnet material, and its surface has a specific magnetic pole distribution, such as multiple pairs of magnetic poles or a single pair of magnetic poles. The magnetic field distribution of the magnetic ring 234 can be designed to change periodically; when the magnetic ring 234 rotates, the change in magnetic field strength detected by the magnetic sensor can be converted into angle information. Understandably, the twisting of the arm causes the rotating ring 232 to move synchronously. When the magnetic ring 234 rotates with the rotating ring 232, the magnetic field distribution around the magnetic ring 234 will change. At this time, the magnetic sensor in the read head 233, such as a Hall element or a magnetoresistive element, can detect this change in magnetic field strength and direction and convert it into a corresponding electrical signal. The electrical signal detected by the read head 233 needs to be amplified, filtered, shaped and processed by the signal processing circuit in order to extract information related to the change in magnetic field more accurately. Through specific algorithms and mathematical models, the processed signal is converted into a digital signal or coded information corresponding to the rotation angle of the magnetic ring 234, thereby realizing the measurement of the rotating ring 232 and the twisting angle of the arm.
[0046] Furthermore, the second data acquisition unit 23 also includes a bearing 237 and a Velcro strap 236. The bearing 237 is located between the fixed ring 231 and the rotating ring 232, and the fixed ring 231 and the rotating ring 232 are rotatably connected through the bearing 237. The Velcro strap 236 is fixedly disposed on the magnetic ring 234, and the Velcro strap 236 is used to bind the magnetic ring 234 to the limb so that the magnetic ring 234 moves synchronously with the limb. In this embodiment, the bearing 237 is preferably a crossed roller bearing 237. The bearing 237 is set between the coaxially arranged fixed ring 231 and rotating ring 232. The rolling elements (such as steel balls or rollers) roll between the inner and outer rings, converting sliding friction into rolling friction. The rolling contact replaces the direct metal contact, thereby significantly reducing the frictional force of the relative rotation between the fixed ring 231 and the rotating ring 232. The rotating ring 232 rotates under the drive of the magnetic ring 234 and the magic belt 236, ensuring that the rotating ring 232 always rotates on the same axis as the fixed ring 231. This ensures the coaxiality of the fixed ring 231 and the rotating ring 232, avoids dynamic imbalance caused by shaft eccentricity, and improves the stability and reliability of the system.
[0047] In other embodiments, the rotation angle of the rotating ring 232 can also be measured by optical measurement, capacitive measurement, resistive measurement, inductive measurement, and strain measurement.
[0048] Please see Figure 2 and Figure 4 To measure the shoulder rotation angle, the backplate 11 is equipped with a connecting plate 111. The end of the proximal frame 21 away from the distal frame 22 is slidably mounted on the connecting plate 111 in the horizontal direction, aiming to adjust the shoulder width according to different body shapes. The arm acquisition assembly 2 is also equipped with multiple third data acquisition units 24, which are used to acquire shoulder torsional data in multiple different planes. In this embodiment, the third data acquisition unit 24 is an encoder, and three third data acquisition units 24 are provided to acquire motion data of the shoulder in three degrees of freedom: forward / backward, left / right, and up / down, to increase the data concentration in the training dataset.
[0049] To measure the bending angle between the upper arm and forearm, the arm acquisition assembly 2 also includes a connecting shaft 25 and a fourth data acquisition unit 26. The proximal frame 21 and the distal frame 22 are rotatably coupled via the connecting shaft 25. The fourth data acquisition unit 26 is disposed on the connecting shaft 25 and is used to acquire the angle between the proximal and distal ends of the limb. In this embodiment, the fourth data acquisition unit 26 is an encoder. By being installed between the proximal frame 21 and the distal frame 22, i.e., at the elbow joint, the rotation angle of the joint can be obtained. These angles can be accurately calculated using forward kinematics to determine the posture of the human upper limb.
[0050] Please continue reading. Figure 1 and Figure 2 The data acquisition device also includes multiple global cameras 5 and multiple local cameras 4. The global cameras 5 are respectively positioned on the head, chest, abdomen, and shoulders. The local cameras 4 are positioned at the end of the distal frame 22 away from the proximal frame 21. By simultaneously recording video information from both the global cameras 5 and the local cameras 4, multi-angle and multi-directional video information can be obtained, and the obstruction of individual cameras during movement is prevented. In this embodiment, five global cameras 5 and two local cameras 4 are used. One global camera 5 is fixed to the head via a strap 13 to acquire global video information from the head position; one global camera 5 is fixed to the chest via a strap 13 to acquire global video information from the chest position; one global camera 5 is fixed to the abdomen via a strap 13 to acquire global video information from the abdomen position; and the two global cameras 5 are respectively positioned at both ends of the back plate 11 to acquire global video information from the shoulder position. The two local cameras 4 are respectively positioned on the distal frame 22, i.e., to acquire local video information from the wrist position.
