CN116616922B - Power-assisted exoskeleton - Google Patents
Power-assisted exoskeleton Download PDFInfo
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- CN116616922B CN116616922B CN202310915863.0A CN202310915863A CN116616922B CN 116616922 B CN116616922 B CN 116616922B CN 202310915863 A CN202310915863 A CN 202310915863A CN 116616922 B CN116616922 B CN 116616922B
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- 238000004146 energy storage Methods 0.000 claims abstract description 79
- 210000000245 forearm Anatomy 0.000 claims abstract description 24
- 206010050031 Muscle strain Diseases 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001297 Zn alloy Inorganic materials 0.000 description 1
- SNAAJJQQZSMGQD-UHFFFAOYSA-N aluminum magnesium Chemical compound [Mg].[Al] SNAAJJQQZSMGQD-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- WJZHMLNIAZSFDO-UHFFFAOYSA-N manganese zinc Chemical compound [Mn].[Zn] WJZHMLNIAZSFDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002406 microsurgery Methods 0.000 description 1
- 229920000620 organic polymer Polymers 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/60—Supports for surgeons, e.g. chairs or hand supports
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application discloses a power-assisted exoskeleton, which belongs to the field of medical instruments and comprises a supporting component and an energy storage component, wherein the supporting component and the energy storage component are arranged on the supporting component; the support assembly is used for supporting and lifting the arm of a user and comprises a first support structure for supporting and lifting the upper arm of the user and a second support structure for supporting and lifting the forearm of the user, and the first support structure is rotationally connected with the second support structure; the energy storage component is used for providing the helping hand for supporting component, including energy storage structure and location structure, energy storage structure and location structure components of a whole that can function independently and fixed, and energy storage component is connected with supporting component, through above setting, can be in the operation be continuous for the user's arm provides holding power, reduce the muscle strain degree of user's arm, the operation precision that the arm ache caused when avoiding the long-time unsettled operation of user's both hands drops with operation security.
Description
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to a power-assisted exoskeleton.
Background
The general degree of difficulty of operation of microsurgery is great, consequently operation time is also generally longer, and in the operation process doctor need use microscope, scope and prop such as wear-type magnifying glass to observe the operation position with both hands unsettled for a long time, and this can cause upper limbs tired and cause operation safety problem, adopts the operation support to solve this problem at present, but current operation support has following problem in the use:
1. the operation space which is not large is narrower due to the overlarge volume of the operation bracket;
2. the existence of the surgical stent can affect the surgical field of view of the surgeon when viewing the surgical site, limiting the flexibility of operation during treatment.
Therefore, a surgical auxiliary instrument capable of better supporting and lifting the arm of a user in the surgical process, in particular to a power-assisted exoskeleton, is designed.
Disclosure of Invention
In order to overcome the problems in the background art, the application adopts the following technical scheme:
a power assisting exoskeleton, which comprises a supporting component and an energy storage component; the support assembly is used for supporting and lifting the arm of a user and comprises a first support structure for supporting and lifting the upper arm of the user and a second support structure for supporting and lifting the forearm of the user, and the first support structure is rotationally connected with the second support structure; the energy storage assembly is used for providing assistance for the supporting assembly and comprises an energy storage structure and a positioning structure, wherein the energy storage structure and the positioning structure are separated and fixed, and the energy storage assembly is connected with the supporting assembly.
Further, the energy storage structure comprises an upper energy storage part arranged between the first supporting structure and the positioning structure and a lower energy storage part arranged between the first supporting structure and the second supporting structure, the upper energy storage part enables the first supporting structure to rotate relatively to the positioning structure and be close to the positioning structure, and the lower energy storage part enables the first supporting structure to rotate relatively to the second supporting structure and be close to the positioning structure.
Further, the first support structure and the second support structure each include an arm rest for directly contacting a forearm or an upper arm of a user, the arm rest including a notch into which the arm of the user is placed.
