An assisted support multi-position metamorphic exoskeleton

Abstract

The application discloses an assisted supporting multi-position metamorphic exoskeleton, which comprises a hip assembly, a leg metamorphic assembly and a foot assembly; the hip assembly is symmetrically connected with the leg metamorphic assemblies at two ends, and each leg metamorphic assembly is connected with a corresponding foot assembly; the leg metamorphic assembly comprises a thigh connecting rod, a shank connecting rod and a metamorphic mechanism; the metamorphic mechanism comprises a short connecting rod one, a short connecting rod two, a gas spring, a short connecting rod three and a swing rod; the upper end of the short connecting rod one is rotationally connected with the middle part of the thigh connecting rod through a support, the lower end of the short connecting rod one is rotationally connected with one end of the short connecting rod two and one end of the short connecting rod three, the other end of the short connecting rod two is rotationally connected with the middle part of the shank connecting rod through a support, the other end of the short connecting rod three is rotationally connected with the middle part of the gas spring, the upper end of the gas spring is rotationally connected with the upper end of the thigh connecting rod through a support, the lower end of the gas spring is rotationally connected with one end of the swing rod, and the other end of the swing rod is rotationally connected with the lower end of the shank connecting rod. The exoskeleton has three configurations of walking, sitting or kneeling, can provide assisted support for the human body in multiple positions, and can adapt to different working environments.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, and in particular relates to a multi-positional changeable exoskeleton for auxiliary support. Background Technology

[0002] Work-related musculoskeletal disorders are among the most common occupational diseases, second only to occupational pneumoconiosis, chemical poisoning, and noise-induced hearing loss. In certain industries or jobs, the human body needs to maintain specific postures for extended periods. For example, doctors performing surgery often bend forward, with their upper bodies leaning forward and their backs bent. Sometimes, they also need to stand with their knees bent in a semi-kneeling position. Maintaining these postures for long periods puts significant pressure on the lower limbs, lumbar spine, and cervical spine, leading to irreversible damage to the bones. Similarly, workers on assembly lines in industrial production sometimes need to maintain certain postures for extended periods, which can also damage joints and bones, leading to occupational diseases and reduced work efficiency.

[0003] An exoskeleton is a wearable mechanical structure that provides excellent support for the human body, alleviating fatigue and injury caused by maintaining the same posture for extended periods. Existing lower limb support exoskeletons cannot flexibly switch between walking and support modes, failing to simultaneously meet the needs of stable support and flexible movement. Furthermore, most only have a single configuration, considering only a single sitting or semi-kneeling support posture. Therefore, this invention proposes a variable-cell exoskeleton for auxiliary support, which not only assists in normal walking but also provides multi-positional auxiliary support. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention provides a multi-positional, pose-variable exoskeleton for auxiliary support.

[0005] The present invention solves the aforementioned technical problem by adopting the following technical solution:

[0006] A multi-positional variable-cell exoskeleton for auxiliary support, characterized in that the exoskeleton includes a hip component, a leg variable-cell component, and a foot component; the two ends of the hip component are symmetrically connected to the leg variable-cell components, and each leg variable-cell component is connected to a corresponding foot component;

[0007] The leg-modifying assembly includes a thigh link, a calf link, and a modulating mechanism. The modulating mechanism includes a first short link, a second short link, a gas spring, a third short link, and a swing rod. The upper end of the first short link is rotatably connected to the middle of the thigh link via a support. The lower end of the first short link is rotatably connected to one end of the second short link and one end of the third short link. The other end of the second short link is rotatably connected to the middle of the calf link via a support. The other end of the third short link is rotatably connected to the middle of the gas spring. The upper end of the gas spring is rotatably connected to the upper end of the thigh link via a support. The lower end of the gas spring is rotatably connected to one end of the swing rod, and the other end of the swing rod is rotatably connected to the lower end of the calf link. The movement of the modulating mechanism modifies the exoskeleton to a walking, sitting, or kneeling configuration.

