Wearable exoskeleton apparatus and method for operating same, and robot teleoperation system
By collecting user arm movement data through wearable exoskeleton devices, the problems of long time consumption and high cost of existing robot teaching methods are solved, and efficient and precise robot operation is achieved.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- DAIMON (SHENZHEN) ROBOTICS TECHNOLOGY CO LTD
- Filing Date
- 2025-07-21
- Publication Date
- 2026-07-30
AI Technical Summary
Existing robot teaching methods are time-consuming, cumbersome, and have uncertain control precision. Furthermore, traditional robotic arms are heavy and costly, making it difficult to meet the teaching and remote operation requirements for complex humanoid robot movements.
A wearable exoskeleton device was designed, including a back connector and an arm exoskeleton. An information collector was set on the arm exoskeleton to collect the user's arm movement data and control the movement of the target robot through a robot teleoperation system.
It reduces the cost and time of robot teaching, improves teaching efficiency, achieves lightweight, stable and convenient wearability, and enhances the accuracy and efficiency of robot operation.
Smart Images
Figure CN2025109521_30072026_PF_FP_ABST
Abstract
Description
A wearable exoskeleton device, its operation method, and a robot teleoperation system.
[0001] Cross-references to related applications
[0002] This application claims priority to Chinese patent application 2025101030549, filed on January 22, 2025, entitled “A wearable exoskeleton device, operating method and robot teleoperation system”, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This application relates to the field of robotics, and in particular to a wearable exoskeleton device, its operation method, and a robot teleoperation system. Background Technology
[0004] Existing methods for remote robot control and joint teaching typically employ programming teaching, drag teaching, and visual teaching. Programming teaching requires pre-writing program code to plan the robot's movements; drag teaching requires the operator to directly drag the robot's robotic arm by hand or with the aid of auxiliary tools to make it move along the desired trajectory; and visual teaching requires visual data acquisition for the robot and pre-arranging its environment.
[0005] These existing robot teaching methods are time-consuming, cumbersome, and have significant uncertainties in control precision, making it difficult to teach complex humanoid robot movements. Some universities and research institutions still use articulated motors to build robotic arms at a 1:1 scale for robot teaching and remote operation, which is heavy, costly, and does not meet the requirements for human wearability, resulting in low overall learning and training efficiency. Summary of the Invention
[0006] In view of this, this application proposes a wearable exoskeleton device, an operation method, and a robot teleoperation system, the specific solutions of which are as follows:
[0007] In the first aspect, a wearable exoskeleton device is proposed, comprising: a back connector and an arm exoskeleton; the back connector is used for a user to carry the exoskeleton device, and an arm exoskeleton is provided on the back connector at a position corresponding to the user's left arm and / or right arm; the arm exoskeleton includes one or more of a shoulder module, an upper arm module, an elbow module, a forearm module, and a wrist module; wherein, one or more of the shoulder module, upper arm module, elbow module, forearm module, and wrist module are provided with an information collector for collecting motion data of the user when operating the arm exoskeleton.
[0008] In one specific embodiment, the shoulder module of the arm exoskeleton includes an upper shoulder joint module, a shoulder link, and a lower shoulder joint module; the upper shoulder joint module is movably connected to one side of the back connector; the two ends of the shoulder link are movably connected to the upper shoulder joint module and the lower shoulder joint module, respectively; the shoulder link is provided with a curved portion that conforms to the shape of the user's shoulder; the upper shoulder joint module and / or the lower shoulder joint module are provided with an information collector, which is used to collect motion data of the corresponding user's shoulder.
[0009] In one specific embodiment, the upper arm module of the arm exoskeleton includes an upper arm link and an upper arm rotation joint module; an information collector is provided in the upper arm rotation joint module; one end of the upper arm link is movably connected to the shoulder module in the arm exoskeleton, and the other end is connected to the information collector; the upper arm link is rotatable relative to the information collector; an upper arm fixation member is provided on the upper arm link, which is used to fix it relative to the user's arm.
[0010] In one specific embodiment, the system further includes a coupling, a fixed base, fasteners, a damping adjuster, and a rotating shaft. A first joint connection hole is provided in the shoulder module, and a second joint connection hole is provided in the boom module. The coupling is fixed in the second joint connection hole by fasteners. The rotating shaft passes through the fixed base, the damping adjuster, the first joint connection hole, and the second joint connection hole to connect with the coupling, thereby enabling the shoulder module to be movably connected to the boom module. An information collector is used to collect motion data of the corresponding user's boom when the boom link rotates. The damping adjuster is used to reduce friction between the boom link and the shoulder module during rotation.
[0011] In one specific embodiment, the elbow module includes an elbow joint module and an elbow fixation frame; one end of the elbow joint module is movably connected to the upper arm module in the arm exoskeleton, and the other end is movably connected to the elbow fixation frame; the elbow fixation frame is provided with an elbow fixation component, which is used to fix relative to the user's elbow; an information collector is provided in the elbow joint module to collect motion data of the corresponding user's elbow.
[0012] In one specific embodiment, the elbow support has an opening, and the elbow support is configured such that at least a portion of the user's elbow can be exposed through the opening.
[0013] In one specific embodiment, the forearm module includes a forearm link and an information collector, the forearm link being used to rotate relative to the information collector, and the information collector being used to collect motion data of the corresponding user's forearm.
