Exoskeleton enhancement auxiliary system

Abstract

The invention relates to the technical field of exoskeleton robots, in particular to an exoskeleton enhancement assisting system which comprises a shank supporting part and a sole supporting part, the shank supporting part is suitable for being connected with the shank of the human body, the sole supporting part is rotationally connected with the shank supporting part through a connecting assembly, and the top face of the sole supporting part is used for abutting against the sole face of the human body. Compared with the traditional design, the exoskeleton enhancement auxiliary system has the advantages that the wearing adaptability and convenience are improved, the use comfort is improved, the stability and safety are ensured, and the additional heating function is provided, so that the exoskeleton enhancement auxiliary system is obviously improved; due to the characteristics, the system is more practical and humanized, and can meet the requirements of a wider range of users, including people with disabled actions.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to an exoskeleton enhanced auxiliary system. Background Art

[0002] With the continuous advancement of science and technology, mechanical exoskeletons have gradually entered people's field of vision as a new type of human-machine integrated mechatronic intelligent equipment. Mechanical exoskeletons connect the human body and machinery in parallel, achieving a perfect combination of human wisdom and mechanical power. In this kind of equipment, people can not only guide the mechanical movements, but also use the power of the machinery to expand their own capabilities.

[0003] As one of the core areas of mechanical exoskeleton research, the lower limb assist mechanical exoskeleton is mainly dedicated to providing effective assistance during the human body's weight-bearing walking process. This exoskeleton connects the human lower limbs with the mechanical legs in parallel, and uses the body's balance regulation and gait control to achieve precise control and regulation of the mechanical leg's gait. This innovative design effectively solves the common problems of traditional bipedal robots in gait planning and stability, while providing additional assistance for human walking, significantly improving the human body's ability to walk under weight and reducing fatigue.

[0004] Most of the existing active lower limb exoskeleton robots use sensors to sense human movement intentions and control the motors by running a preset fixed gait. For normal people, this method can meet most of the exoskeleton control needs. Users can control leg movements through their own cognition of the environment, and then control the exoskeleton to complete various actions. However, these robots usually do not have heating and bottom anti-slip functions, and the fixing method of the human calf is cumbersome and not convenient enough.

[0005] For people with limited mobility, it is not enough to rely solely on the perception of human movement intention. Since their perception of the environment cannot be well reflected in the control of the exoskeleton through limb control, more in-depth research and solutions are needed to meet their needs. In view of these problems, it is necessary to propose further technical improvements and innovations to make the lower limb exoskeleton robot more perfect and better serve humans. Summary of the invention

[0006] In view of this, the present invention aims at the deficiencies of the prior art and proposes an exoskeleton enhanced assistance system, aiming to solve at least one of the problems raised by the above background technology.

[0007] The present invention provides an exoskeleton enhancement assist system, comprising: a calf support portion, the calf support portion being suitable for connection with a human calf;

[0008] The sole support part is rotatably connected to the calf support part through a connecting component, the top surface of the sole support part is used to abut against the sole surface of the human body, and the connecting component is used to connect with the ankle of the human body.

[0009] In some embodiments, the calf supporting portion is a first electric telescopic column, which is vertically arranged, and the telescopic end of the first electric telescopic column is arranged upward, and a connecting piece is arranged on the side wall of the bottom mounting end of the first electric telescopic column, and two connecting pieces are symmetrically arranged with the axis of the first electric telescopic column as the axis, and the two mounting ends of the connecting pieces are fixedly connected to the side wall of the bottom mounting end of the first electric telescopic column, and a connecting belt with Velcro is used to be arranged between the two connecting pieces, and the two ends of the connecting belt are respectively fixedly connected to the two connecting pieces, and the calf supporting portion is fixedly connected to the human calf through the connecting belt.

[0010] In some embodiments, the connecting member is a connecting plate, and a first through hole is provided on the connecting plate, and the first through hole is used for fixed connection with the connecting belt.

