Wearable Exoskeleton

Abstract

The present invention relates to a wearable exoskeleton, comprising a left calf support and a right calf support; a left foot piece and a right foot piece for placing the sole of the wearer's foot; a left ankle joint motor module and a right ankle joint motor module, wherein an absolute value encoder, a torque sensor and a rotation limit structure are arranged inside the left ankle joint motor module for connecting the left calf support and the left foot piece, and the right ankle joint motor module for connecting the right calf support and the right foot piece; a unicycle, wherein pedals for placing the left foot piece and the right foot piece are arranged on both sides respectively, for driving the wearable exoskeleton to move. The unicycle is flexibly used to cooperate with the exoskeleton structure to speed up the travel speed, and the balance control of the unicycle is used to make the parallel movement of both feet equivalent to the movement of a single point, and the control process is simple and easy to implement.

Description

Technical Field

[0001] The present invention relates to exoskeleton technology, in particular to a wearable exoskeleton. Background Art

[0002] Exoskeletons are an important branch of the robotics field. Wearable exoskeletons can assist the wearer in completing complex and heavy movements, or enhance the wearer's athletic ability. Exoskeletons are mostly designed for walking on flat roads, taking into account going up and down stairs and crossing obstacles. Generally, exoskeletons are mostly used in a flat road environment and up and down slopes during normal use. Therefore, simulating normal human walking on a flat road is not the most energy-saving way of movement. In addition, due to the large number of degrees of freedom of the exoskeleton during walking, there are deviations in the coordination between the joints, and the walking speed cannot be comparable to that of a normal person during movement. Improper use may even cause muscle strain to the wearer.

[0003] In order to increase walking speed, traditional exoskeletons use wheels on the soles of each foot to drive walking. However, when driving on a flat road, the exoskeleton needs to adjust and control the posture of both feet at the same time to maintain balance and turn, which makes the control relatively complicated. Summary of the invention

[0004] Based on this, it is necessary to provide a wearable exoskeleton that can not only effectively improve walking speed but also make the control process simple and easy to implement.

[0005] The technical solution is as follows:

[0006] A wearable exoskeleton, comprising

[0007] Left calf support, right calf support;

[0008] The left foot piece and the right foot piece are used to place the soles of the wearer's feet;

[0009] The left ankle joint motor module and the right ankle joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside. The left ankle joint motor module is used to connect the left calf bracket and the left foot piece, and the right ankle joint motor module is used to connect the right calf bracket and the right foot piece;

[0010] A unicycle has pedals on both sides for placing a left foot piece and a right foot piece, respectively, for driving the wearable exoskeleton to move.

[0011] When using the above-mentioned wearable exoskeleton, the wearer puts both feet into the left foot piece and the right foot piece respectively, and the left ankle joint motor module and the right ankle joint motor module move in a rotational manner to assist the movement of the wearer's feet when they are lifted. The left foot piece and the right foot piece are respectively placed on the pedals of the unicycle, and the position data of the wearable exoskeleton movement is obtained in real time according to the absolute value encoder and torque sensor inside. At the same time, the internal rotation limit structure performs limit adjustment according to the wearer's joints, and converts the instructions into commands through the wearer's body posture to control the unicycle to move forward or backward. When the wearer needs to go up stairs or cross uneven roads, the unicycle can be removed, and the unicycle can be flexibly used in conjunction with the exoskeleton structure to speed up the travel speed. Moreover, since the balance control of the unicycle is used to make the parallel movement of both feet equivalent to the movement of a single point, the control process is simple and easy to implement.

[0012] In one embodiment, the wearable exoskeleton further includes

[0013] Left thigh support, right thigh support;

[0014] The left knee joint motor module and the right knee joint motor module are internally provided with an absolute encoder, a torque sensor and a rotation limit structure. The left knee joint motor module is used to connect the left calf support and the left thigh support, and the right knee joint motor module is used to connect the right calf support and the right thigh support.