[0008] Furthermore, the hip assembly includes a backplate, hip joint links, a first spherical link of the hip joint, and a second spherical link of the hip joint. Both ends of the backplate are connected to one end of the corresponding hip joint link, and the other ends of the two hip joint links are rotatably connected to the lower end of the corresponding first spherical link of the hip joint. The upper ends of the two first spherical links of the hip joint are rotatably connected to the upper end of the corresponding second spherical link of the hip joint, and the lower ends of the two second spherical links of the hip joint are rotatably connected to the upper end of the corresponding thigh link. The rotation axes between the hip joint links and the first spherical link of the hip joint on the same side, the rotation axes between the first spherical link of the hip joint and the second spherical link of the hip joint, and the rotation axes between the second spherical link of the hip joint and the thigh link intersect at a point, which is the center of rotation of the exoskeleton thigh around the hip joint.

[0009] Furthermore, the exoskeleton also includes a support assembly; the support assembly includes a paddle, a support swing arm, a spring, a support rod, a sleeve, and a connecting shaft; the paddle is connected to the lower end of the gas spring, and the upper end of the support swing arm is rotatably connected to the paddle, allowing the paddle to rotate the support swing arm forward or backward; two connecting shafts are horizontally spaced on the upper part of the swing arm, and the upper end of the support rod is connected to the upper part of the swing arm, allowing the support rod to rotate around the two connecting shafts respectively; the spring is fitted onto the support rod, and the sleeve is fitted onto the lower end of the spring and fixedly connected to the spring, while the sleeve is also rotatably connected to the lower end of the support swing arm.

[0010] Furthermore, when the paddle moves the support lever forward, the support lever rotates around the front connecting shaft, and the support assembly provides support in a kneeling posture; when the paddle moves the support lever backward, the support lever rotates around the rear connecting shaft, and the support assembly provides support in a sitting posture.

[0011] Furthermore, in the walking configuration, the swing rod, short link two, and lower leg link all coincide with the human lower leg. Short link two is located between swing rod two and lower leg link. Short link one, short link three, gas spring, and thigh link all coincide with the human thigh. Short link one and short link three are located between gas spring and thigh link. The rotation centers of short link one, short link two, and short link three, the rotation centers of thigh link and lower leg link, and the rotation centers of swing rod and gas spring coincide.

[0012] Furthermore, in the seated configuration, the lower end of the gas spring is located behind the human body, the swing rod is parallel to the ground, short link two and short link three are collinear, short link two and short link three are parallel to the thigh link, and the lower leg link, short link one and the gas spring are parallel.

[0013] Furthermore, in the kneeling position, the lower end of the gas spring is located in front of the human body, the swing rod is parallel to the ground, and the rotation centers of short link one, short link two and short link three, as well as the rotation centers of the thigh link and the lower leg link, coincide with each other.

[0014] Furthermore, the foot assembly includes a calf rod support and a foot plate; the upper end of the calf rod support is rotatably connected to the lower end of the calf connecting rod, and the lower end of the calf rod support is connected to the foot plate.

[0015] Furthermore, the thigh linkage includes an upper thigh linkage and a lower thigh linkage, the connection position between the two is adjustable; the calf linkage includes an upper calf linkage and a lower calf linkage, the connection position between the two is adjustable; the swing rod includes a swing rod one and a swing rod two, the connection position between the two is adjustable.

[0016] Furthermore, the leg-shaped component also includes a thigh support plate and a calf support plate; the thigh support plate is located on the inner side of the upper part of the thigh link, and the calf support plate is located on the inner side of the upper part of the calf link.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. This invention utilizes the characteristics of a variable cell mechanism to achieve exoskeleton variable cell configuration through a leg variable cell component, enabling the exoskeleton to have three configurations: walking (standing), sitting, and kneeling. It can provide auxiliary support for users in multiple postures and adapt to different working environments. It is especially suitable for workers who need to operate in non-standard standing or sitting postures for extended periods, such as those who need to maintain a half-kneeling, bent-knee, or half-squatting, bent-knee, or head-up posture for long periods of time, as well as those who need to sit, bend over, or look up while sitting. This avoids damage to the user's bones, joints, cervical spine, and lumbar spine caused by maintaining the same posture for a long time.