[0011] In some embodiments, the connection assembly includes:

[0012] A rotating shaft, wherein a rotating end of the rotating shaft is rotatably connected to a bottom mounting end of the first electric telescopic column;

[0013] A second electric telescopic column, wherein the top telescopic end of the second electric telescopic column is fixedly connected to the rotating shaft, the fixed end of the second electric telescopic column is arranged in the middle, and the bottom telescopic end of the second electric telescopic column is fixedly connected to the sole supporting part.

[0014] In some embodiments, a temperature sensor is provided at the middle fixed end of the second electric telescopic column close to the human body, and electric heating wires are provided at the top telescopic end and the bottom telescopic end of the second electric telescopic column close to the human body.

[0015] In some embodiments, the top telescopic end and the bottom telescopic end of the second electric telescopic column are both provided with fixing parts, and two fixing parts are symmetrically arranged with the axis of the second electric telescopic column, and the fixed ends of multiple fixing parts are fixedly connected to the side walls of the top telescopic end and the bottom telescopic end of the second electric telescopic column, and the fixing part is a first connecting plate with a rectangular structure in a transverse cross-section, and a second through hole is provided at one end of the first connecting plate away from the second electric telescopic column, and the two corresponding second through holes are used for fixed connection with the two ends of the connecting belt, and the second electric telescopic column is fixedly connected to the ankle of the human body through the connecting belt.

[0016] In some embodiments, the second electric telescopic column is provided with an arc-shaped groove matching the calf of the human body on the side close to the human body.

[0017] In some embodiments, the sole support portion is a support plate whose transverse cross-section matches the human foot surface, the top surface of the support plate is composed of a plurality of hexagonal telescopic columns, the side walls of the plurality of hexagonal telescopic columns are slidably connected, a first heating wire is arranged at the bottom of the plurality of hexagonal telescopic columns, third through holes are arranged at both ends of the bottom of the support plate close to the forefoot of the human body, a first connecting belt is fixedly connected at two of the third through holes, a first groove is arranged at the bottom of the support plate away from the third through holes, an anti-slip part is arranged in the first groove, and two anti-slip parts are symmetrically arranged with the center line of the first groove as the axis.

[0018] In some embodiments, the anti-slip member is a third electric telescopic column, the top mounting end of the third electric telescopic column is fixedly connected to the top of the first groove, and the bottom telescopic end of the third electric telescopic column is provided with serrations.

[0019] In some embodiments, a control module is further included, and the control module is electrically connected to the first electric telescopic column, the second electric telescopic column, the temperature sensor, the heating wire, the hexagonal telescopic column, the first heating wire, and the third electric telescopic column.

[0020] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0021] Other features and aspects of the present disclosure will become more apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 A front structural cross-sectional view of an exoskeleton enhanced assistance system provided by an embodiment of the present invention;

[0024] Figure 2 A top view of a connection belt of an exoskeleton enhancement assistance system provided by an embodiment of the present invention;

[0025] Figure 3 An axonometric diagram of a second electric telescopic column of an exoskeleton enhanced assistance system provided in an embodiment of the present invention;

[0026] Figure 4 A top view of a support plate of an exoskeleton enhancement assistance system provided by an embodiment of the present invention;

[0027] Figure 5 A side view of a support plate of an exoskeleton enhanced auxiliary system provided by an embodiment of the present invention;

[0028] Figure 6 A partially enlarged view of the exoskeleton enhanced assistance system provided in an embodiment of the present invention.

