A wearable limb data acquisition device
Patent Information
- Application Number
- CN202521394240.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-03
- Publication Date
- 2026-09-25
- Estimated Expiration
- 2035-07-03
AI Technical Summary
由于外骨骼结构有一定的角度限制，超过一定的角度后会与手臂产生碰撞，造成采集的数据不够准确，因此存在一定缺陷
[0019]当需要进行数据采集时，人体肢体能够伸入对应设置的第一数据采集器的安装空间中，进而通过第一数据采集器以带动肢体外骨骼与人体肢体同步运动，能够更好地适应肢体的各种动态运动，提高了肢体的运动灵活性，同时可以确保第一数据采集器捕捉到的运动数据与肢体的真实运动方向一致，能够更精确地捕捉肢体的运动方向和旋转角度，采集到的数据能够更好地匹配肢体的运动模型，由于无需任何传动转换，减少了因其余部件转换而产生的误差，从而减少误差的干扰，进而提高数据的可靠性和准确性。
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Figure CN224795746U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of data acquisition, and more specifically, to a wearable limb data acquisition device. Background Technology
[0002] Data acquisition and teleoperation exoskeletons are key technologies in the field of human-computer interaction, with their core being the precise tracking of human movement. Existing technologies mostly employ a parallel-axis approach, where the exoskeleton has its own rotation center parallel to the human arm. Joint angles are indirectly measured via potentiometers or encoders, and the data is then converted and transmitted to the actuator. However, due to the angular limitations of the exoskeleton structure, collisions with the arm occur beyond a certain angle, resulting in inaccurate data acquisition and thus presenting certain drawbacks. Utility Model Content
[0003] This application provides a wearable limb data acquisition device that can better adapt to various dynamic movements of the limbs and improve the accuracy of data acquisition.
[0004] The wearable limb data acquisition device provided in this application adopts the following technical solution:
[0005] A wearable limb data acquisition device, comprising:
[0006] Limb exoskeleton;
[0007] A first data acquisition device is disposed on the limb exoskeleton. The first data acquisition device is provided with an installation space for limb insertion. The movement of the limb causes the first data acquisition device and the limb exoskeleton to move synchronously, so that the first data acquisition device can acquire the torsional angle of the limb.
[0008] Optionally, the first data acquisition device includes a fixed ring, a rotating ring, and a reading head. The fixed ring is fixedly disposed on the limb exoskeleton and 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.
[0009] 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.
[0010] Optionally, the first data collector further includes a Velcro strap, which is fixedly disposed on the magnetic ring and is used to bind the magnetic ring to the limb so that the magnetic ring moves synchronously with the limb.
[0011] Optionally, the first data acquisition unit further includes a bearing located between the fixed ring and the rotating ring, wherein the fixed ring and the rotating ring are rotatably connected via the bearing.
[0012] Optionally, the installation space is configured as a hollow area of the magnetic ring, the rotating ring, and the fixed ring.
[0013] Optionally, the limb exoskeleton includes a proximal frame and a distal frame, the proximal frame being parallel to the proximal end of the limb, the distal frame being parallel to the distal end of the limb, and the proximal frame and the distal frame being rotatably coupled.
[0014] At least two first data acquisition devices are provided, wherein one first data acquisition device is provided on the proximal frame and the central axis of the first 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 first data acquisition device is provided on the distal frame and the central axis of the first 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.
[0015] Optionally, the wearable limb data acquisition device further includes a rotating shaft and a second data acquisition device. The proximal frame and the distal frame are rotatably coupled through the rotating shaft. The second data acquisition device is disposed on the rotating shaft and is used to acquire the angle between the proximal end and the distal end of the limb.
[0016] Optionally, the proximal frame is provided with a bent portion at the end away from the pivot, the bent portion is folded outward in a direction away from the limb, and the bent portion is provided with a third data acquisition device, the third data acquisition device being used to acquire the rotation angle of the proximal end of the limb relative to the torso.
[0017] Optionally, the wearable limb data acquisition device further includes a depth camera, which is located at the end of the distal frame away from the pivot.
[0018] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:
[0019] When data collection is required, the human limb can be inserted into the installation space of the corresponding first data acquisition device. The first data acquisition device then drives the limb exoskeleton to move synchronously with the human limb, which can better adapt to various dynamic movements of the limb, improve the limb's movement flexibility, and ensure that the motion data captured by the first data acquisition device is consistent with the actual movement direction of the limb. It can more accurately capture the limb's movement direction and rotation angle, and the collected data can better match the limb's motion model. Since no transmission conversion is required, the error caused by the conversion of other components is reduced, thereby reducing error interference and improving the reliability and accuracy of the data. Attached Figure Description
[0020] 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.