[0014] In one specific embodiment, the forearm linkage includes a collector linkage and a telescopic linkage; the information collector is connected to the elbow module in the arm exoskeleton; one end of the collector linkage is rotatably connected to the information collector, and the other end is connected to the telescopic linkage; the information collector is used to collect motion data of the user's forearm through the rotation of the collector linkage and / or the telescopic linkage when the user's forearm rotates; one end of the telescopic linkage is used to movably connect to the wrist module in the arm exoskeleton, and the telescopic linkage is used to extend and retract to adjust the distance between the information collector and the wrist module to match the length of the user's forearm.
[0015] In one specific embodiment, the telescopic link includes a first telescopic part and a second telescopic part. The first telescopic part is provided with a locking member, and the second telescopic part is provided with a sliding groove. The locking member is slidably disposed in the sliding groove so that the first telescopic part is slidably disposed relative to the second telescopic part.
[0016] In one specific embodiment, the wrist module includes a wrist fixation component, a front wrist support, a rear wrist support, a wrist joint module, and a back-of-hand connecting frame; the wrist fixation component is disposed on the rear wrist support; an information collector is disposed at the connection between the front wrist support and the back-of-hand connecting frame, for collecting motion data of the corresponding user's back of hand or finger joints; and / or an information collector is disposed in the wrist joint module, for collecting motion data of the user's wrist.
[0017] In one specific embodiment, the wrist joint module further includes a protective cover and a gear structure; the front wrist support and the rear wrist support are coaxially and rotatably connected to each other; the information collector of the wrist joint module and part or all of the gear structure are located inside the protective cover, one end of the gear structure is connected to the front wrist support, and the other end is connected to the information collector of the wrist joint module; the information collector of the wrist joint module is used to collect the motion data of the user's wrist through the transmission of the gear structure when the user's wrist rotates.
[0018] In one specific embodiment, the gear structure includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is coaxially arranged with the front and rear wrist supports, and the second bevel gear is coaxially arranged with the information collector. The wrist module is configured such that, during the user's wrist rotation, the first bevel gear and the second bevel gear rotate relative to each other, and the second bevel gear drives the information collector to rotate so that the information collector can collect the rotation angle data of the user's wrist.
[0019] In one specific embodiment, the carrying connector includes a back mount, a control box, a main support, and a shoulder strap; the shoulder strap is disposed on the back mount and / or the main support for the user to carry the exoskeleton device; the control box is movably connected to or fixedly connected to the back mount; the main support is detachably connected to the back mount, and an arm exoskeleton is connected to one or both sides of the main support; the control box contains an interconnected control module and a power module; an information collector is communicatively connected to the control module; the information collector includes an encoder, and the motion data includes rotation angle data.
[0020] In one specific embodiment, the back mounting bracket and / or the main support are provided with one or more perforated through holes.
[0021] Secondly, a method for operating a wearable exoskeleton device is proposed, applicable to any of the wearable exoskeleton devices described in the aforementioned technical solutions; the method includes:
[0022] The exoskeleton device is carried on the user's body via a back connector, and the arm exoskeleton of the exoskeleton device is set at the position of the user's left arm and / or right arm.
[0023] The arm exoskeleton collects motion data of the user's left and / or right arms through an information collector.
[0024] Storing motion data or performing learning analysis on motion data to obtain learning and training data for use in other robots.
[0025] Thirdly, a robot teleoperation system is proposed, including a target robot and any wearable exoskeleton device applied in the aforementioned technical solutions.
[0026] The target robot includes a robotic arm structure with a drive unit and a corresponding exoskeleton device. The robotic arm structure has movable joints in each module corresponding to the exoskeleton. The drive unit is communicatively connected to the movable joints.
[0027] The drive unit of the target robot is connected to the information collector of the exoskeleton device to control the movement of the active joints based on the motion data collected by the information collector, thereby controlling the movement of the target robot.
[0028] Beneficial Effects: This application proposes a wearable exoskeleton device, including: a back connector and an arm exoskeleton; the back connector is used for the user to wear the exoskeleton device, and the arm exoskeleton is disposed on the back connector corresponding to the user's left arm and / or right arm; by setting an information collector on the arm exoskeleton, motion data of the arm in multiple dimensions can be collected when the user operates the arm exoskeleton. Compared with traditional complex and costly mechanical robot teaching systems, its relatively simple structure greatly reduces production costs, while also having advantages such as portability, stability, convenience, and wearability. By setting up an information collector, motion data can be quickly obtained from the various joint components of the exoskeleton, which can rapidly improve the efficiency of robot teaching and reduce the cost of training robots. Attached Figure Description
[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0030] Figure 1 is a schematic diagram of the overall three-dimensional structure of the wearable exoskeleton device in this application;
[0031] Figure 2 is a schematic diagram of the overall front view of the wearable exoskeleton device in this application;
[0032] Figure 3 is a top view of the wearable exoskeleton device in this application;
[0033] Figure 4 is a three-dimensional structural diagram of the arm exoskeleton of the wearable exoskeleton device in this application;
[0034] Figure 5 is a side view of the arm exoskeleton of the wearable exoskeleton device in this application;
[0035] Figure 6 is a front view schematic diagram of the arm exoskeleton of the wearable exoskeleton device in this application;
[0036] Figure 7 is an exploded three-dimensional schematic diagram of the connection between the shoulder module and the upper arm module of the wearable exoskeleton device in this application.