[0051] To enable accompanying labeling during the data acquisition process, the data acquisition device also includes a microphone 6, which is mounted on the restraint strap 13 and is used to record voice descriptions throughout the process. Voice labeling can be performed continuously via the microphone 6, enabling accompanying labeling during data acquisition and facilitating subsequent data labeling and further processing. This data acquisition device integrates multimodal sensors, including joint angle, vision, and voice sensors. By capturing human kinematic and dynamic parameters, it records visual, verbal, and action 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 first-hand real-world data at low cost, and constructing a multimodal training dataset.
[0052] 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. An exoskeleton data acquisition device, characterized in that, include: A support assembly for fitting against the torso, the support assembly including a back plate and a support frame, the support frame being adjustablely disposed on the back plate in a vertical direction; An arm data acquisition component is used to collect arm movement data. Two sets of the arm data acquisition component are provided, and the two sets of the arm data acquisition component are respectively located at both ends of the back plate. A waist acquisition component is provided for corresponding to the waist. The waist acquisition component includes a mounting frame connected to the support frame and a plurality of first data acquisition devices. The plurality of first data acquisition devices are disposed on the support frame and / or the mounting frame to acquire torsional data of the waist in multiple different planes.
2. The exoskeleton data acquisition device according to claim 1, characterized in that, The support frame includes a first support part and a second support part, the first support part and the second support part are rotatably connected, and the second support part is connected to the mounting frame through a rotating shaft; Wherein, at least one of the first data acquisition devices is disposed on the first support part for acquiring rotation data of the waist in a first region, at least one of the first data acquisition devices is disposed on the rotating shaft for acquiring rotation data of the waist in a second region, and at least one of the first data acquisition devices is disposed on the mounting frame for acquiring rotation data of the waist in a third region.
3. The exoskeleton data acquisition device according to claim 1, characterized in that, Each of the arm acquisition components includes a proximal frame, a distal frame, and a second data acquisition device. One end of the proximal frame is disposed on the back plate, and the other end is rotatably engaged with the distal 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. At least two second data acquisition devices are provided, wherein one second data acquisition device is provided on the proximal frame and the central axis of the second data acquisition device coincides with the central axis of the proximal end of the limb to acquire the torsional angle of the proximal end of the limb; and one second data acquisition device is provided on the distal frame and the central axis of the second data acquisition device coincides with the central axis of the distal end of the limb to acquire the torsional angle of the distal end of the limb.
4. The exoskeleton data acquisition device according to claim 3, characterized in that, The second data acquisition device includes a fixed ring, a rotating ring, and a reading head. The fixed ring is fixedly disposed on the proximal frame and / or the distal frame, and the fixed ring is sleeved outside the rotating ring and coaxially disposed. The rotating ring is rotatably disposed on the fixed ring and moves synchronously with the limb. The reading head is fixedly disposed on the fixed ring to measure the rotation angle of the rotating ring.
5. The exoskeleton data acquisition device according to claim 4, characterized in that, The rotating ring is provided with a magnetic ring, which is coaxially arranged with the rotating ring and fixedly arranged on one side of the rotating ring; the reading head is provided with a magnetic sensor, which measures the rotation angle of the magnetic ring by detecting changes in magnetic field strength.
6. The exoskeleton data acquisition device according to claim 3, characterized in that, It also includes a local camera, which is located at the end of the far end frame away from the near end frame.
7. The exoskeleton data acquisition device according to claim 3, characterized in that, The back plate is provided with a connecting plate, and the end of the proximal frame away from the distal frame is slidably disposed on the connecting plate in the horizontal direction; the arm acquisition assembly is also provided with multiple third data acquisition devices, which are used to acquire torsional data of the shoulder in multiple different planes.
8. The exoskeleton data acquisition device according to claim 1, characterized in that, The back panel is provided with at least two first connection ports and at least two second connection ports, and the mounting bracket is provided with at least two third connection ports; The support assembly also includes multiple restraint straps, at least one of the restraint straps passing through at least two of the first connection ports and tied to the shoulder, at least one of the restraint straps passing through at least two of the second connection ports and tied to the abdomen, and at least one of the restraint straps passing through at least two of the third connection ports and tied to the waist.
9. The exoskeleton data acquisition device according to claim 1, characterized in that, It also includes multiple global cameras, which are respectively located on the head, chest, abdomen and shoulders.
10. The exoskeleton data acquisition device according to claim 8, characterized in that, It also includes a microphone, which is disposed on the restraint strap and is used to record voice description information throughout the process.