[0019] 2. The variable-cell structure is achieved by rotating the swing arm and adjusting the length of the gas spring. Controlling the extension and retraction of the gas spring allows for adjustment of the sitting and kneeling angles, providing support for users at any angle of forward tilt in a semi-kneeling position and any sitting angle. Simultaneously, the self-locking characteristic of the gas spring allows for locking at any support position, ensuring the stability of the auxiliary support. While achieving stable support, it also provides flexibility for walking. In the walking configuration, the rods of the leg variable-cell component overlap, with no extra branches interfering with the user's movement, and it can flexibly switch between three configurations. The hip component provides the hip joint with three degrees of freedom, allowing the leg structure to perform one or more of flexion / extension, abduction / adduction, and internal / external rotation, meeting the movement needs of the human body during walking. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of an exoskeleton in a walking configuration;

[0021] Figure 2 This is a schematic diagram of an exoskeleton in a seated configuration;

[0022] Figure 3 This is a schematic diagram of the exoskeleton in a kneeling configuration;

[0023] Figure 4 This is a structural diagram of the hip assembly;

[0024] Figure 5 This is a structural diagram of the leg-shaped cellular component;

[0025] Figure 6 This is a structural diagram of the foot components;

[0026] Figure 7 This is a state diagram of the support component in a seated configuration;

[0027] Figure 8 This is a state diagram of the support components in the walking (standing) configuration;

[0028] In the diagram: 1. Hip assembly; 2. Leg support assembly; 3. Foot assembly; 4. Support assembly;

[0029] 101. Backplate; 102. Hip joint link; 103. First spherical link of the hip joint; 104. Second spherical link of the hip joint; 201. Thigh support plate; 202. Upper thigh link; 203. Lower thigh link; 204. Mid-thigh support; 205. Short link one; 206. Short link two; 207. Lower leg support plate; 208. Upper lower leg link; 209. Lower lower leg support; 210. Lower lower leg link; 211. 212. Upper thigh support; 213. Gas spring; 214. Clamp joint; 215. Clamp; 216. Short connecting rod three; 217. Swing rod one; 218. Swing rod two; 301. Lower leg support; 302. Foot plate; 401. Paddle; 402. Support swing rod; 403. Sitting posture limiter; 404. Spring; 405. Support rod; 406. Sleeve; 407. Support seat; 408. Kneeling posture limiter; 409. Connecting shaft. Detailed Implementation

[0030] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the scope of protection of this application.

[0031] This invention provides an auxiliary support multi-positional variable exoskeleton (hereinafter referred to as exoskeleton, see below) Figures 1-8 The device includes a hip assembly 1, a leg variable cell assembly 2, a foot assembly 3, and a support assembly 4. The two ends of the hip assembly 1 are symmetrically connected to the leg variable cell 2, and each leg variable cell assembly 2 is connected to the corresponding foot assembly 3. The two support assemblies 4 are connected to the two leg variable cell assemblies 2 respectively, and provide support for the leg variable cell assemblies 2 in sitting and kneeling positions.