[0037] Figure 8 is an exploded side view of the connection between the shoulder module and the upper arm module of the wearable exoskeleton device in this application;
[0038] Figure 9 is a schematic diagram showing the connection relationship between the shoulder module and the upper arm module of the wearable exoskeleton device in this application;
[0039] Figure 10 is a three-dimensional structural diagram of the connection between the elbow module and the wrist module of the wearable exoskeleton device in this application;
[0040] Figure 11 is an exploded view of a portion of the wrist module of the wearable exoskeleton device in this application;
[0041] Figure 12 is an exploded view of another partial structure of the wrist module of the wearable exoskeleton device in this application;
[0042] Figure 13 is an exploded view of another partial structure of the wrist module of the wearable exoskeleton device in this application;
[0043] Figure 14 is a partial schematic diagram of the three-dimensional structure of the back connector of the wearable exoskeleton device in this application.
[0044] Reference numerals: 1-Back support connector; 11-Main support; 12-Back mounting bracket; 13-Control box; 14-Sliding rail; 15-Shoulder strap; 16-Fixing mechanism; 2-Arm exoskeleton; 3-Shoulder module; 31-Upper shoulder joint module; 32-Shoulder linkage; 33-Lower shoulder joint module; 331-First joint connection hole; 332-Hinge; 333-Fixing base; 334-Fastener; 335-Washer; 336-Metal sleeve; 4-Upper arm module; 41-Upper arm linkage; 411-Second joint connection hole; 42-Upper arm fixing component; 43-Upper arm rotation joint module; 431-Upper arm pivot ; 5-Elbow module; 51-Elbow joint module; 52-Elbow fixation bracket; 53-Elbow fixation component; 54-Opening; 6-Forearm module; 61-Collector linkage; 62-Telescopic linkage; 621-First telescopic part; 622-Second telescopic part; 623-Snap-fit component; 624-Sliding groove; 7-Wrist module; 71-Wrist fixation component; 72-Front wrist support; 73-Rear wrist support; 74-Wrist joint module; 741-Gear structure; 742-First bevel gear; 743-Second bevel gear; 744-Protective cover; 75-Back of hand connecting bracket; 8-Information collector; 81-Coupling. Detailed Implementation
[0045] The various embodiments disclosed herein will be described more fully below. This application may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments disclosed herein to the specific embodiments disclosed herein, but rather this application should be understood to cover all adjustments, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments disclosed herein.
[0046] The terminology used in the various embodiments disclosed in this application is for the purpose of describing particular embodiments only and is not intended to limit the various embodiments disclosed in this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments disclosed in this application pertain. Terms (such as those defined in a generally used dictionary) are to be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and are not to be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments disclosed in this application.
[0047] Example 1
[0048] Embodiment 1 of this application discloses a wearable exoskeleton device, the specific solution of which is as follows:
[0049] As shown in Figures 1-3, a wearable exoskeleton device disclosed in Embodiment 1 of this application includes: a back connector 1 and an arm exoskeleton 2. The back connector 1 is used for a user to carry the exoskeleton device, and the arm exoskeleton 2 is provided on the back connector 1 at a position corresponding to the user's left arm and / or right arm.
[0050] The arm exoskeleton 2 includes one or more of the following: shoulder module 3, upper arm module 4, elbow module 5, forearm module 6, and wrist module 7. One or more of the shoulder module 3, upper arm module 4, elbow module 5, forearm module 6, and wrist module 7 are equipped with an information collector 8 for collecting motion data from the user's operation of the arm exoskeleton 2. The overall structure of the wearable exoskeleton device is shown in Figures 1, 2, and 3; the overall structure and multi-angle views of the arm exoskeleton 2 are shown in Figures 3, 4, and 5.
[0051] It should be noted that this application does not limit the specific number of modules in each arm exoskeleton 2. In practical applications, users can choose to set the modules in the arm exoskeleton 2 according to their own needs. For example, only shoulder module 3 and upper arm module 4 can be set in the arm exoskeleton to obtain shoulder joint motion data, or only upper arm module 4 and elbow module 5 can be set to obtain upper arm rotation motion data and elbow motion data, or only forearm module 6 and wrist module 7 can be set to obtain forearm and wrist joint motion data, or only upper arm module 4 can be set to obtain only upper arm rotation data, or only wrist module 7 can be set to obtain wrist joint motion data.
[0052] In one specific embodiment, as shown in Figures 4 and 5, the shoulder module 3 in the arm exoskeleton 2 includes an upper shoulder joint module 31, a shoulder link 32, and an under shoulder joint module 33.
[0053] The shoulder joint module 31 is movably connected to one side of the back connector 1. The two ends of the shoulder link 32 are movably connected to the shoulder joint module 31 and the shoulder joint module 33, respectively.
[0054] The shoulder link 32 is provided with a curved part that conforms to the shape of the user's shoulder. The upper shoulder joint module 31 and / or the lower shoulder joint module 33 are provided with an information collector 8, which is used to collect motion data of the corresponding user's shoulder.
[0055] In one specific embodiment, as shown in Figures 4 and 5, and Figures 7-9, the upper arm module 4 of the arm exoskeleton 2 includes an upper arm link 41 and an upper arm rotation joint module 43. An information collector 8 is provided in the upper arm rotation joint module 43. One end of the upper arm link 41 is movably connected to the shoulder module 3 in the arm exoskeleton 2, and the other end is connected to the information collector 8. The upper arm link 41 is rotatable relative to the information collector 8. An upper arm fixation member 42 is provided on the upper arm link 41 for fixing relative to the user's arm. One end of the upper arm link 41 may be movably connected to the subshoulder joint module 33 in the shoulder module 3.