[0015] In one embodiment, the wearable exoskeleton further includes

[0016] Waist bar;

[0017] The left hip joint motor module and the right hip joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside. The left hip joint motor module is used to connect the left end of the waist cross bar and the left thigh bracket, and the right hip joint motor module is used to connect the right end of the waist cross bar and the right thigh bracket;

[0018] The main control box is arranged on the waist cross bar, and is equipped with a battery, a gyroscope sensor and an acceleration sensor, and is used to control the left ankle joint motor module, the right ankle joint motor module, the left knee joint motor module, the right knee joint motor module, the left hip joint motor module and the right hip joint motor module to move in coordination with the unicycle.

[0019] In one embodiment, the wearable exoskeleton further includes

[0020] The left hip joint motor module and the right hip joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside. The top of the left thigh bracket is connected to the top of the right thigh bracket. The left hip joint motor module is connected to the top of the left thigh bracket, and the right hip joint motor module is connected to the top of the right thigh bracket.

[0021] A seat cushion, arranged at the top of the left thigh support and the right thigh support, for providing a sitting position for the wearer;

[0022] A main control box is arranged at the top of the left thigh support and the right thigh support, and is provided with a battery and a gyroscope sensor for controlling the left ankle joint motor module, the right ankle joint motor module, the left knee joint motor module, the right knee joint motor module, the left hip joint motor module and the right hip joint motor module to move in coordination with the unicycle.

[0023] In one embodiment, a pressure sensor is provided inside the seat cushion for detecting the contact between the wearer's body and the wearable exoskeleton to adjust the seat cushion height.

[0024] In one embodiment, the left calf support, the right calf support, the left thigh support and the right thigh support are all retractable structures.

[0025] In one of the embodiments, a first baffle is provided on the back of the left calf support and the right calf support, respectively, and the first baffle extends into the space enclosed by the left calf support and the right calf support; a second baffle is provided on the back of the left thigh support and the right thigh support, respectively, and the second baffle extends into the space enclosed by the left thigh support and the right thigh support.

[0026] In one embodiment, a mounting position is provided on the back of the main control box for mounting the single wheel when not in use.

[0027] In one embodiment, the single wheel is a hub motor module.

[0028] In one embodiment, the left foot piece and the right foot piece are respectively provided with pressure sensors for detecting the contact between the sole of the foot and the device and determining the state of the wearer during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only as examples in the drawings and are not necessarily drawn according to the true scale.

[0032] Figure 1 is a schematic diagram of a first state of a wearable exoskeleton according to an embodiment;

[0033] Figure 2 for Figure 1 A schematic diagram of a second state of the wearable exoskeleton described in;

[0034] Figure 3 is a schematic diagram of a first state of a wearable exoskeleton according to another embodiment;

[0035] Figure 4 for Figure 3 Schematic diagram of the second state of the wearable exoskeleton described in.

[0036] Description of reference numerals:

[0037] 10. Left calf support; 20. Right calf support; 30. Left footstep; 40. Right footstep, 50. Left ankle joint motor module; 60. Right ankle joint motor module; 70. Unicycle; 80. Left thigh support; 90. Right thigh support; 100. Left knee joint motor module; 110. Right knee joint motor module, 120. Waist cross bar; 130. Left hip joint motor module; 140. Right hip joint motor module, 150. Main control box; 160. Cushion; 170. First baffle; 180. Second baffle. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0039] Reference Figure 1 , 2An embodiment of the present application provides a wearable exoskeleton, including a calf support 10, a right calf support 20, a left foot piece 30, a right foot piece 40, a left ankle joint motor module 50, a right ankle joint motor module 60 and a unicycle 70. The left foot piece 30 and the right foot piece 40 are used to place the left and right soles of the wearer, respectively. The left ankle joint motor module 50 and the right ankle joint motor module 60 are both provided with an absolute encoder, a torque sensor and a rotation limit structure. The left ankle joint motor module 50 is used to connect the left calf support 10 and the left foot piece 30, and the right ankle joint motor module 60 is used to connect the right calf support 20 and the right foot piece 40. Pedals for placing the left foot piece 30 and the right foot piece 40 are respectively provided on both sides of the unicycle 70, which are used to drive the wearable exoskeleton to move.