[0032] The hip assembly 1 includes a backplate 101, hip joint links 102, a first spherical link 103 of the hip joint, and a second spherical link 104 of the hip joint. Both ends of the backplate 101 are fixedly connected to one end of the corresponding hip joint link 102. The connection position between the hip joint link 102 and the backplate 101 is adjustable to accommodate the width of the human hip joint. The other ends of the two hip joint links 102 are rotatably connected to the lower ends of the corresponding first spherical links 103 of the hip joint. The upper ends of the two first spherical links 103 are rotatably connected to the upper ends of the corresponding second spherical links 104 of the hip joint. The lower ends of the two second spherical links 104 are connected to the upper ends of the thigh links 202 of the corresponding leg extension assembly 2. The rotational connection at the end; the rotational axes between the hip joint link 102 and the first spherical link 103 of the hip joint, the rotational axes between the first spherical link 103 and the second spherical link 104 of the hip joint, and the rotational axes between the second spherical link 104 of the hip joint and the upper thigh link 202 of the leg variable cell assembly 2 intersect at a point, which is the center of rotation of the leg variable cell assembly 2 around the hip assembly 1. Through the rotational connection between the hip joint link 102, the first spherical link 103 and the second spherical link 104 of the hip joint, the hip assembly 1 satisfies the physiological characteristic of the human hip joint having three degrees of freedom, thereby realizing one or more of the following: leg flexion and extension, abduction and adduction, internal rotation and external rotation.

[0033] The leg support assembly 2 includes a thigh support plate 201, an upper thigh link 202, a lower thigh link 203, a mid-thigh support 204, a first short link 205, a second short link 206, a lower leg support plate 207, an upper lower leg link 208, a lower lower leg support 209, a lower lower leg link 210, an upper thigh support 211, a gas spring 212, a clamp joint 213, a clamp 214, a third short link 215, a first swing rod 216, and a second swing rod 217. The thigh support plate 201 is installed on the inner side of the upper part of the upper thigh link 202 to fix the human thigh and provide upward support for the body when seated. The upper end of the upper thigh link 202 is connected to... The lower end of the second spherical connecting rod 104 of the hip joint is rotatably connected to the lower end of the upper thigh connecting rod 202, which is fixedly connected to the upper end of the lower thigh connecting rod 203. The connection position between the upper thigh connecting rod 202 and the lower thigh connecting rod 203 is adjustable to accommodate different thigh lengths. The upper end of the upper calf connecting rod 208 is rotatably connected to the lower end of the lower thigh connecting rod 203, and the upper end of the lower calf connecting rod 210 is fixedly connected to the lower end of the upper calf connecting rod 208. The connection position between the lower calf connecting rod 210 and the upper calf connecting rod 208 is adjustable to accommodate different calf lengths. The calf support plate 207 is installed on the inner side of the upper part of the upper calf connecting rod 208 to fix the calf and provide support when kneeling. It provides upward support for the human body; one end of the swing rod 216 is rotatably connected to the lower end of the lower leg link 210, and the other end of the swing rod 216 is fixedly connected to one end of the swing rod 217. The connection position between the swing rod 216 and the swing rod 217 is adjustable so that the common length of the swing rod 216 and the swing rod 217 can meet the variation requirements of the leg variation assembly 2; the upper thigh support 211 is installed on the outer side of the upper thigh link 202, the upper end of the gas spring 212 is rotatably connected to the upper thigh support 211, and the lower end of the gas spring 212 is rotatably connected to the other end of the swing rod 217; the upper end of the short link 205 passes through the middle of the thigh. Support 204 is rotatably connected to the upper part of lower thigh link 203. The lower end of short link one 205 is rotatably connected to one end of short link two 206 and one end of short link three 215, and the rotatable connection of the three constitutes a compound rotational joint. The compound rotational joint restricts the entire leg variable cell assembly 2 to a single-degree-of-freedom variable cell mechanism, improving the stability of the exoskeleton in kneeling and sitting postures. The other end of short link two 206 is rotatably connected to the lower part of lower leg link 208 through lower leg support 209. The other end of short link three 215 is rotatably connected to the middle part of gas spring 212 through clamp 214. Short link three 215 is connected to clamp 214 through clamp joint 213.Utilizing the characteristics of the variable-cell mechanism, the exoskeleton can be transformed into standing, sitting, and kneeling positions via the variable-cell leg assembly 2. The swing rod 216 acts as the active component for the variable-cell leg assembly 2. Through the rotation of the swing rod 216 relative to the lower leg link 210, the lower end of the gas spring 212 is positioned behind the body in the sitting position and in front of the body in the kneeling position. The telescoping and locking properties of the gas spring 212 provide support for the body in different postures.