[0056] In practical applications, the upper arm fixation component 42 includes an elastic upper arm strap, which allows the user to fix the upper arm to the upper arm link 41. Specifically, the upper arm rotation joint module 43 includes an upper arm pivot 431, which is connected to one end of the information collector 8 in the upper arm module 4, and the other end of the information collector 8 is connected to the upper arm link 41. Both the upper arm pivot 431 and the upper arm link 41 can rotate relative to the information collector 8 in the upper arm module 4. When the user's upper arm rotates relative to the shoulder joint, the upper arm link 41 also rotates relative to the information collector 8 in the upper arm module 4. At this time, the information collector 8 can collect the user's upper arm motion data.
[0057] In one specific embodiment, as shown in Figure 7, the arm exoskeleton 2 further includes a coupling 81, a fixing base 333, a fastener 334, a damping adjustment component, and a pivot 332. The shoulder module 3 is provided with a first joint connection hole 331; specifically, the shoulder sub-joint module 33 of the shoulder module 3 is provided with a first joint connection hole 331. The pivot 332 can be a hollow bolt. The end of the upper arm link 41 connected to the shoulder module 3 is provided with a second joint connection hole 411, and the coupling 81 is fixed in the second joint connection hole 411 by the fastener 334. The pivot 332 passes through the fixing base 333, the damping adjustment component, the first joint connection hole 331, and the second joint connection hole 411 and connects to the coupling 81 to enable the shoulder module 3 to be movably connected to the upper arm module 4. Specifically, the information collector 8 of the shoulder module 3 is used to collect motion data of the corresponding user's upper arm when the upper arm link 41 rotates. The damping adjustment component is used to reduce wear on the boom link 41 and shoulder module 3 during rotation. At the same time, the damping adjustment component can also adjust the magnitude of rotational damping between the boom link 41 and shoulder module 3.
[0058] It should be noted that this application does not specifically limit the specific installation structure of the information collector 8. In this application, each information collector 8 can be configured with a fixing base 333, a coupling 81, and a damping adjustment component according to actual needs. In one specific embodiment, an information collector 8 is provided on the arm exoskeleton 2, and at least one information collector 8 is installed in the arm exoskeleton 2 through a fixing base 333 and a coupling 81. A damping adjustment component is provided between the fixing base 333 and the coupling 81 to reduce the friction between the information collector 8 and the components of the arm exoskeleton 2. That is, the information collector 8 can be installed in any position using the specific structure described above. The specific installation structure can be referred to the installation structure of the information collector 8 in the shoulder module 3 described above, and will not be repeated here.
[0059] In practical applications, fastener 334 includes at least one locking nut, and damping adjustment components include Teflon gasket 335 and / or metal sleeve 336 for engaging with pivot component 332. By providing damping adjustment components and hollow bolts, damped rotation between boom link 41 and shoulder sub-joint module 33 of shoulder module 3 can be achieved, and the wear resistance of pivot component 332 can be improved. Specifically, metal sleeve 336 includes a copper sleeve.
[0060] It should be noted that this embodiment does not specifically limit the damping adjustment component to exist only in the shoulder module 3. In practical applications, users can set the damping adjustment component on any information collector 8 according to the actual usage situation, so as to realize the damped rotation of the information collector 8 between the connection points of various modules, and obtain more accurate motion data through the damped rotation.
[0061] In one specific embodiment, as shown in Figures 4 and 5, the elbow module 5 of the arm exoskeleton 2 includes an elbow joint module 51 and an elbow fixation frame 52. One end of the elbow joint module 51 is movably connected to the upper arm module 4 in the arm exoskeleton 2, and the other end is movably connected to the elbow fixation frame 52. Specifically, one end of the elbow joint module 51 may be movably connected to the upper arm pivot 431 in the upper arm module 4.
[0062] An elbow fixation member 53 is provided on the elbow fixation frame 52, which is used to fix the elbow relative to the user's elbow. An information collector 8 is provided in the elbow joint module 51 to collect motion data of the corresponding user's elbow. In practical applications, the elbow fixation member 53 includes an elastic elbow strap, which the user can use to fix the elbow relative to the elbow fixation frame 52. In a specific embodiment, the elbow fixation frame 52 is provided with an opening 54, which allows the bent elbow to protrude from the opening 54 of the elbow fixation frame 52 when the user's arm is bent, preventing the user's elbow from colliding with the elbow fixation frame 52 and causing unstable information acquisition.
[0063] In one specific embodiment, as shown in Figures 4 and 5, the forearm module 6 in the arm exoskeleton 2 includes a forearm link and an information collector 8. The forearm link is used to rotate relative to the information collector 8, and the information collector 8 is used to collect motion data of the corresponding user's forearm.
[0064] In one specific embodiment, the forearm linkage includes a collector link 61 and a telescopic link 62. An information collector 8 is connected to the elbow module 5 in the arm exoskeleton 2. One end of the collector link 61 is rotatably connected to the information collector 8, and the other end is connected to the telescopic link 62. The information collector 8 is used to collect motion data of the user's forearm through the rotation of the collector link 61 and / or the telescopic link 62 when the user's forearm rotates.
[0065] One end of the telescopic link 62 is movably connected to the wrist module 7 in the arm exoskeleton 2. The telescopic link 62 is used to extend and retract to adjust the distance between the information collector 8 and the wrist module 7 to accommodate the user's forearm length. Specifically, one end of the telescopic link 62 can be rotatably connected to the wrist support in the wrist module 7.