[0040] When the wearable exoskeleton of the present embodiment is used, the wearer puts both feet into the left foot piece 30 and the right foot piece 40 respectively, and the left ankle joint motor module 50 and the right ankle joint motor module 60 move in a rotational manner to assist the movement of the wearer's foot when the sole is lifted. The left foot piece 30 and the right foot piece 40 are placed on the pedals of the unicycle piece 70 respectively, and the position data of the wearable exoskeleton movement is obtained in real time according to the absolute value encoder and torque sensor inside. At the same time, the internal rotation limit structure performs limit adjustment according to the wearer's joints, and converts the instructions into commands through the wearer's body posture to control the unicycle piece 70 to move forward or backward. When the wearer needs to go up stairs or cross uneven roads, the unicycle piece 70 can be removed, and the unicycle piece 70 can be flexibly used in conjunction with the exoskeleton structure to speed up the travel speed. Moreover, since the balance control of the unicycle piece 70 is used to make the parallel movement of both feet equivalent to the movement of a single point, the control process is simple and easy to implement.

[0041] Among them, the left ankle joint motor module 50 and the right ankle joint motor module 60 can adopt the ankle joint control principle in the existing exoskeleton, obtain motion data through their built-in absolute encoder and torque sensor, and the rotation limit structure keeps the calf support 10, the right calf support 20, the left foot member 30 or the right foot member 40 at a certain rotation position. The rotation limit structure can be a mechanical limit structure or an electronic limit structure. A main control box 150 can be set on the calf support 10, the right calf support 20, the left foot member 30 or the right foot member 40, and the main control box 150 is electrically connected to the left ankle joint motor module 50 and the right ankle joint motor module 60 to obtain data and issue control instructions to control the rotation of the left ankle joint motor module 50 and the right ankle joint motor.

[0042] Specifically, the wheel 70 is detachably connected to the left foot piece 30 and the right foot piece 40. When the road surface is flat, the left foot piece 30 and the right foot piece 40 are connected to the wheel 70, and the whole body moves forward or backward under the drive of the wheel 70 to provide a travel speed. When the road surface is uneven, the left foot piece 30 and the right foot piece 40 are separated from the wheel 70, and no longer move with the help of the wheel 70, but walk through the left foot piece 30 and the right foot piece 40 to flexibly adapt to the changes of different road environments. The wheel 70 can adopt the control principle of the existing unicycle balance car, and control the wheel 70 to move forward or backward according to the changes in the wearer's posture to maintain overall balance. A gyroscope sensor can be set in the main control box 150, and the center of gravity position of each joint can be controlled according to the information obtained by the gyroscope sensor to adjust the balance. Optionally, the wheel 70 is a hub motor module.

[0043] Furthermore, in one embodiment, the wearable exoskeleton also includes a left thigh support 80, a right thigh support 90, a left knee joint motor module 100 and a right knee joint motor module 110. The left knee joint motor module 100 and the right knee joint motor module 110 are both provided with absolute encoders, torque sensors and rotation limit structures. The left knee joint motor module 100 is used to connect the left calf support 10 and the left thigh support 80, and the right knee joint motor module 110 is used to connect the right calf support 20 and the right thigh support 90. The left knee joint motor module 100 and the right knee joint motor module 110 generate auxiliary torque between the left thigh support 80 and the left calf support 10, and the right thigh support 90 and the right calf support 20 to assist the knee joint movement. The left knee joint motor module 100 and the right knee joint motor module 110 move in a rotational manner, and obtain motion data through their built-in absolute encoders and torque sensors. The rotation limit structure keeps the left thigh support 80 and the left calf support 10, and the right thigh support 90 and the right calf support 20 at a certain rotation position. The rotation limit structure can be a mechanical limit structure or an electronic limit structure.