Further, the support assembly further comprises a swivel arm auxiliary structure for assisting a user in rotating the forearm in a state that the upper arm is stationary, and the swivel arm auxiliary structure is connected with the second support structure.
Further, the rocking arm auxiliary structure is the supplementary rotating structure of axial array setting on the second bearing structure, supplementary rotating structure with the second bearing structure rotates to be connected and with user's forearm contact for user's forearm can buckle and rotate simultaneously.
Further, the positioning structure comprises a shoulder connection structure, and the upper energy storage member is connected with the shoulder connection structure.
Further, the energy storage structure stores energy through setting up torsion structure, the one end and the location structure of torsion structure are connected, the other end and the supporting component of torsion structure are connected, supporting component with location structure rotates to be connected, works as supporting component with location structure takes place relative rotation, torsion structure energy storage warp, and when the user relaxes, torsion structure releases the energy deformation and reduces user's load.
Or, the energy storage structure stores energy through setting up the pulling force structure, the one end and the location structure of pulling force structure are connected, the other end and the supporting component of pulling force structure are connected, the supporting component with the location structure rotates to be connected, works as the supporting component with the relative rotation takes place for the location structure, the pulling force structure energy storage is tensile, and when the user relaxes, the pulling force structure release can retract and reduce user's load.
Further, the positioning structure further comprises a positioning frame and a positioning belt, wherein the positioning frame is separated from the positioning belt and fixed, and the positioning frame is respectively fixed with the waist and the shoulder of a user by arranging a plurality of groups of positioning belts.
Further, the locating belt comprises a brace and a waistband, the brace is connected with the locating frame, and the waistband is connected with the locating frame.
Further, the positioning frame is provided with a reset structure, so that the energy storage structure is in an initial position in an initial state, and the arm of a user is in a furled state close to the body in the initial state.
Further, the reset structure comprises a travel groove and a reset piece, the energy storage structure is in sliding connection with the locating rack through the travel groove, one end of the reset piece is connected with one end of the travel groove, and the other end of the reset piece is connected with the energy storage structure.
The application has the beneficial effects that:
1. the application sets the second support structure and the first support structure which are connected through the energy storage structure, and the positioning structure and the first support structure which are connected through the energy storage structure, so that when the upper limb of a user in operation is suspended, the load sharing of the second support structure and the first support structure can be obtained, and the user can be assisted to rebound the arm quickly with the help of the energy storage structure, and the effect of emergency avoidance in the operation process can be achieved.
2. According to the application, the support component covering the upper limbs of the user and the positioning structure connected with the trunk of the patient are arranged, so that an operation support is not needed in the operation process, and the friction resistance of the user when the user rotates the forearm is reduced by arranging the rotating arm auxiliary structure on the second support structure, the arm flexibility of the user in the wearing process is not influenced, and the problems of influencing the operation visual field and reducing the operation flexibility in the operation process are avoided.
3. The application can be worn on a user, and the user as an operating doctor needs to sleeve a layer of operating coat outside the exoskeleton when using the operating coat, so that the arm support does not need to be provided with a binding belt or other binding structures for fastening the arms of the user.
Drawings
FIG. 1 is a schematic view showing the overall structure of embodiment 1 of the present application in an initial state;
FIG. 2 is a schematic diagram of the whole structure of the energy storage structure after deformation in use according to embodiment 1 of the present application;
fig. 3 is a schematic cross-sectional view of a torsion box according to embodiment 1 of the present application;
FIG. 4 is a schematic overall structure of embodiment 2 of the present application in an initial state;
FIG. 5 is a schematic diagram showing the overall structure of the energy storage structure after deformation in use according to embodiment 2 of the present application;
in the figure, 1, a supporting component; 11. a first support structure; 12. a second support structure; 13. an arm support; 14. a swivel arm auxiliary structure; 141. an axial switching structure; 2. an energy storage assembly; 21. an energy storage structure; 211. an upper energy storage member; 2111. a slide block; 212. a lower energy storage member; 213. a torsion box; 22. a positioning structure; 221. a positioning frame; 222. a positioning belt; 2221. a harness; 2222. a waistband; 223. a shoulder connection structure; 2231. and (5) abduction plates.