[0021] Figure 1 This is a schematic diagram of the overall structure of a wearable limb data acquisition device disclosed in this application;
[0022] Figure 2 This is a schematic diagram highlighting the structure of the first data acquisition unit of a wearable limb data acquisition device disclosed in this application;
[0023] Figure 3 The image shows a cross-sectional view highlighting the first data collector of a wearable limb data acquisition device disclosed in this application.
[0024] Explanation of reference numerals in the attached figures:
[0025] 1. Limb exoskeleton; 11. Proximal frame; 111. Bending section; 12. Distal frame; 13. Rotating shaft; 2. First data acquisition unit; 21. Fixing ring; 22. Rotating ring; 221. Magnetic ring; 23. Reading head; 24. Velcro strap; 25. Bearing; 3. Second data acquisition unit; 4. Third data acquisition unit; 5. Camera. Detailed Implementation
[0026] The present application will be further described in detail below with reference to the accompanying drawings.
[0027] This application provides a wearable limb data acquisition device that can better adapt to various dynamic movements of the limbs, thereby improving the accuracy of data acquisition.
[0028] 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.
[0029] 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.
[0030] For data acquisition devices, existing technologies mostly adopt a parallel axis approach, where the exoskeleton has its own rotation center parallel to the human arm. Joint angles are measured indirectly through potentiometers or encoders, and the data is transmitted to the actuator after conversion. However, because the exoskeleton structure has certain angle limitations, collisions with the arm will occur beyond a certain angle, resulting in inaccurate data acquisition and thus presenting certain shortcomings.
[0031] To address the aforementioned problems, this application discloses a wearable limb data acquisition device. Please refer to [link / reference]. Figure 1This is one embodiment of the wearable limb data acquisition device in this application. The wearable limb data acquisition device includes a limb exoskeleton 1 and a first data acquisition device 2. The first data acquisition device 2 is disposed on the limb exoskeleton 1 and has an installation space for limb insertion. Limb movement drives the first data acquisition device 2 and the limb exoskeleton 1 to move synchronously, enabling the first data acquisition device 2 to acquire the limb's torsional angle. The limb movement drives the limb exoskeleton 1 to move synchronously through the first data acquisition device 2. It can be understood that when data acquisition is required, the human limb can be inserted into the corresponding installation space of the first data acquisition device 2, and then the first data acquisition device 2 drives the limb exoskeleton 1 to move synchronously with the human limb. This can better adapt to various dynamic movements of the limb, improve the limb's movement flexibility, and ensure that the movement data captured by the first data acquisition device 2 is consistent with the actual movement direction of the limb. It can more accurately capture the limb's movement direction and rotation angle, and the acquired data can better match the limb's movement model. Since no transmission conversion is required, the error caused by the conversion of other components is reduced, thereby reducing error interference and improving the reliability and accuracy of the data.
[0032] This wearable limb data acquisition device can be adapted to collect data from limbs, including the upper and lower limbs. In this embodiment, the device is described using an upper limb as an example.
[0033] Please see Figure 1 and Figure 2 The limb exoskeleton 1 includes a proximal frame 11 and a distal frame 12. The proximal end of the limb is the upper arm, and the distal end is the forearm. The proximal frame 11 is parallel to the proximal end of the limb, and the distal frame 12 is parallel to the distal end of the limb. The proximal frame 11 and the distal frame 12 rotate to accommodate bending movements between the upper arm and the forearm. To collect data on the upper arm and forearm, at least two first data acquisition devices 2 are provided. One first data acquisition device 2 is located on the proximal frame 11, and its central axis coincides with the central axis of the proximal end of the limb to collect the torsional angle of the proximal end of the limb, i.e., the torsional angle of the upper arm. The other first data acquisition device 2 is located on the distal frame 12, and its central axis coincides with the central axis of the distal end of the limb to collect the torsional angle of the distal end of the limb, i.e., the torsional angle of the forearm.