[0066] In practical applications, please refer to Figure 10. The telescopic link 62 includes a first telescopic part 621 and a second telescopic part 622. The second telescopic part 622 is provided with a sliding groove 624, and the first telescopic part 621 is provided with a locking member 623. The first telescopic part 621 is slidably connected to the sliding groove 624 via the locking member 623, allowing it to slide relative to the second telescopic part 622 and adjust the total length of the telescopic link 62. Furthermore, by adjusting the tightness of the locking member 623, the first telescopic part 621 can be fixed at a certain point in the sliding groove 624, thereby fixing the total length of the telescopic link 62 to the length range required by the user. This allows for flexible adjustment of the forearm module 6 according to the actual length of the user's forearm, making the exoskeleton device suitable for users of different heights and body types, thus possessing universality.
[0067] In one specific embodiment, as shown in Figures 4 and 5, the wrist module 7 of the arm exoskeleton 2 includes a wrist fixation member 71, a front wrist support 72, a rear wrist support 73, a wrist joint module 74, and a back-of-hand connector 75. The wrist fixation member 71 is mounted on the rear wrist support 73. One end of the front wrist support 72 and one end of the rear wrist support 73 are rotatably connected to the wrist joint module 74, allowing them to move relative to the wrist joint module 74. One end of the back-of-hand connector 75 is movably mounted on the front wrist support 72. In practical applications, the wrist fixation member 71 includes an elastic wrist strap. When the user's forearm rotates, the angle of rotation of the user's forearm is transmitted to the information collector 8 in the forearm module 6 via the transmission of the rear wrist support 73 and the telescopic link 62.
[0068] Information collector 8 is located at the connection between the wrist support 72 and the back of the hand connector 75, and is used to collect motion data of the corresponding user's back of hand or finger joints. And / or information collector 8 is located in the wrist joint module 74, and is used to collect motion data of the user's wrist.
[0069] In one specific embodiment, as shown in the three views of Figures 5, 11, 12, and 13, the wrist joint module 74 also includes a protective cover 744 and a gear structure 741. The front wrist support 72 and the rear wrist support 73 are coaxially and rotatably connected to each other. In one specific embodiment, the rear wrist support 73 corresponds to the rear part of the user's wrist joint near the forearm, and the front wrist support 72 corresponds to the front part of the user's wrist joint near the palm. Both the rear wrist support 73 and the front wrist support 72 include a semi-enclosed shell, with the user's wrist joint corresponding to the position exposed between the semi-enclosed shells of the front wrist support 72 and the rear wrist support 73. By setting the front wrist support 72 and the rear wrist support 73 to be coaxially and rotatably connected, the relative movement between the front wrist support 72 and the rear wrist support 73 can accurately reflect the rotation process of the user's wrist in different directions, such as back-and-forth swinging or left-and-right swinging.
[0070] The information collector 8 of the wrist joint module 74 and the gear structure 741 are partially or entirely located within the protective cover 744. One end of the gear structure 741 is connected to the front wrist support 72, and the other end is connected to the information collector 8 of the wrist joint module 74. The information collector 8 of the wrist joint module 74 is used to collect motion data of the user's wrist through the transmission of the gear structure 741 when the user's wrist rotates. In one specific embodiment, both the gear structure 741 and the information collector 8 are located within the protective cover 744. During the rotation of the user's wrist, the front wrist support 72 and the rear wrist support 73 in the wrist module 7 rotate relative to each other as the user's wrist rotates. At this time, the information collector 8 can collect motion data from the movement between the front wrist support 72 and the rear wrist support 73. The motion data includes the relative rotation angle data of the front wrist support 72 and the rear wrist support 73. In one specific embodiment, the gear structure 741 includes a first bevel gear 742 and a second bevel gear 743 that mesh with each other. The first bevel gear 742 is coaxially arranged with the front wrist support 72 and the rear wrist support 73, while the second bevel gear 743 is coaxially arranged with the information collector 8. During wrist rotation, the relative positions of the front wrist support 72 and the rear wrist support 73 change, causing the first bevel gear 742 and the second bevel gear 743 to mesh and rotate. The rotation of the second bevel gear 743 drives the information collector 8 to rotate, enabling the information collector 8 to collect the user's wrist rotation angle data.
[0071] It should be understood that the information collector 8 and gear structure 741 of the wrist joint module 74 are partially or entirely located within the protective cover 744. This could mean that all of the information collector 8 and at least some of the gear structure 741 are located within the protective cover 744; or that all of the information collector 8 and gear structure 741 are located within the protective cover 744; or that all of the gear structure 741 and at least some of the information collector 8 are located within the protective cover 744.
[0072] In one specific embodiment, as shown in Figures 4 and 6, the information collector 8 of the wrist joint module 74 in the wrist module 7 and the information collector 8 of the connecting frame 75 on the back of the hand can collect the rotation angle data of the user's wrist in different directions.
[0073] In one specific embodiment, as shown in Figures 1, 3, and 14, the carrying connector 1 includes a back mount 12, a control box 13, a main support 11, and a carrying strap 15. The carrying strap 15 is disposed on the back mount 12 and / or the main support 11 for the user to carry the exoskeleton device. The control box 13 is movably connected to or fixedly connected to the back mount 12. In one specific embodiment, as shown in Figure 14, a sliding rail 14 is provided on the back mount 12, and the control box 13 is slidably disposed on the back mount 12, allowing the user to adjust the position of the control box 13 on the back mount 12 according to their specific needs.
