The invention discloses a wearable
exoskeleton power assisting device. The wearable
exoskeleton power assisting device comprises a body wearing piece and two executive devices. The two executive devices are connected through the body wearing piece. Each executive device comprises a
haulage cable, a power device, a rotary joint and a fulcrum part. Each power device comprises a rack and a
power unit. Each rotary joint comprises an
upper joint part and a lower joint part. The upper portion of each
upper joint part is fixedly connected with the corresponding rack, and the lower portion of each
upper joint part is hinged to the upper portion of the corresponding lower joint part. Guide wheels and auxiliary reels are arranged in the upper joint parts, and the auxiliary reels are arranged at the hinged positions of the upper joint parts and the lower joint parts. Tensioning wheels and main winding wheels are arranged in the lower joint parts, and the fulcrum parts are fixed to the corresponding main winding wheels. The two ends of each
haulage cable are fixed to the corresponding
power unit and the main winding wheel separately. The middle parts of the
haulage cables sequentially wind across the guide wheels, the auxiliary reels and the tensioning wheels from top to bottom. The wearable
exoskeleton power assisting device has the advantages of being good in man-
machine interaction, ingenious and portable in structure, sensitive in reaction and easy to operate.