[0034] The foot assembly 3 includes a calf support 301 and a foot plate 302; wherein, the upper end of the calf support 301 is rotatably connected to the lower end of the lower leg connecting rod 210 to realize the rotation of the ankle joint; the lower end of the calf support 301 is fixedly connected to the outer side of the foot plate 302, and the foot plate 302 is in contact with the human foot.

[0035] The support assembly 4 includes a paddle 401, a support swing rod 402, a sitting posture limiting member 403, a spring 404, a support rod 405, a sleeve 406, a support base 407, a kneeling posture limiting member 408, and a connecting shaft 409. The paddle 401 is fixedly connected to the lower end of the gas spring 212, and the upper end of the support swing rod 402 is rotatably connected to the middle of the paddle 401. The paddle 401 can move the support swing rod 402 forward or backward. During exoskeleton transformation, the paddle 401 rotates with the gas spring 212, thereby moving the support swing rod 402 and achieving automatic transformation of the support assembly 4. Two connecting shafts 409 are horizontally spaced on the upper part of the second swing rod 217, and the upper end of the support rod 405 is also connected to the upper part of the second swing rod 217. The support rod 405 can rotate around the two connecting shafts 409. When the lever 401 rotates, the support rod 405 rotates around the front connecting shaft 409 when the support lever 401 rotates the support rod 402 forward; when the lever 401 rotates the support rod 402 backward, the support rod 405 rotates around the rear connecting shaft 409; the support seat 407 is fixedly connected to the lower end of the support rod 405, the spring 404 is fitted on the support rod 405, and the sleeve 406 is fitted on the lower part of the spring 404 and fixedly connected to the lower end of the spring 404. The sleeve 406 is also rotatably connected to the lower end of the support rod 402. Under the action of the support rod 402, the sleeve 406 can slide up and down along the support rod 405; the kneeling limiter 408 and the sitting limiter 403 are respectively installed on the front and rear sides of the upper part of the swing rod 217, and limit the support rod 405 in the kneeling and sitting configurations respectively.

[0036] The working principle and workflow of this invention are as follows:

[0037] The exoskeleton is worn by the user through a backplate 101, a thigh support plate 201, and a calf support plate 207. The backplate 101 is worn around the user's waist. The width between the two hip joint links 102 is adjusted by adjusting the connection position between the hip joint link 102 and the backplate 101 to accommodate the user's hip joint width. The thigh support plate 201 is worn around the user's thigh. The connection position between the upper thigh link 202 and the lower thigh link 203 is adjusted to accommodate the user's thigh length. The calf support plate 207 is worn around the user's calf. The connection position between the upper calf link 208 and the lower calf link 210 is adjusted to accommodate the user's calf length. The footplate 302 is worn around the sole of the user's foot.

[0038] This exoskeleton achieves flexibility by adjusting the length of the gas spring 212 and rotating the swing arm 216, enabling walking (standing) and providing support for the user in sitting or kneeling positions. Figure 1 As shown, in the walking (standing) configuration, swing rod 1 216, swing rod 217, short link 206, upper lower leg link 208, and lower lower leg link 210 all coincide with the user's lower leg, and short link 206 is located between swing rod 217 and upper lower leg link 208. Short link 1 205, short link 3 215, gas spring 212, upper thigh link 202, and lower thigh link 203 all coincide with the user's thigh, and short link 1 205 and short link 3 215 are located between the gas spring and the upper lower leg link 203. Between the lower thigh link 203 and the gas spring 212, the gas spring 212 and the support swing arm 402 are collinear. Adjusting the length of the gas spring 212 makes the rotation centers of the lower thigh link 203 and the upper calf link 208, the combined rotation center of the short link 3 215, the short link 1 205 and the short link 2 206, and the rotation center of the swing arm 217 and the gas spring 212 coincide. In the current configuration, the exoskeleton can enable the user to walk normally or provide support for the user to stand. When the thigh and calf are fully vertical, the exoskeleton enters a singular configuration, and can be shifted to a kneeling or sitting position by moving the swing arm 1 216 forward or backward.