[0074] The main support 11 is detachably connected to the back mounting frame 12, and an arm exoskeleton 2 is connected to one or both sides of the main support 11. In one specific embodiment, arm exoskeletons 2 are connected to both sides of the main support 11, and the arm exoskeletons 2 on both sides are symmetrically arranged relative to the main support 11. In some embodiments, the back support connector 1 further includes at least one fixing mechanism 16, which passes through the back mounting frame 12 and the main support 11 in sequence to fix the main support 11 and the back mounting frame 12. In one specific embodiment, the fixing mechanism 16 includes a hand-tightening screw, which allows the user to manually adjust the tightness of the connection between the main support 11 and the back mounting frame 12 by hand-tightening.
[0075] The control box 13 houses an interconnected control module and a power module. The information collectors 8 are communicatively connected to the control module. In one specific embodiment, the control box 13 also includes a wireless transceiver module, which is communicatively connected to each information collector 8, the control module, or an external device. This module uploads data collected by each information collector 8 to the control module or external device, allowing users to perform unified analysis and management of the collected data. During actual use or testing, users can obtain data from the information collectors 8 and the control module via wireless communication or via a wired connection.
[0076] The information collector 8 includes an encoder, and the motion data includes rotation angle data. In practical applications, the encoder includes an absolute encoder.
[0077] In practical applications, by setting absolute encoders, the rotation angles of components within each module or the rotation angles of joints between components can be obtained accurately in real time. This allows for timely feedback to the user of the specific angles of each joint and part in space within the exoskeleton 2. Recording the obtained rotation angle data through the absolute encoder enables precise repetition of actions during subsequent motion review, ensuring the accuracy and consistency of each movement. Furthermore, since absolute encoders do not require additional zeroing or initialization to determine the starting angle, they can quickly acquire the accurate position of the current joints upon power-up of the exoskeleton 2. The use of absolute encoders ensures the accuracy and sensitivity of feedback. Compared to traditional camera- or VR-based visual robot teaching systems, each joint in this exoskeleton corresponds one-to-one with the robot's joint mechanism, and the absolute encoders provide real-time feedback of joint positions. Therefore, it offers faster response speeds and higher control precision during remote operation.
[0078] In a specific remote operation process, as shown in Figures 4 and 6, an arm exoskeleton 2 includes seven information collectors 8, which are respectively located in the upper shoulder joint module 31, lower shoulder joint module 33, upper arm rotation joint module 43, elbow joint module 51, forearm link, wrist joint module 74, and at the connection between the wrist front support 72 and the wrist rear support 73. This arm exoskeleton 2 can collect rotation angle data of the user's arm in seven dimensions, accurately replicating the user's shoulder, upper arm, forearm, elbow, wrist, and fingers' forward and backward swinging, left and right swinging, and rotational movements, and locating the spatial dimensions of each module, effectively improving the accuracy and stability of user motion data collection.
[0079] In one specific embodiment, as shown in Figures 1, 2 and 3, the arm exoskeleton 2 also includes an elastic fixing strap, which is disposed in one or more of the shoulder module 3, upper arm module 4, elbow module 5, forearm module 6 and wrist module 7, so that the corresponding part of the user's arm can be fitted and installed with the arm exoskeleton 2.
[0080] In one specific embodiment, the back support frame 12 is elastic and can conform to the user's back. The shoulder straps 15 include shoulder straps and / or waist straps. The two ends of the shoulder straps are mounted on the back support frame 12, with the main body of the shoulder strap corresponding to the user's shoulders. The waist straps are mounted on the back support frame 12 corresponding to the user's waist. In practical applications, all elastic straps and shoulder straps 15 are adjustable in length, allowing users to adjust the length and tightness of the elastic straps and / or shoulder straps 15 according to their needs.
[0081] In one specific embodiment, as shown in Figures 1 and 3, the back mounting bracket 12 and / or the main support 11 are also provided with one or more hollow through holes. By providing hollow through holes, the overall air permeability of the back connector 1 can be improved, while the weight of the back connector 1 can be reduced, so that the overall weight of the exoskeleton device is further reduced, making it easier for users to carry.
[0082] In one specific embodiment, as shown in Figures 1 and 2, the main structure of the arm exoskeleton 2 is made of lightweight materials, including plastic, so that its overall weight is less than 2kg. In addition, according to the wearable design that conforms to human joints and is ergonomically designed, the back strap 15 allows multiple parts of the user's body to receive relatively soft support when wearing the back connector 1, which greatly improves the comfort of wearing it. Therefore, the user can wear the arm exoskeleton 2 for a long time.
[0083] Furthermore, the exoskeleton device in this application can replace the robot body for data collection in neural network learning and training. Its manufacturing cost and production cycle are far lower than those of producing a robot, which can greatly reduce the cost of robot learning and training.
[0084] This embodiment provides a wearable exoskeleton device, including: a back connector and an arm exoskeleton; the back connector is used for a user to carry the exoskeleton device, and the arm exoskeleton is disposed on the back connector corresponding to the user's left arm and / or right arm; by setting an information collector on the arm exoskeleton, it is possible to collect motion data of the arm in multiple dimensions when the user operates the arm exoskeleton. Compared with traditional complex and expensive robotic devices, its structure is relatively simple, its production cost is low, it can collect more comprehensive data, and it also has the advantages of being lightweight, stable, convenient, and wearable.
