Automatic spine corrector and control method thereof

Abstract

The invention relates to the technical field of spine correction instruments, in particular to an automatic spine corrector and a control method thereof. Comprising an upper connecting frame and a lower connecting frame which are arranged on the back side, and a first connecting sleeve is arranged on the upper connecting frame and used for being connected with the corresponding chest section position of the trunk; the lower connecting frame is arranged below the upper connecting frame, a waist support is arranged at the front end of the lower connecting frame, and a second connecting sleeve is arranged corresponding to the lower side of the waist support; the power-assisted connecting piece is connected between the upper connecting frame and the lower connecting frame; the driving device comprises a driver and an inhaul cable, the inhaul cable is connected between the power-assisted connecting piece and a movable part of the driver, and the driver is used for pulling the power-assisted connecting piece in the rear-lower direction through the inhaul cable, so that backward pulling force is generated at the upper connecting frame, and forward pushing force is generated at the waist support; the force measuring sensor is used for detecting the pulling force of the inhaul cable on the power-assisted connecting piece; and the controller is in communication connection with the driver and the force measurement sensor. The spine sagittal plane unbalance can be effectively corrected.

Description

Technical Field

[0001] The present invention relates to the technical field of spinal correction equipment, and in particular to an automatic spinal correction device and a control method thereof. Background Art

[0002] Sagittal imbalance of the spine caused by the loss of lumbar lordosis is a common spinal deformity, mainly caused by degenerative changes in the spine and its surrounding structures (such as paraspinal muscles). In order to keep the line of sight horizontal, patients usually activate compensatory mechanisms, resulting in low back pain and limited motor function. According to statistics, about 20-40% of the elderly over 60 years old suffer from degenerative sagittal imbalance worldwide, and this proportion is gradually increasing with the increase in the elderly population. Such diseases not only cause chronic pain and limited mobility, but also seriously affect the overall quality of life of patients.

[0003] The Chinese invention patent with application number 201910332513.5 discloses a lightweight lumbar assisted rehabilitation exoskeleton robot. The wearer uses the lightweight lumbar assisted rehabilitation exoskeleton robot to perform up and down traction and front and back traction rehabilitation training. The principle of the lumbar front and back flexion and extension traction exercise training is: the spinal lumbar driving mechanism moves to realize the deformation of the spinal lumbar bionic mechanism to drive the wearer to achieve lumbar front and back flexion and extension traction exercise training, which mainly applies lateral thrust to the posterior side of the lumbar spine, but cannot perform backward pulling operation on the thoracic spine at the same time, and the treatment effect on sagittal plane imbalance of the spine is not very targeted. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides an automatic spinal corrector, which can effectively correct sagittal imbalance of the spine.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions: An automatic spinal corrector, comprising: The upper connecting frame and the lower connecting frame are arranged on the back side, the upper connecting frame is provided with a first connecting sleeve, and the first connecting sleeve is used to connect the trunk corresponding to the thoracic section; the lower connecting frame is arranged below the upper connecting frame, the front end of the lower connecting frame is provided with a waist support, and the waist support is used to support the back waist, and the lower connecting frame is provided with a second connecting sleeve corresponding to the lower side of the waist support; A power-assisting connecting piece, which is connected between the upper connecting frame and the lower connecting frame, and the power-assisting connecting piece is rotatably connected to the lower connecting frame; The driving device includes a driver and a cable, the cable is connected between the power-assisting connecting piece and the movable part of the driver, and the driver is used to pull the power-assisting connecting piece in the rearward and downward direction through the cable to generate a backward pulling force at the upper connecting frame and a forward thrust at the waist support; A force sensor is used to detect the pulling force of the cable on the power-assisting connecting piece; The controller is in communication connection with the driver and the force sensor.

[0006] Furthermore, an automatic spinal corrector in the present application also includes a posture detection sensor, which is attached to the body trunk and is communicatively connected to the controller. As a preferred embodiment of the present application, if the pulling force F applied to the power-assisting connecting piece is constant, then when the user bends forward, the gravity on the trunk will offset F, thereby affecting the correction effect. In the present application, the posture detection sensor is used to detect the posture parameters of the body trunk in the sagittal plane, and the controller applies a compensating pulling force p on the basis of controlling the driver to apply a constant pulling force P to the power-assisting connecting piece according to the input posture parameters. Then the total pulling force applied by the driver to the power-assisting connecting piece is F=P+p. This can compensate for the gravity torque of the upper body of the user in real time and balance the influence of gravity on the user when the trunk is leaning forward, especially when bending.