[0044] In this embodiment, the left knee joint motor module 100 and the right knee joint motor module 110 can adopt the knee joint control principle in the existing exoskeleton. A main control box 150 can be set on the left thigh support 80 and the right thigh support 90, or a main control box 150 electrically connected to the left ankle joint motor module 50 and the right ankle joint motor module can be shared. The main control box 150 is electrically connected to the left knee joint motor module 100 and the right knee joint motor module 110 to obtain data and issue control instructions to control the left knee joint motor module 100 and the right knee joint motor module 110 to rotate.

[0045] Specifically, refer to Figure 1 , 2In one embodiment, the wearable exoskeleton further comprises a waist cross bar 120, a left hip joint motor module 130, a right hip joint motor module 140 and a main control box 150, wherein the left hip joint motor module 130 and the right hip joint motor module 140 are both provided with an absolute encoder, a torque sensor and a rotation limit structure. The left hip joint motor module 130 is used to connect the left end of the waist cross bar 120 with the left thigh support 80, and the right hip joint motor module 140 is used to connect the right end of the waist cross bar 120 with the right thigh support 90. The main control box 150 is arranged on the waist cross bar 120, and is provided with a battery, a gyroscope sensor and an acceleration sensor, and is used to control the left ankle joint motor module 50, the right ankle joint motor module 60, the left knee joint motor module 100, the right knee joint motor module 110, the left hip joint motor module 130 and the right hip joint motor module 140 to cooperate with the single wheel 70 to move. The left hip joint motor module 130 and the right hip joint motor module 140 drive the left thigh support 80 and the right thigh support 90 to achieve hip joint assistance. The left hip joint motor module 130 and the right hip joint motor module 140 move in a rotational manner, and the hip joint control principle in the existing exoskeleton can be adopted. The main control box 150 is provided with a battery, a gyroscope sensor and an acceleration sensor, which are used to control the left hip joint motor module 130, the right hip joint motor module 140, the left knee joint motor module 100, the right knee joint motor module 110, the left ankle joint motor module 50, the right ankle joint motor module 60, the wheel 70 and plan gait, and assist the wearer to complete walking, sitting, and going up and down stairs.

[0046] As a walking assistance device, after the wearer puts the exoskeleton on, the exoskeleton converts the wearer's body posture into instructions to control the wheeled member 70 to move forward or backward. At the same time, according to the gyroscope sensor information in the main control box 150, it controls each joint to adjust the center of gravity. The knee joint, hip joint and ankle joint adjust the length of the two feet according to the left and right tilt angle signals returned by the acceleration sensor. If the center of gravity is biased to the right, the bending degree of the left foot is increased and the bending length of the angle is reduced, that is, the left foot is bent and the right foot is straightened to adjust the center of gravity. If the center of gravity is biased to the left, the bending degree of the left and right feet is adjusted in opposite directions. When the wearer needs to go up stairs or cross uneven roads, the hub motor module can be removed.

[0047] Furthermore, the left foot piece 30 and the right foot piece 40 are respectively provided with pressure sensors inside to detect the contact between the sole of the foot and the device and judge the state of the wearer during walking. The pressure sensor senses the pressure of the sole of the foot and cooperates with the torque sensors of each joint to sense the human body's action intention, and plans the left ankle joint motor module 50, the right ankle joint motor module 60, the left knee joint motor module 100, the right knee joint motor module 110, the left hip joint motor module 130 and the right hip joint motor module 140. When a person starts to move, a thrust is generated on the exoskeleton. Each joint motor module can sense this state and execute a pre-set motion curve to follow and support the human body to complete the action. The motion data or motion curve of each joint motor module during walking is pre-set through experiments. According to each person's walking habits, the motion curve is different and is collected through experiments.