[0029] Among them: 1. calf support part; 2. sole support part; 3. connection component; 4. first electric telescopic column; 5. connection plate; 6. connection belt; 7. first through hole; 8. rotation axis; 9. second electric telescopic column; 10. temperature sensor; 11. heating wire; 12. first connection plate; 13. second through hole; 14. arc groove; 15. support plate; 16. hexagonal telescopic column; 17. first heating wire; 18. third through hole; 19. first connection belt; 20. first groove; 21. third electric telescopic column; 22. sawtooth. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0031] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0032] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] As mentioned in the background technology, most of the existing active lower limb exoskeleton robots use sensors to sense human movement intentions, and control the motors by running a preset fixed gait. For normal people, this method can meet most of the exoskeleton control needs. Users can control leg movements through their own cognition of the environment, and then control the exoskeleton to complete various actions. However, these robots usually do not have heating and bottom anti-slip functions, and the fixing method of the human calf is cumbersome and not convenient enough. For people with impaired mobility, it is not enough to rely solely on the perception of human movement intentions. Since their cognition of the environment cannot be well reflected in the control of the exoskeleton through limb control, more in-depth research and solutions are needed to meet their needs.

[0035] In order to improve the above problems, the present application proposes an exoskeleton enhanced auxiliary system, which can be fixed to calves of different lengths by setting a first electric telescopic column that can be extended and retracted on the calf support part. This design enables the exoskeleton system to better adapt to the body size of different users and improves the universality of the device; through the connection belt with Velcro, the calf support part and the sole support part can be conveniently and stably connected to the calf and ankle of the human body, and it is convenient to disassemble. This quick loading and unloading design reduces the time required to wear the exoskeleton and improves the user experience; the side of the connecting component close to the human body is provided with an arc-shaped groove that matches the human ankle. This design can make the human body more comfortable during walking and reduce the discomfort caused by the mismatch between the exoskeleton device and the body; the anti-slip part provided at the bottom of the sole support part can enable the device to be used in different environments, improving the stability and safety of the exoskeleton under different ground conditions; the electric heating wire is provided on the connecting component and the electric heating wire is provided on the sole support part, which can be heated according to the actual use environment. This function is particularly suitable for use in cold environments, and can keep the user's legs and feet warm, increase comfort, and may help improve blood circulation; the exoskeleton enhanced assistance system of this application has significant improvements over traditional designs in terms of improving adaptability and convenience of wearing, increasing comfort during use, ensuring stability and safety, and providing additional heating functions. These features make the system more practical and user-friendly, and can meet the needs of a wider range of users, including those with mobility impairments.

[0036] See also Figure 1-6 As shown, an exoskeleton enhanced assistance system according to an embodiment of the present application includes:

[0037] A calf support part 1, the calf support part 1 is suitable for connecting with the calf of a human body;

[0038] The sole support part 2 is rotatably connected to the calf support part 1 through a connecting component 3. The top surface of the sole support part 2 is used to abut against the sole surface of the human body, and the connecting component 3 is used to connect with the ankle of the human body.

[0039] It should be understood that the calf support part 1 is used to connect with the human calf, so that the human calf can drive the calf support part 1 when exercising, and the calf support part 1 can limit and assist the human calf to make corresponding movements. The sole support part 2 is used to connect with the sole of the foot, so that the sole of the human foot will be restricted by the sole support part 2 when exercising, and the sole support part 2 will also assist the sole of the human foot to make corresponding movements.

[0040] In some specific embodiments, the calf supporting portion 1 is a first electric telescopic column 4, which is vertically arranged, and the telescopic end of the first electric telescopic column 4 is arranged upward. A connecting piece is arranged on the side wall of the bottom mounting end of the first electric telescopic column 4, and two connecting pieces are symmetrically arranged with the axis of the first electric telescopic column 4 as the axis. The two mounting ends of the connecting pieces are fixedly connected to the side wall of the bottom mounting end of the first electric telescopic column 4, and a connecting belt 6 with Velcro is used to be arranged between the two connecting pieces. The two ends of the connecting belt 6 are respectively fixedly connected to the two connecting pieces, and the calf supporting portion 1 is fixedly connected to the human calf through the connecting belt 6.

[0041] It should be understood that the first electric telescopic column 4 is a device that performs linear telescopic extension along the human calf, and can be adjusted according to the length of the calf of different wearers, so that the first electric telescopic column 4 can match the length of the wearer's calf to improve comfort; the first electric telescopic column 4 is fixedly connected to the human calf by a connecting belt 6 with Velcro.