[0085] Example 2
[0086] Embodiment 2 of this application discloses an operation method for a wearable exoskeleton device, the specific scheme of which is as follows: The method includes:
[0087] The exoskeleton device is carried on the user's body via the back connector 1, and the arm exoskeleton 2 of the exoskeleton device is set on the corresponding user's left arm and / or right arm.
[0088] The arm exoskeleton 2 collects motion data of the user's left and / or right arms through its information collector 8.
[0089] The motion data can be stored or analyzed to obtain training data for other robots. In one specific embodiment, the exoskeleton device can also be connected to an external robot to transmit motion data to the external robot body in real time.
[0090] In one specific embodiment, it also includes an elastic fixing strap, which is disposed in one or more of the shoulder module 3, upper arm module 4, elbow module 5, forearm module 6 and wrist module 7, so that the user can attach the corresponding part of the arm to the arm exoskeleton 2 by means of the elastic fixing strap.
[0091] In a specific operation, the user moves their arm, and the information collector in the arm exoskeleton collects the relative movement, rotation angles, and coordinates between the modules during the user's arm movement. It also locates the position of each joint of the user's arm in space to obtain the corresponding motion data. Furthermore, the motion data is stored and learned from, and finally, optimized learning and training data that can be applied to the operation of other robots can be obtained.
[0092] This embodiment provides an operation method for a wearable exoskeleton device. It is convenient for users to wear, has a simple structure, and is easy to operate. It can quickly collect motion data of the arm in multiple dimensions when the user operates the exoskeleton. Through the wearable exoskeleton device, the collected data is more comprehensive, and it has advantages such as lightweight design, stability, convenience, and wearability. Furthermore, the acquired motion data can be recorded and learned, serving as training data to further optimize the robot development process.
[0093] Example 3
[0094] Embodiment 3 of this application discloses a robot teleoperation system, the specific solution of which is as follows:
[0095] This includes the target robot and any wearable exoskeleton device used in the aforementioned technical solutions;
[0096] The target robot includes a robotic arm structure with a drive unit and a corresponding exoskeleton device. The robotic arm structure is equipped with movable joints corresponding to each module of the exoskeleton device. The drive unit is communicatively connected to the movable joints.
[0097] The drive unit of the target robot is connected to the information collector 8 of the exoskeleton device for controlling the movement of the active joints based on the motion data collected by the information collector 8, thereby controlling the movement of the target robot.
[0098] The user wears an exoskeleton arm 2 to perform movements. The information collector 8 within the exoskeleton arm 2 collects motion data and feeds it back to the target robot in real time. The target robot can then perform automatic movements based on this motion data. Specifically, it can synchronously control the rotation of each joint of the target robot by the corresponding angle based on the collected motion data of the user's joints, thus replicating the user's movements in real time and achieving precise remote control of the target robot. Furthermore, the motion data of the exoskeleton arm 2 can be recorded and saved for repeated application on the target robot. This allows for multiple replications of specific movements on the target robot, and further learning and analysis of the motion data to continuously optimize the target robot's operation.
[0099] A method for operating a wearable exoskeleton device is disclosed, which can collect motion data of the arm in multiple dimensions when the user operates the arm exoskeleton and feed it back to the target robot in real time. Compared with traditional complex and costly mechanical robot teaching systems, its structure is relatively simple, its production cost is low, and it can collect more comprehensive data. During the data collection process, the robot's motion operation can be continuously optimized.
[0100] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be located in one or more apparatuses different from this embodiment, with corresponding changes. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules. The serial numbers of this application mentioned above are merely descriptive and do not represent the superiority or inferiority of the embodiment. The above disclosures are only a few specific embodiments of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.
Claims
1. A wearable exoskeleton device, comprising: Back support connectors and arm exoskeleton; The back support connector is used to allow the user to carry the exoskeleton device, and the arm exoskeleton is provided on the back support connector at the position corresponding to the user's left arm and / or right arm. The arm exoskeleton includes one or more of the following: shoulder module, upper arm module, elbow module, forearm module, and wrist module. One or more of the shoulder module, upper arm module, elbow module, forearm module, and wrist module are provided with an information collector for collecting motion data when the user operates the arm exoskeleton.
2. The wearable exoskeleton device of claim 1, wherein, The shoulder module in the arm exoskeleton includes an upper shoulder joint module, a shoulder link, and an under shoulder joint module; The shoulder joint module is movably connected to one side of the back support connector; the two ends of the shoulder link are movably connected to the shoulder joint module and the shoulder joint module respectively; the shoulder link is provided with a curved part that conforms to the shape of the user's shoulder. The information collector is provided in the upper shoulder joint module and / or the lower shoulder joint module, and the information collector is used to collect the motion data of the corresponding user's shoulder.
3. A wearable exoskeleton device according to claim 1, wherein, The upper arm module in the arm exoskeleton includes an upper arm link and an upper arm rotation joint module; the information collector is provided in the upper arm rotation joint module; One end of the upper arm link is movably connected to the shoulder module in the arm exoskeleton, and the other end is connected to the information collector; the upper arm link is rotatable relative to the information collector; an upper arm fixing component is provided on the upper arm link, which is used to fix the upper arm relative to the user's arm.