[0048] Reference Figure 3 , 4 In another embodiment, the wearable exoskeleton further includes a left hip joint motor module 130, a right hip joint motor module 140, a cushion 160 and a main control box 150. A cushion 160 is provided, and the height of the cushion 160 can be adjusted according to the posture of the wearer to solve the problem of fatigue caused by long-term wearing. Compared with the previous embodiment, the wearable exoskeleton of this embodiment does not have a waist crossbar 120, the top of the left thigh bracket 80 is connected to the top of the right thigh bracket 90, the left hip joint motor module 130 is connected to the top of the left thigh bracket 80, the right hip joint motor module 140 is connected to the top of the right thigh bracket 90, and the cushion 160 is arranged at the top of the left thigh bracket 80 and the right thigh bracket 90. Absolute encoders, torque sensors and rotation limit structures are arranged inside the left hip joint motor module 130 and the right hip joint motor module 140. The cushion 160 is arranged at the top of the left thigh bracket 80 and the right thigh bracket 90 to provide a sitting position for the wearer. The main control box 150 is provided with a battery and a gyro sensor, which are used to control the left ankle joint motor module 50, the right ankle joint motor module 60, the left knee joint motor module 100, the right knee joint motor module 110, the left hip joint motor module 130 and the right hip joint motor module 140 to move in coordination with the wheel 70. The left hip joint motor module 130 and the right hip joint motor module 140 drive the left thigh support 80 and the right thigh support 90 to achieve hip joint assistance, and the left hip joint motor module 130 and the right hip joint motor module 140 move in a rotational manner, and the hip joint control principle in the existing exoskeleton can be adopted. The main control box 150 is provided with a battery and a gyroscope sensor for controlling the left hip joint motor module 130, the right hip joint motor module 140, the left knee joint motor module 100, the right knee joint motor module 110, the left ankle joint motor module 50, the right ankle joint motor module 60, the wheel 70 and planning gait, so as to assist the wearer to complete movements such as walking, sitting, and going up and down stairs.

[0049] In one embodiment, a pressure sensor is provided inside the seat cushion 160 to detect the contact between the wearer's body and the wearable exoskeleton to adjust the height of the seat cushion 160. The wearer can sit directly on the seat cushion 160 and step on the left foot piece 30 and the right foot piece 40. When the exoskeleton senses the pressure, it will start the control function and select forward, backward, acceleration and deceleration according to the wearer's forward and backward leaning. The seat cushion 160 will detect the posture of the passenger. When the passenger presses down hard, the seat cushion 160 will move down. The height of the seat cushion 160 is adjusted by rotating the left knee joint motor module 100 and the right knee joint motor module 110. At the same time, the left ankle joint motor module 50 and the right ankle joint motor module 60 will rotate at the same time to adjust the position of the center of gravity. When the passenger lifts slightly, the seat cushion 160 will move up and close to the wearer's body. When it is necessary to cross uneven roads or go up and down stairs, the hub motor module can be removed and hung on the back. The pressure sensors inside the left foot piece 30 and the right foot piece 40 sense the pressure of the sole of the foot, and cooperate with the torque sensors of each joint to sense the human body's movement intention, and plan the left ankle joint motor module 50, the right ankle joint motor module 60, the left knee joint motor module 100, the right knee joint motor module 110, the left hip joint motor module 130 and the right hip joint motor module 140. When a person starts to move, a thrust is generated on the exoskeleton. Each joint motor module can sense this state and execute a pre-set motion curve to follow and support the human body to complete the action.

[0050] Optionally, in any of the above embodiments, the left calf support 10 and the right calf support 20 are retractable structures. Optionally, the left thigh support 80 and the right thigh support 90 are retractable structures. In this way, the length of the left calf support 10 and the right calf support 20 or the length of the left thigh support 80 and the right thigh support 90 can be flexibly adjusted, so that the exoskeleton can be used by people of different heights and meet the wearing requirements of people with different leg shapes and lengths.