[0042] In some specific embodiments, the connecting member is a connecting plate 5 , and a first through hole 7 is provided on the connecting plate 5 . The first through hole 7 is used for fixed connection with the connecting belt 6 .

[0043] It should be understood that the two ends of the connecting belt 6 with Velcro are fixedly connected to the first through holes 7 on the two corresponding connecting plates 5, and the lateral circumference of the wearer's calf is adapted by adjusting the length of the connecting belt 6 with Velcro. The fixed connection between the human calf and the first electric telescopic column 4 is achieved through the Velcro. When the wearer needs to leave the device, the human calf and the first electric telescopic column 4 are separated by unfastening the Velcro.

[0044] In some specific embodiments, the connection component 3 includes:

[0045] A rotating shaft 8, wherein a rotating end of the rotating shaft 8 is rotatably connected to a bottom mounting end of the first electric telescopic column 4;

[0046] The second electric telescopic column 9, the top telescopic end of the second electric telescopic column 9 is fixedly connected to the rotating shaft 8, the fixed end of the second electric telescopic column 9 is arranged in the middle, and the bottom telescopic end of the second electric telescopic column 9 is fixedly connected to the sole support part 2.

[0047] It should be understood that the connecting component 3 is used to connect the calf support part 1 and the sole support part 2. The rotating shaft 8 can ensure that it can follow the movement of the human ankle when the human ankle rotates. The second electric telescopic column 9 has telescopic ends at both ends and the middle end is a fixed end. The second electric telescopic column 9 can adapt to the length of the ankles of different wearers.

[0048] In some specific embodiments, a temperature sensor 10 is provided at the middle fixed end of the second electric telescopic column 9 close to the human body, and a heating wire 11 is provided at the top telescopic end and the bottom telescopic end of the second electric telescopic column 9 close to the human body.

[0049] It should be understood that the temperature sensor 10 can detect the external environment temperature and the wearer's body temperature in real time, and control the heating wire 11 to work and heat according to the external environment temperature and the wearer's body temperature, so that in a cold environment, when the wearer is fixed to the device, the device can heat to the same temperature as the human body through the operation of the heating wire 11, thereby improving the wearer's comfort.

[0050] In some specific embodiments, the top telescopic end and the bottom telescopic end of the second electric telescopic column 9 are both provided with fixings, and two fixings are symmetrically arranged with the axis of the second electric telescopic column 9 as the axis, and the fixed ends of multiple fixings are fixedly connected to the side walls of the top telescopic end and the bottom telescopic end of the second electric telescopic column 9. The fixing is a first connecting plate 12 with a rectangular structure in a transverse cross-section. The first connecting plate 12 is provided with a second through hole 13 at one end away from the second electric telescopic column 9. The two corresponding second through holes 13 are used for fixed connection with the two ends of the connecting belt 6. The second electric telescopic column 9 is fixedly connected to the ankle of the human body through the connecting belt 6.

[0051] It should be understood that both telescopic ends of the second electric telescopic column 9 are provided with corresponding first connecting plates 12, and the connecting belt 6 with Velcro fixes the second electric telescopic column 9 to the ankle of the wearer.

[0052] The ankles of different users vary in size and shape. The adjustable fixing design allows the system to adapt to different ankle needs. Whether it is a loose or tight fixation requirement, the best wearing experience can be achieved through simple adjustment. The connection belt with Velcro makes it easy and convenient to fix the second electric telescopic column to the wearer's ankle. Users can adjust the tightness by themselves, which is not only convenient for daily wear, but also convenient for quick adjustment and removal when needed. The Velcro design on the connection belt ensures that once adjusted to the appropriate position and tightness, it can be firmly kept in place and will not loosen due to vibration or movement. This is especially important for users who use the exoskeleton system for a long time.