Detailed Description
The following detailed description of the embodiments of the present application will be made more apparent to those skilled in the art from the following detailed description, in which the application is embodied in several, but not all, embodiments of the application. The application may be embodied or applied in other specific forms and features of the following examples and examples may be combined with each other without conflict, all other examples being contemplated by those of ordinary skill in the art without undue burden from the present disclosure, based on the examples of the application.
Example 1
A power-assisted exoskeleton, as shown in fig. 1, comprises a support component 1 and an energy storage component 2; the support assembly 1 is used for supporting and lifting the arm of a user, and comprises a first support structure 11 for supporting and lifting the upper arm of the user and a second support structure 12 for supporting and lifting the forearm of the user, wherein the first support structure 11 is rotatably connected with the second support structure 12; the energy storage component 2 is used for providing assistance for the support component 1 and comprises an energy storage structure 21 and a positioning structure 22, wherein the energy storage structure 21 and the positioning structure 22 are separated and fixed, and the energy storage component 2 is connected with the support component 1. By providing the energy storage structure 21, the first support structure 11 forms an elevation angle a based on a horizontal plane with the upper energy storage element 211 in an initial state, the elevation angle a is more than or equal to 70 degrees and less than or equal to 80 degrees, and when a user wears the power-assisted exoskeleton, the first support structure 11 rotates relative to the upper energy storage element 211 so that the upper energy storage element 211 starts to store energy and provides supporting force for the upper arm of the patient.
1-3, the energy storage structure 21 includes an upper energy storage member 211 disposed between the first support structure 11 and the positioning structure 22, the upper energy storage member 211 providing relative rotation and access of the first support structure 11 and the positioning structure 22, and a lower energy storage member 212 between the first support structure 11 and the second support structure 12, the lower energy storage member 212 providing relative rotation and access of the first support structure 11 and the second support structure 12.
In a more preferred embodiment, as shown in fig. 1-3, the first supporting structure 11 and the second supporting structure 12 both comprise an arm support 13, the outer side of the arm support 13 of the first telescopic section is provided with a first telescopic section for connecting the first supporting structure 11 and the positioning structure 22, the cross section of the arm support 13 along the axial direction of the arm when worn is C-shaped or U-shaped for directly contacting with the forearm or the upper arm of a user, and the arm support 13 comprises a notch for placing the arm of the user. Conventional exoskeleton structures that directly contact the arm or leg of a user often require a fixing strap for binding the arm or leg of the patient, but in the present application, the user is a doctor performing a long-term operation, and therefore the exoskeleton needs to be worn inside the operating gown, so there are two advantages associated with each other as follows: the operating coat is a constraint piece for completely wrapping the two arms of a user without arranging a fixing belt; under the condition that the fixing belt is not arranged, the C-shaped or U-shaped arm support 13 is combined with the operating coat, a placing space with non-forced constraint property can be provided for a user, the arm of the user can rotate relatively freely in the placing space, the arm of the user is matched with the rotating arm auxiliary structure 14 to axially rotate the forearm, the arm can be loosened flexibly on the supported basis, the arm state of the user can be adjusted at any time, the operation accuracy is improved, and misoperation is effectively avoided.
1-3, the support assembly 1 further includes a swivel arm assist structure 14 for assisting a user in rotating the forearm with the upper arm stationary, the swivel arm assist structure 14 being connected to the second support structure 12. The boom auxiliary structure 14 is an axial switching structure 141 arranged on the second support structure 12 along an axial array, and the axial switching structure 141 is rotatably connected with the second support structure 12 and is in contact with the forearm of a user, so that the user can simultaneously perform buckling of the forearm and rotation of the forearm.