[0034] Understandably, by adjusting the position and orientation of the first data acquisition unit 2, ensuring that the measurement axis of at least one of the first data acquisition units 2 coincides with the central axis of the upper arm, and that the measurement axis of at least one of the first data acquisition units 2 coincides with the central axis of the forearm, it is possible to ensure that the motion data captured by at least one of the first data acquisition units 2 is consistent with the actual movement direction of the upper arm, and the motion data captured by at least one of the first data acquisition units 2 is consistent with the actual movement direction of the forearm. This eliminates measurement errors caused by the inconsistency between the central axis of the first data acquisition unit 2 and the central axes of the upper arm and forearm. For example, if the central axis of the first data acquisition unit 2 does not coincide with the central axes of the upper arm and forearm, it may capture additional offset, 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.
[0035] Please see Figure 2 and Figure 3 Specifically, the first data acquisition device 2 includes a fixed ring 21, a rotating ring 22, and a reading head 23. The fixed ring 21 is fixedly mounted on the limb exoskeleton 1 and is sleeved on the outside of the rotating ring 22 and coaxially arranged. The rotating ring 22 is rotatably mounted on the fixed ring 21 and moves synchronously with the limb. The reading head 23 is fixedly mounted on the fixed ring 21 to measure the rotation angle of the rotating ring 22. The limb drives the rotating ring 22 to move synchronously, and the rotating ring 22 rotates relative to the fixed ring 21 and the reading head 23. The reading head 23 measures the rotation angle of the rotating ring 22, thereby measuring the torsional angle of the limb.
[0036] To measure the rotation angle of the rotating ring 22, in this embodiment, the rotating ring 22 is provided with a magnetic ring 221, which is coaxially arranged with the rotating ring 22 and fixedly mounted on one side of the rotating ring 22. The reading head 23 is equipped with a magnetic sensor, which measures the rotation angle of the magnetic ring 221 by detecting changes in the magnetic field. In this embodiment, the installation space is configured as the hollow area between the magnetic ring 221, the rotating ring 22, and the fixed ring 21. The magnetic ring 221 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 221 can be designed to change periodically; when the magnetic ring 221 rotates, the change in magnetic field strength detected by the magnetic sensor can be converted into angle information. It is understandable that the limb twisting causes the rotating ring 22 to move synchronously. When the magnetic ring 221 rotates with the rotating ring 22, the magnetic field distribution around the magnetic ring 221 will change. At this time, the magnetic sensor in the read head 23, 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 23 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 221, thereby realizing the measurement of the rotating ring 22 and the limb twisting angle.
[0037] Furthermore, the first data acquisition unit 2 also includes a bearing 25 and a magic belt 24. The bearing 25 is located between the fixed ring 21 and the rotating ring 22, and the fixed ring 21 and the rotating ring 22 are rotatably connected through the bearing 25. The magic belt 24 is fixedly disposed on the magnetic ring 221, and the magic belt 24 is used to bind the magnetic ring 221 to the limb so that the magnetic ring 221 moves synchronously with the limb. In this embodiment, the bearing 25 is preferably a crossed roller bearing 25. The bearing 25 is disposed between the coaxial fixed ring 21 and the rotating ring 22. 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 of the fixed ring 21 and the rotating ring 22. The rotating ring 22 rotates under the drive of the magnetic ring 221 and the magic belt 24, ensuring that the rotating ring 22 always rotates on the same axis as the fixed ring 21, ensuring the coaxiality of the fixed ring 21 and the rotating ring 22, avoiding dynamic imbalance caused by shaft eccentricity, and improving the stability and reliability of the system.
[0038] In other embodiments, the rotation angle of the rotating ring 22 can also be measured using optical measurement methods. Specifically, optical elements with scales or markings are mounted on the fixed ring 21 and the rotating ring 22, and an optical sensor (such as a photoelectric sensor) is used to detect the relative displacement between the markings. For example, two discs with uniformly graduated scales can be fixed to two rings respectively, with multiple equally spaced slots or markings engraved on the discs. When the rotating ring 22 rotates, the degree of overlap of the slots or the change in the displacement of the markings is detected by the optical sensor, thereby calculating the torsion angle.
[0039] As another feasible method, the rotation angle of the rotating ring 22 can also be measured using capacitive, resistive, or inductive methods. Specifically, the capacitive method utilizes a capacitance sensor to detect changes in capacitance between the fixed ring 21 and the rotating ring 22 to measure the torsion angle. For example, capacitor plates are installed on both the fixed ring 21 and the rotating ring 22. When the rotating ring 22 rotates, the relative positions of the plates change, causing a change in capacitance; by measuring this change in capacitance, the torsion angle can be calculated.