4. The wearable exoskeleton device according to claim 3 further includes a coupling, a fixing seat, fasteners, a damping adjustment component, and a rotating shaft; the shoulder module is provided with a first joint connection hole; the upper arm module is provided with a second joint connection hole; The coupling is fixed in the second joint connection hole by the fastener; the rotating shaft passes through the fixed seat, the damping adjustment component, the first joint connection hole and the second joint connection hole and is connected to the coupling to realize that the shoulder module can be movably connected to the boom module; The information collector is used to collect the motion data of the corresponding user's upper arm when the upper arm link rotates; the damping adjustment component is used to reduce the friction between the upper arm link and the shoulder module during rotation.
5. A wearable exoskeleton device according to claim 1, wherein, The elbow module includes an elbow joint module and an elbow fixation frame; One end of the elbow joint module is movably connected to the upper arm module in the arm exoskeleton, and the other end is movably connected to the elbow fixation frame. The elbow fixation frame is equipped with an elbow fixation component, which is used to fix the elbow relative to the user's elbow; the elbow joint module is equipped with an information collector, which is used to collect the motion data of the corresponding user's elbow.
6. A wearable exoskeleton device according to claim 5, wherein, The elbow support has an opening, and the elbow support is configured such that at least a portion of the user's elbow can be exposed through the opening.
7. A wearable exoskeleton device according to claim 1, wherein, The forearm module includes a forearm link and an information collector. The forearm link is used to rotate relative to the information collector, and the information collector is used to collect the motion data of the corresponding user's forearm.
8. A wearable exoskeleton device according to claim 7, wherein, The forearm link includes a collector link and a telescopic link; The information collector is connected to the elbow module in the arm exoskeleton; one end of the collector linkage is rotatably connected to the information collector, and the other end is connected to the telescopic linkage; The information collector is used to collect motion data of the user's forearm through the rotation of the collector link and / or the telescopic link when the user's forearm rotates; One end of the telescopic link is used to movably connect to the wrist module in the arm exoskeleton. The telescopic link is used to extend and retract to adjust the distance between the information collector and the wrist module to accommodate the user's forearm length.
9. A wearable exoskeleton device according to claim 8, wherein, The telescopic link includes a first telescopic part and a second telescopic part. The first telescopic part is provided with a locking member, and the second telescopic part is provided with a sliding groove. The locking member is slidably disposed in the sliding groove so that the first telescopic part is slidably disposed relative to the second telescopic part.
10. A wearable exoskeleton device according to claim 1, wherein, The wrist module includes a wrist fixation component, a front wrist support, a rear wrist support, a wrist joint module, and a back-of-hand connecting frame. The wrist fixation component is mounted on the rear wrist support; The information collector is located at the connection between the wrist support and the back of the hand connecting frame, and is used to collect the motion data of the corresponding user's back of hand or finger joints; And / or the information collector is disposed in the wrist joint module for collecting the motion data of the user's wrist.
11. A wearable exoskeleton device according to claim 10, wherein, The wrist joint module also includes a protective cover and a gear structure; The front wrist support and the rear wrist support are coaxially and rotatably connected to each other; The information collector and the gear structure of the wrist joint module are partially or entirely located inside the protective cover. One end of the gear structure is connected to the front wrist support, and the other end is connected to the information collector of the wrist joint module. The information collector is used to collect motion data corresponding to the user's wrist through the transmission of the gear structure when the user's wrist rotates.
12. A wearable exoskeleton device according to claim 11, wherein, The gear structure includes a first bevel gear and a second bevel gear that mesh with each other. The first bevel gear is coaxially arranged with the front wrist support and the rear wrist support, and the second bevel gear is coaxially arranged with the information collector. The wrist module is configured such that, during the user's wrist rotation, the first bevel gear and the second bevel gear rotate relative to each other, and the second bevel gear drives the information collector to rotate, so that the information collector can collect the rotation angle data of the user's wrist.
13. A wearable exoskeleton device according to claim 1, wherein, The carrying connector includes a back mounting bracket, a control box, a main bracket, and a carrying strap; The carrying strap is mounted on the back mount and / or the main support for the user to carry the exoskeleton device; the control box is movably connected to the back mount or fixedly connected to the back mount. The main support is detachably connected to the back mounting frame, and the arm exoskeleton is connected to one or both sides of the main support. The control box contains a control module and a power module that are interconnected; the information collector is communicatively connected to the control module. The information collector includes an encoder, and the motion data includes rotation angle data.
14. A wearable exoskeleton device according to claim 13, wherein, The back mounting bracket and / or the main support are provided with one or more perforated through holes.
15. A method for operating a wearable exoskeleton device, applied to a wearable exoskeleton device according to any one of claims 1-14; the method comprising: The exoskeleton device is carried on the user's body via the back connector, and the arm exoskeleton of the exoskeleton device is set at the position corresponding to the user's left arm and / or right arm; The information collector of the arm exoskeleton collects motion data of the user's left and / or right arms; The motion data is stored or the motion data is used for learning and analysis to obtain learning and training data for other robots.
16. A robot teleoperation system, comprising a target robot and a wearable exoskeleton device as described in any one of claims 1-14; The target robot includes a drive device and a robotic arm structure corresponding to the arm exoskeleton of the exoskeleton device. The robotic arm structure is provided with movable joints corresponding to each module of the arm exoskeleton. The drive device is communicatively connected to the movable joints. The drive device of the target robot is communicatively connected to the information collector of the exoskeleton device, and is used to control the movement of the movable joints according to the motion data collected by the information collector, so as to control the movement of the target robot.