1-3, the positioning structure 22 includes a shoulder connection structure 223, and the upper energy storage member 211 is connected to the shoulder connection structure 223. In the present embodiment, the shoulder connection structure 223 is an abduction plate 2231 connected to the positioning frame 221, and the angle between the abduction plate 2231 and the positioning frame 221 can be manually adjusted to adapt to users performing different operation. The upper energy storage part 211 is provided with a rotating shaft, the rotating shaft is sleeved on the abduction plate 2231, so that the upper energy storage part 211 can rotate with the abduction plate 2231 in a limited angle, an arm of a user can be lifted outwards in a limited mode, the upper energy storage part 211 further comprises a box body in which the torsion box 213 is arranged, the torsion box 213 is fixedly connected with the box body, the torsion box 213 is rotationally connected with the first telescopic section, upward lifting force is provided for the arm stretched forward by the user, and arm ache caused by the dead weight of the arm when the user performs operation is balanced and even pressed.
In a more preferred embodiment, as shown in fig. 1-3, the energy storage structure 21 stores energy by providing a torsion structure, one end of the torsion structure is connected with the positioning structure 22, the other end of the torsion structure is connected with the supporting component 1, the supporting component 1 is rotationally connected with the positioning structure 22, when the supporting component 1 and the positioning structure 22 relatively rotate, the torsion structure stores energy and deforms, when a user releases the energy, the torsion structure releases the energy and deforms and reduces the load of the user. The torsion structure may be a torsion box 213, where the torsion box 213 includes a hollow box body, an optical axis penetrating through the box body and capable of rotating relative to the box body, and a torsion spring disposed in the box body for transferring the box body and the optical axis, and when the box body is fixed, the rotation of the optical axis can obtain a movement trend in a reverse direction, so as to be used as the energy storage structure 21 for continuously providing a greater supporting force for a user in the process of straightening the arm of the user.
In another more preferred embodiment, the energy storage structure 21 stores energy by arranging a tension structure, one end of the tension structure is connected with the positioning structure 22, the other end of the tension structure is connected with the supporting component 1, the supporting component 1 is rotationally connected with the positioning structure 22, when the supporting component 1 and the positioning structure 22 relatively rotate, the tension structure stores energy and stretches, when a user loosens, the tension structure releases energy and retracts, and the load of the user is reduced.
1-3, the positioning structure 22 further comprises a positioning frame 221 and a positioning belt 222, the positioning belt 222 comprises a back strap 2221 and a waist strap 2222, the back strap 2221 comprises at least two back straps 2221, and each back strap 2221 is made of a stretchable high-elasticity fabric, so that the total length of the wear of users with different sizes can be adjusted; alternatively, each back strap 2221 is made up of two inelastic straps with an adjustment loop disposed therebetween, through which the overall length of the back strap 2221 can be adjusted. One end of each back strap 2221 is connected with a positioning frame 221, the other end of each back strap 2221 is connected with a waistband 2222, and the bottom end of each positioning frame 221 is also connected on the waistband 2222. The waistband 2222 is specifically a non-elastic band that can be spliced or fastened end to end, or the waistband 2222 is specifically an elastic band that can be spliced or fastened end to end. In use, the waist belt 2222 is separated from the head and the tail, the back of the user contacts the positioning frame 221 and extends both hands outwards through the two side straps 2221, and then the waist belt 2222 is connected in front of the patient. The positioning frame 221 is of two hard sheet structures which are not contacted with each other, has elasticity and can be bent, and can be attached to the back of a user to a certain extent, and the manufacturing material is one of organic polymer plastics, manganese-zinc alloy or magnesium-aluminum alloy.
In another preferred embodiment, the positioning structure 22 further comprises a connecting strap connected to the two side straps 2221 near the chest of the user, which is advantageous for enhancing the stability of the positioning structure 22 when it is fitted over the patient.