[0039] like Figure 2As shown, the swing lever 216 is pushed backward, causing it to rotate relative to the lower leg link 210. Simultaneously, this drives the other components of the leg-changing assembly 2, causing the gas spring 212 to extend and achieve exoskeleton deformation. During deformation, the gas spring 212 rotates, causing the paddle 401 to rotate synchronously. When the knee joint reaches a certain angle, the paddle 401 pushes the support swing lever 402 to swing backward towards the user. The swing lever 216 is then parallel to the ground and the support base 407 is in contact with the ground. Upon contact with the ground, the device completes the transformation from a walking (standing) posture to a sitting posture. At this time, short link 206 and short link 3 215 are collinear and parallel to the upper thigh link 202 and lower thigh link 203. The upper calf link 208, short link 1 205, and gas spring 212 are parallel to each other. The support rod 405 is limited by the sitting posture limiting component 403. The support component 4 can provide the user with an upward static support force. The sitting posture angle can be adjusted by controlling the extension and retraction of the gas spring 212.

[0040] like Figure 3 As shown, the swing lever 216 is moved forward, causing it to rotate relative to the lower leg link 210 and the upper leg link 208 to rotate relative to the lower thigh link 203. Simultaneously, the gas spring 212 extends, achieving exoskeleton deformation. During deformation, it is necessary to ensure that the rotation centers of the lower thigh link 203 and the upper leg link 208 coincide with the combined rotation center of the short link 215, short link 205, and short link 206. At the same time, the gas spring 212 rotates... The movable lever 401 rotates synchronously. When the knee joint reaches a certain angle, the lever 401 moves the support swing rod 402 to swing forward towards the user. When the swing rod 216 is parallel to the ground and the support seat 407 contacts the ground, the transformation from walking (standing) posture to kneeling posture is completed. At this time, the support rod 405 is limited by the kneeling posture limiting member 408. The support component 4 can provide the user with an upward static support force and adjust the kneeling angle by controlling the extension and retraction of the gas spring 212.