[0040] As another feasible method, the rotation angle of the rotating ring 22 can also be measured using a strain gauge method. That is, the torsional angle is calculated by measuring the strain of the elastic element (such as a torsion bar) between the fixed ring 21 and the rotating ring 22. For example, an elastic torsion bar is connected between the fixed ring 21 and the rotating ring 22. When the rotating ring 22 rotates, the torsion bar will undergo elastic deformation. By installing strain gauges on the surface of the torsion bar, its strain change is measured, and then the torsional angle is calculated based on the mechanical properties of the material (such as shear modulus).
[0041] Please continue reading. Figure 1 and Figure 2 To measure the bending angle between the upper arm and forearm, the wearable limb data acquisition device also includes a rotating shaft 13 and a second data acquisition unit 3. The proximal frame 11 and the distal frame 12 are rotatably coupled via the rotating shaft 13. The second data acquisition unit 3 is disposed on the rotating shaft 13 and is used to acquire the angle between the proximal and distal ends of the limb. In this embodiment, the second data acquisition unit 3 is preferably an encoder. By being installed between the proximal frame 11 and the distal frame 12, 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.
[0042] The proximal frame 11 has a bend 111 at the end away from the pivot 13. The bend 111 folds outward in a direction away from the limb to reduce resistance to the movement of the upper arm. A third data acquisition device 4 (not shown in the figure) is installed in the bend 111. The third data acquisition device 4 is used to collect the rotation angle of the proximal limb relative to the torso. The third data acquisition device 4 consists of at least three encoders to collect shoulder motion data.
[0043] The wearable limb data acquisition device also includes a camera 5, which is positioned at the end of the remote frame 12 away from the pivot 13. Camera 5 is preferably a depth camera, employing binocular stereo vision technology. It captures different perspectives of the same scene using two cameras, and then uses algorithms to calculate the distance information of each pixel to form a depth map. This technology can provide high-quality depth data without requiring additional light sources, which can be used for grasping operations, obstacle detection, and obstacle avoidance at the remote frame 12. In other embodiments, camera 5 can also be an RGB camera.
[0044] 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 limb data acquisition device, characterized in that, include: Limb exoskeleton; A first data acquisition device is disposed on the limb exoskeleton. The first data acquisition device is provided with an installation space for the limb to extend into. The limb extends into the installation space, and the movement of the limb drives the first data acquisition device and the limb exoskeleton to move synchronously, so that the first data acquisition device can acquire the torsional angle of the limb. The first data acquisition device includes a fixed ring, a rotating ring, and a reading head. The fixed ring is fixedly disposed on the limb exoskeleton and 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. 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 installation space is configured as a hollow area of the magnetic ring, the rotating ring and the fixed ring. The reading head is provided with a magnetic sensor, which measures the rotation angle of the magnetic ring by detecting changes in the magnetic field.
2. The wearable limb data acquisition device according to claim 1, characterized in that, The first data acquisition device also includes a Velcro strap, which is fixedly disposed on the magnetic ring and is used to bind the magnetic ring to the limb so that the magnetic ring moves synchronously with the limb.
3. The wearable limb data acquisition device according to claim 1, characterized in that, The first data acquisition device also includes a bearing, which is located between the fixed ring and the rotating ring, and the fixed ring and the rotating ring are rotatably connected through the bearing.
4. The wearable limb data acquisition device according to claim 1, characterized in that, The limb exoskeleton includes a proximal frame and a 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. The proximal frame and the distal frame are rotatably coupled. At least two first data acquisition devices are provided, wherein one first data acquisition device is provided on the proximal frame and the central axis of the first 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 first data acquisition device is provided on the distal frame and the central axis of the first 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.
5. The wearable limb data acquisition device according to claim 4, characterized in that, The wearable limb data acquisition device also includes a second data acquisition unit. The proximal frame and the distal frame are rotatably coupled through a rotating shaft. The second data acquisition unit is disposed on the rotating shaft and is used to acquire the angle between the proximal end and the distal end of the limb.
6. The wearable limb data acquisition device according to claim 5, characterized in that, The proximal frame has a bent portion at the end away from the pivot, the bent portion is folded outward in a direction away from the limb, and the bent portion is equipped with a third data acquisition device, which is used to acquire the rotation angle of the proximal end of the limb relative to the torso.
7. The wearable limb data acquisition device according to claim 5, characterized in that, The wearable limb data acquisition device also includes a camera, which is located at the end of the remote frame away from the pivot.