Another more preferred embodiment is that the double-sided tape 222 is integrally provided with the positioning frame 221 and is in the form of a backpack strap 2221, which makes the overall use experience of the user more comfortable, and the arrangement is more adapted to the conditions of use of the wearing surgical gown.
In a more preferred embodiment, the positioning frame 221 is provided with a reset structure, so that the energy storage structure 21 is in an initial position in an initial state, and the arm of the user is in a furled state close to the body in the initial state. The reset structure comprises a travel groove and a reset piece, the energy storage structure 21 is in sliding connection with the positioning frame 221 through the travel groove, one end of the reset piece is connected with one end of the travel groove, and the other end of the reset piece is connected with the energy storage structure 21.
Example 2
A power-assisted exoskeleton, as shown in fig. 4 and 5, comprises a support component 1 and an energy storage component 2, wherein the support component 1 is used for supporting and lifting the arm of a user; the energy storage component 2 is used for providing the helping hand for the supporting component 1, and the energy storage component 2 is connected with the supporting component 1, through the setting above, can be in the operation lasting holding power for the arm of user provides, thereby reduces the muscle strain degree of user's arm, thereby avoids the user to hang in midair and carries out the operation time arm ache in both hands for a long time influences operation precision and operation security.
The difference between this embodiment and embodiment 1 is that the support assembly 1 includes the first support structure 11, as shown in fig. 4 and 5, only for supporting the upper arm of the user, and the second support structure 12 for supporting the forearm of the user is not provided, and the energy storage structure 21 is provided between the first support structure 11 and the positioning structure 22, which has the advantage of being able to completely free the forearm and elbow of the user, thereby achieving greater flexibility, but correspondingly this will exacerbate the elbow strain and forearm soreness during long-term surgery, thus being suitable for short-time surgery of 1-2 hours.
More preferably, as shown in fig. 4 and 5, the first supporting structure 11 includes a first telescopic section for adapting to users of different sizes, and the first telescopic section is further used for connecting the upper energy storage element 211 with the arm rest 13 of the first supporting structure 11, and more specifically, the first telescopic section is disposed near the outer side of the upper arm of the user, so as to provide a more stable limit for the upper arm of the user.
More preferably, as shown in fig. 4 and 5, the energy storage structure 21 stores energy by providing a torsion structure, one end of the torsion structure is connected with the positioning structure 22, the other end of the torsion structure is connected with the support assembly 1, the support assembly 1 is rotationally connected with the positioning structure 22, when the support assembly 1 and the positioning structure 22 relatively rotate, the torsion structure stores energy and deforms, when a user releases the energy, the torsion structure releases the energy and deforms and reduces the load of the user.
In another more preferred embodiment, the energy storage structure 21 stores energy by arranging a tension structure, one end of the tension structure is connected with the positioning structure 22, the other end of the tension structure is connected with the supporting component 1, the supporting component 1 is rotationally connected with the positioning structure 22, when the supporting component 1 and the positioning structure 22 relatively rotate, the tension structure stores energy and stretches, when a user loosens, the tension structure releases energy and retracts, and the load of the user is reduced.
In a more preferred embodiment, as shown in fig. 4 and 5, the positioning structure 22 includes a positioning frame 221 and a positioning belt 222, wherein the positioning frame 221 and the positioning belt 222 are separated and fixed, and the positioning frame 221 is respectively fixed with the waist and the shoulder of the user by arranging a plurality of groups of positioning belts 222.
In a more preferred embodiment, as shown in fig. 4 and 5, the positioning frame 221 is provided with a reset structure, so that the energy storage structure 21 is in an initial position in an initial state, and the arm of the user is in a furled state close to the body in the initial state. The reset structure comprises a travel groove and a reset piece, the energy storage structure 21 is in sliding connection with the positioning frame 221 through the travel groove, one end of the reset piece is connected with one end of the travel groove, and the other end of the reset piece is connected with the energy storage structure 21.