[0041] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A multi-positional, pose-variable extracellular skeleton with auxiliary support, characterized in that, The exoskeleton includes a hip assembly, leg cytoplasmic assemblies, and foot assemblies; the two ends of the hip assembly are symmetrically connected to the leg cytoplasmic assemblies, and each leg cytoplasmic assembly is connected to a corresponding foot assembly. The leg-modifying assembly includes a thigh link, a calf link, and a modulating mechanism. The modulating mechanism includes a first short link, a second short link, a gas spring, a third short link, and a swing rod. The upper end of the first short link is rotatably connected to the middle of the thigh link via a support. The lower end of the first short link is rotatably connected to one end of both the second and third short links. The other end of the second short link is rotatably connected to the middle of the calf link via a support. The other end of the third short link is rotatably connected to the middle of the gas spring. The upper end of the gas spring is rotatably connected to the upper end of the thigh link via a support. The lower end of the gas spring is rotatably connected to one end of the swing rod, and the other end of the swing rod is rotatably connected to the lower end of the calf link. The movement of the modulating mechanism modifies the exoskeleton to a walking, sitting, or kneeling configuration. The hip assembly includes a backplate, hip joint links, a first spherical link of the hip joint, and a second spherical link of the hip joint. Both ends of the backplate are connected to one end of the corresponding hip joint link. The other ends of the two hip joint links are rotatably connected to the lower end of the corresponding first spherical link of the hip joint. The upper ends of the two first spherical links of the hip joint are rotatably connected to the upper end of the corresponding second spherical link of the hip joint. The lower ends of the two second spherical links of the hip joint are rotatably connected to the upper end of the corresponding thigh link. The rotation axes between the hip joint links and the first spherical link of the hip joint on the same side, the rotation axes between the first spherical link of the hip joint and the second spherical link of the hip joint, and the rotation axes between the second spherical link of the hip joint and the thigh link intersect at a point, which is the center of rotation of the exoskeleton thigh around the hip joint. The exoskeleton also includes a support assembly; the support assembly includes a paddle, a support swing arm, a spring, a support rod, a sleeve, and a connecting shaft; the paddle is connected to the lower end of the gas spring, and the upper end of the support swing arm is rotatably connected to the paddle, allowing the paddle to rotate the support swing arm forward or backward; two connecting shafts are horizontally spaced on the upper part of the swing arm, and the upper end of the support rod is connected to the upper part of the swing arm, allowing the support rod to rotate around the two connecting shafts respectively; the spring is fitted onto the support rod, and the sleeve is fitted onto the lower end of the spring and fixedly connected to the spring, while the sleeve is also rotatably connected to the lower end of the support swing arm.

2. The multi-positional deformable extracellular skeleton with auxiliary support according to claim 1, characterized in that, When the lever moves the support rod forward, the support rod rotates around the front connecting shaft, and the support assembly provides support in a kneeling position. When the lever moves the support rod backward, the support rod rotates around the rear connecting shaft, and the support assembly provides support in a sitting position.

3. The multi-positional deformable extracellular skeleton with auxiliary support according to claim 1, characterized in that, In the walking configuration, the swing rod, short link two, and lower leg link all coincide with the lower leg of the human body. Short link two is located between swing rod two and lower leg link. Short link one, short link three, gas spring, and thigh link all coincide with the thigh of the human body. Short link one and short link three are located between gas spring and thigh link. The rotation centers of short link one, short link two, and short link three, the rotation centers of thigh link and lower leg link, and the rotation centers of swing rod and gas spring coincide.

4. The multi-positional, pose-variable extracellular skeleton with auxiliary support according to claim 1, characterized in that, In the seated position, the lower end of the gas spring is located behind the body, the swing arm is parallel to the ground, short link two and short link three are collinear, short link two and short link three are parallel to the thigh link, and the lower leg link, short link one and the gas spring are parallel.

5. The multi-positional, pose-variable extracellular skeleton with auxiliary support according to claim 1, characterized in that, In the kneeling position, the lower end of the gas spring is located in front of the human body, the swing rod is parallel to the ground, and the rotation centers of short link one, short link two and short link three, as well as the rotation centers of the thigh link and the lower leg link, coincide.

6. The multi-positional, pose-variable extracellular skeleton with auxiliary support according to claim 1, characterized in that, The foot assembly includes a calf support and a foot plate; the upper end of the calf support is rotatably connected to the lower end of the calf connecting rod, and the lower end of the calf support is connected to the foot plate.

7. The multi-positional deformable extracellular skeleton with auxiliary support according to claim 1, characterized in that, The thigh linkage includes an upper thigh linkage and a lower thigh linkage, and the connection position between the two is adjustable; the lower leg linkage includes an upper lower leg linkage and a lower lower leg linkage, and the connection position between the two is adjustable; the swing rod includes a swing rod one and a swing rod two, and the connection position between the two is adjustable.

8. The multi-positional, pose-variable extracellular skeleton with auxiliary support according to claim 1 or 7, characterized in that, The leg support assembly also includes a thigh support plate and a calf support plate; the thigh support plate is located on the inner side of the upper part of the thigh link, and the calf support plate is located on the inner side of the upper part of the calf link.

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