[0053] In some specific embodiments, an arc-shaped groove 14 matching the calf of the human body is provided on the side of the second electric telescopic column 9 close to the human body.

[0054] It should be understood that, since there is a protrusion at the ankle of the human body, the second electric telescopic column 9 is provided with an arc-shaped groove 14 adapted to the protrusion at the ankle of the human body, so as to improve the comfort of the wearer.

[0055] In some specific embodiments, the sole support portion 2 is a support plate 15 whose transverse cross-section matches the human foot surface. The top surface of the support plate 15 is composed of a plurality of hexagonal telescopic columns 16. The side walls of the plurality of hexagonal telescopic columns 16 are slidably connected. A first heating wire 17 is arranged at the bottom of the plurality of hexagonal telescopic columns 16. Third through holes 18 are correspondingly arranged at both ends of the bottom of the support plate 15 close to the forefoot of the human body. A first connecting belt 19 is fixedly connected at the two third through holes 18. A first groove 20 is arranged at the bottom of the support plate 15 away from the third through holes 18. An anti-slip part is arranged in the first groove 20. Two anti-slip parts are symmetrically arranged with the center line of the first groove 20 as the axis.

[0056] It should be understood that the multiple hexagonal telescopic columns 16 move independently. When in use, the corresponding hexagonal telescopic columns 16 can be controlled to move up and down according to actual usage conditions to achieve the wearer's comfort level. The first heating wire 17 can ensure that the entire sole support part 2 is always at the same temperature as the human body.

[0057] Multiple hexagonal telescopic columns can be adjusted up and down according to the user's foot shape, thereby adapting to the foot shape of different users, providing personalized support, and greatly increasing the comfort of wearing. The presence of the first heating wire ensures that no matter how the external ambient temperature changes, the sole support part can maintain a temperature close to that of the human body, which increases the comfort of wearing and also avoids the discomfort caused by temperature differences. Since the transverse cross-section of the support plate matches the human foot surface, this provides better support for walking, making walking more stable and reducing walking deviation problems caused by foot fatigue or uneven strength. The layout of multiple hexagonal telescopic columns helps to evenly disperse the pressure from the user's weight and avoid local fatigue or pain caused by excessive pressure at a certain point. The side walls of the telescopic columns are connected by sliding, which enables the entire support plate to be flexibly adjusted according to the foot movements, reducing the degree of foot fatigue during exercise.

[0058] In some specific embodiments, the anti-slip member is a third electric telescopic column 21 , the top mounting end of the third electric telescopic column 21 is fixedly connected to the top of the first groove 20 , and the bottom telescopic end of the third electric telescopic column 21 is provided with saw teeth 22 .

[0059] It should be understood that the third electric telescopic column 21 is controlled to be telescopic according to the actual use environment so that the serrations 22 at the bottom thereof are in contact with the ground to increase friction.

[0060] The serrated design can provide better grip on a variety of surfaces, especially on slippery or uneven surfaces, effectively preventing slip accidents. Whether on dry or wet surfaces, the serrated teeth can be adjusted through telescopic adjustment to adapt to different friction requirements, which provides more safety for users.

[0061] In some specific embodiments, a control module is further included, and the control module is electrically connected to the first electric telescopic column 4 , the second electric telescopic column 9 , the temperature sensor 10 , the heating wire 11 , the hexagonal telescopic column 16 , the first heating wire 17 , and the third electric telescopic column 21 .

[0062] It should be understood that the control module controls the first electric telescopic column 4, the second electric telescopic column 9, the temperature sensor 10, the heating wire 11, the hexagonal telescopic column 16, the first heating wire 17, and the third electric telescopic column 21 to perform corresponding operations.

[0063] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An exoskeleton enhanced assistance system, characterized in that: include: A calf support portion, the calf support portion being adapted to be connected to a human calf; The sole support part is rotatably connected to the calf support part through a connecting component, the top surface of the sole support part is used to abut against the sole surface of the human body, and the connecting component is used to connect with the ankle of the human body.