Claims (7)
1. A power assisted exoskeleton, comprising:
the support assembly is used for supporting and lifting the arm of a user and comprises a first support structure for supporting and lifting the upper arm of the user and a second support structure for supporting and lifting the forearm of the user, and the first support structure is rotationally connected with the second support structure;
the energy storage assembly is used for providing assistance for the supporting assembly and comprises an energy storage structure and a positioning structure, wherein the energy storage structure and the positioning structure are separated and fixed, and the energy storage assembly is connected with the supporting assembly;
the first support structure and the second support structure both comprise arm supports for directly contacting the forearm or upper arm of a user, and the arm supports comprise notches for placing the arms of the user; the support assembly further comprises a rotating arm auxiliary structure for assisting a user to rotate the forearm in a state that the upper arm is not moved, and the rotating arm auxiliary structure is connected with the second support structure; the rotating arm auxiliary structure is an axial switching structure which is arranged on the second supporting structure along the axial array, and the axial switching structure is rotationally connected with the second supporting structure and is contacted with the forearm of a user, so that the user can simultaneously perform buckling of the forearm and rotation of the forearm; the outer side of the arm support of the first supporting structure is provided with a first telescopic section for connecting the first supporting structure with the positioning structure, the cross section of the arm support along the axial direction of the arm is C-shaped or U-shaped when the arm support is worn, a fixing belt is not required to be arranged, and the operating coat is a constraint piece for completely wrapping the two arms of a user; under the condition that the fixing belt is not arranged, the C-shaped or U-shaped arm support is combined with the operating coat, a placing space with non-forced constraint property can be provided for a user, the arm of the user can rotate relatively freely in the placing space, and the arm support is matched with the rotating arm auxiliary structure to axially rotate the forearm, so that the user can adjust the state of the arm at any time.
2. The booster exoskeleton of claim 1 wherein said energy storage structure comprises an upper energy storage member disposed between said first support structure and said positioning structure and a lower energy storage member disposed between said first support structure and said second support structure; under the action of the upper energy storage part, the first supporting structure and the positioning structure can rotate relatively, so that an included angle formed by the first supporting structure and the positioning structure is reduced; under the action of the lower energy storage piece, the first support structure and the second support structure can rotate relatively, so that an included angle formed by the first support structure and the second support structure is reduced.
3. A power assisted exoskeleton of claim 2 wherein said positioning structure includes a shoulder connection structure and said upper energy storage member is connected to said shoulder connection structure.
4. The booster exoskeleton of claim 1, wherein said energy storage structure stores energy by providing a torsion structure, one end of said torsion structure is connected to a positioning structure, the other end of said torsion structure is connected to a support assembly, said support assembly is rotatably connected to said positioning structure, when said support assembly and said positioning structure rotate relative to each other, said torsion structure stores energy to deform, when a user relaxes, said torsion structure releases energy to deform and reduce the load of said user.
5. The power assisting exoskeleton of claim 1, wherein the energy storage structure stores energy by arranging a tension structure, one end of the tension structure is connected with the positioning structure, the other end of the tension structure is connected with the supporting component, the supporting component is rotationally connected with the positioning structure, when the supporting component and the positioning structure rotate relatively, the tension structure stores energy and stretches, and when a user relaxes, the tension structure releases energy and retracts and reduces the load of the user.
6. The booster exoskeleton of claim 1, wherein the positioning structure further comprises a positioning frame and a positioning belt, the positioning frame is connected with the positioning belt, and the positioning frame is fixed with the waist and the shoulder of the user by arranging a plurality of groups of positioning belts.
7. The power assisted exoskeleton of claim 6 wherein said positioning strap comprises a strap and a waistband, said strap being connected to said positioning frame and said waistband being connected to said positioning frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310915863.0A CN116616922B (en) | 2023-07-25 | 2023-07-25 | Power-assisted exoskeleton |
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| CN116616922A (en) | 2023-08-22 |
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