[0051] Furthermore, in one embodiment, the back of the left calf support 10 and the right calf support 20 are respectively provided with a first baffle 170, and the first baffle 170 extends into the space enclosed by the left calf support 10 and the right calf support 20. Through the first baffle 170 on the inner side of the calf support, when the calf is lifted, the left calf support 10 or the right calf support 20 is assisted to lift the wearer's calf to assist in movement. The back of the left thigh support 80 and the right thigh support 90 are respectively provided with a second baffle 180, and the second baffle 180 extends into the space enclosed by the left thigh support 80 and the right thigh support 90. Through the second baffle 180 on the inner side of the thigh support, during the leg lifting process, the left thigh support 80 or the right thigh support 90 drives the thigh to be lifted through the second baffle 180 to assist in the leg lifting action.

[0052] Optionally, in one embodiment, the back of the main control box 150 is provided with a mounting position for mounting the unused wheel 70. When the wheel 70 is not needed, the wheel 70 is disassembled and mounted on the mounting position of the main control box 150 for easy storage and access.

[0053] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0054] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0056] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0057] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0059] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

Claims

1. A wearable exoskeleton, characterized in that: include Left calf support, right calf support; The left foot piece and the right foot piece are used to place the soles of the wearer's feet; the left foot piece and the right foot piece are respectively provided with pressure sensors inside to detect the contact between the soles of the feet and the device, and judge the state of the wearer during walking; The left ankle joint motor module and the right ankle joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside. The left ankle joint motor module is used to connect the left calf bracket and the left foot piece, and the right ankle joint motor module is used to connect the right calf bracket and the right foot piece; A unicycle, with pedals for placing a left foot piece and a right foot piece on both sides, the unicycle is detachably connected to the left foot piece and the right foot piece, and is used to drive the wearable exoskeleton to move; Left thigh support, right thigh support; The left knee joint motor module and the right knee joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside. The left knee joint motor module is used to connect the left calf bracket and the left thigh bracket, and the right knee joint motor module is used to connect the right calf bracket and the right thigh bracket; The left hip joint motor module and the right hip joint motor module are provided with an absolute value encoder, a torque sensor and a rotation limit structure inside, the left hip joint motor module is connected to the left thigh bracket, and the right hip joint motor module is connected to the right thigh bracket; The main control box is provided with a battery and a gyro sensor, and is used to control the left ankle joint motor module, the right ankle joint motor module, the left knee joint motor module, the right knee joint motor module, the left hip joint motor module and the right hip joint motor module to move in coordination with the unicycle.

2. The wearable exoskeleton according to claim 1, characterized in that: Also includes A waist cross bar, on which the main control box is arranged; The left hip joint motor module is used to connect the left end of the waist cross bar and the left thigh bracket, and the right hip joint motor module is used to connect the right end of the waist cross bar and the right thigh bracket; An acceleration sensor is also provided in the main control box.

3. The wearable exoskeleton according to claim 1, characterized in that: Also includes The top of the left thigh support is connected to the top of the right thigh support, the left hip joint motor module is connected to the top of the left thigh support, and the right hip joint motor module is connected to the top of the right thigh support; A seat cushion, arranged at the top of the left thigh support and the right thigh support, for providing a sitting position for the wearer; The main control box is arranged on the top of the left thigh support and the right thigh support.

4. The wearable exoskeleton according to claim 3, characterized in that: A pressure sensor is provided inside the seat cushion to detect the contact between the wearer's body and the wearable exoskeleton so as to adjust the seat cushion height.

5. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: The left calf support and the right calf support are both retractable structures.

6. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: The left thigh support and the right thigh support are both retractable structures.

7. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: A first baffle is respectively provided on the back of the left calf support and the right calf support, and the first baffle extends into the space enclosed by the left calf support and the right calf support.

8. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: A second baffle is respectively provided on the back of the left thigh support and the right thigh support, and the second baffle extends into the space enclosed by the left thigh support and the right thigh support.

9. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: A mounting position is provided on the back of the main control box for mounting the single wheel member when not in use.

10. The wearable exoskeleton according to any one of claims 1 to 4, characterized in that: The single wheel is a hub motor module.

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