2. An exoskeleton enhanced assistance system according to claim 1, characterized in that: The calf supporting part is a first electric telescopic column, which is vertically arranged, and the telescopic end of the first electric telescopic column is arranged upward. A connecting piece is arranged on the side wall of the bottom mounting end of the first electric telescopic column, and two connecting pieces are symmetrically arranged with the axis of the first electric telescopic column as the axis. The two mounting ends of the connecting pieces are fixedly connected to the side wall of the bottom mounting end of the first electric telescopic column, and a connecting belt with Velcro is used to be arranged between the two connecting pieces. The two ends of the connecting belt are respectively fixedly connected to the two connecting pieces, and the calf supporting part is fixedly connected to the human calf through the connecting belt.

3. An exoskeleton enhanced assistance system according to claim 2, characterized in that: The connecting member is a connecting plate, and a first through hole is provided on the connecting plate. The first through hole is used for fixed connection with the connecting belt.

4. The exoskeleton enhanced assistance system according to claim 2, characterized in that: The connection component comprises: A rotating shaft, wherein a rotating end of the rotating shaft is rotatably connected to a bottom mounting end of the first electric telescopic column; A second electric telescopic column, wherein the top telescopic end of the second electric telescopic column is fixedly connected to the rotating shaft, the fixed end of the second electric telescopic column is arranged in the middle, and the bottom telescopic end of the second electric telescopic column is fixedly connected to the sole supporting part.

5. An exoskeleton enhanced assistance system according to claim 4, characterized in that: A temperature sensor is arranged at the middle fixed end of the second electric telescopic column close to the human body, and electric heating wires are arranged at the top telescopic end and the bottom telescopic end of the second electric telescopic column close to the human body.

6. An exoskeleton enhanced assistance system according to claim 5, characterized in that: The top telescopic end and the bottom telescopic end of the second electric telescopic column are both provided with fixing parts, and two fixing parts are symmetrically arranged with the axis of the second electric telescopic column as the axis, and the fixed ends of multiple fixing parts are fixedly connected to the side walls of the top telescopic end and the bottom telescopic end of the second electric telescopic column. The fixing part is a first connecting plate with a rectangular structure in a transverse cross-section, and a second through hole is provided at one end of the first connecting plate away from the second electric telescopic column. The two corresponding second through holes are used for fixed connection with the two ends of the connecting belt, and the second electric telescopic column is fixedly connected to the ankle of the human body through the connecting belt.

7. An exoskeleton enhanced assistance system according to claim 6, characterized in that: The second electric telescopic column is provided with an arc-shaped groove matching the calf of the human body on the side close to the human body.

8. The exoskeleton enhanced assistance system according to claim 6, characterized in that: The sole support part is a support plate whose transverse cross-section matches the human foot surface, the top surface of the support plate is composed of a plurality of hexagonal telescopic columns, the side walls of the plurality of hexagonal telescopic columns are slidably connected, a first heating wire is arranged at the bottom of the plurality of hexagonal telescopic columns, third through holes are arranged at both ends of the bottom of the support plate close to the forefoot of the human body, a first connecting belt is fixedly connected at two of the third through holes, a first groove is arranged at the bottom of the support plate away from the third through holes, an anti-slip part is arranged in the first groove, and two anti-slip parts are symmetrically arranged with the center line of the first groove as the axis.

9. The exoskeleton enhanced assistance system according to claim 8, characterized in that: The anti-slip part is a third electric telescopic column, the top mounting end of the third electric telescopic column is fixedly connected to the top of the first groove, and the bottom telescopic end of the third electric telescopic column is provided with saw teeth.

10. The exoskeleton enhanced assistance system according to claim 1, characterized in that: It also includes a control module, which is electrically connected to the first electric telescopic column, the second electric telescopic column, the temperature sensor, the heating wire, the hexagonal telescopic column, the first heating wire, and the third electric telescopic column.

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