[0007] Furthermore, in the present application, an automatic spinal corrector, the upper connecting frame includes an upper plate and a lower plate, the lower plate is rotatably connected to the lower end of the upper plate, and the first connecting sleeve is an upper strap whose ends are respectively connected to the upper plate and the lower plate. As a preferred embodiment of the present application, the upper plate and the lower plate are rotatably connected to accommodate the pitching movement of the user's torso.

[0008] Further, a spinal automatic corrector in the present application also includes a posture sensor storage box and an elastic band, the posture detection sensor is placed in the posture sensor storage box, the elastic band is arranged on the front side of the upper connecting frame, the two ends of the elastic band are respectively connected to the upper plate and the lower plate, the elastic band is always in an elongated state, and the posture sensor storage box is connected to the rear side of the elastic band. As a preferred embodiment of the present application, if the posture detection sensor is tied to the trunk alone, the cumbersomeness of wearing is increased. While the posture detection sensor is installed on the upper plate or the lower plate, since the upper plate and the lower plate are rigid components that are connected to each other in rotation, the tightness of the upper plate and the lower plate fitting the trunk cannot be guaranteed when the trunk posture changes, thereby affecting the accuracy of posture detection. In the present application, since the elastic band is placed on the front side of the upper connecting frame and the elastic band is always in an elongated state, when the upper plate and the lower plate rotate with each other, the rotation connection point C between the upper plate and the lower plate is placed on the rear side of the elastic band, and the two end points of the elastic band are D and B respectively. If the elastic band is not fitted with the back, the elastic band is one side of the triangle BCD. After being put on, as the upper plate and the lower plate rotate, the elastic band can always be attached to the back, and the posture sensor storage box is connected to the back side of the elastic band, thus ensuring the accuracy of the torso posture collected by the posture detection sensor.

[0009] Furthermore, in the present application, an automatic spinal corrector, the power-assisting connecting member comprises a first rod body rotatably connected to the lower connecting frame and a second rod body connected to the upper connecting frame, the second rod body is slidably connected to the first rod body, and the cable is connected to the first rod body. As a preferred embodiment of the present application, based on the above structure, the power-assisting connecting member can be adjusted in length to accommodate users of different heights.

[0010] Furthermore, in the present application, the automatic spinal corrector, the power-assisting connector and the lower connecting frame are connected by a universal joint. As a preferred solution of the present application, different from the pivot connection, the freedom of the wearer's waist in the frontal plane is ensured, and the lateral rotation and lateral bending of the spine can be adapted.

[0011] Furthermore, in the present application, a spinal automatic corrector is provided, wherein the driver is installed on the rear side of the lower connecting frame corresponding to the lumbar support, the second connecting sleeve is connected below the waist, the driver is a motor, a wire pulley is installed on the output shaft of the motor, and the cable is connected to the wire pulley. As a preferred embodiment of the present application, the driver is installed on the lower connecting frame to improve the compactness of the device, and the wire pulley is driven to rotate by the driver to achieve the tightening and loosening of the cable, thereby controlling the pulling force on the power-assisting connecting member. And because the driver is installed on the rear side of the lower connecting frame corresponding to the lumbar support, the driver is subjected to the reaction force of the cable and the second connecting sleeve to generate a forward thrust on the lumbar support.

[0012] Furthermore, in an automatic spinal corrector in the present application, the force sensor is a tension sensor connected between the cable and the power-assisting connector.

[0013] Furthermore, based on an automatic spinal corrector, the present application provides a control method thereof, wherein the driver applies a tension F=P+p to the cable, wherein: P is a preset constant tension, and the value of P can be adjusted through an input terminal; p is a compensation tension, p=asinθ, wherein a is a preset parameter, and the value of a corresponds to the weight of the user's torso. The user can adjust the value of a through the input terminal to adjust the comfort of eliminating his own weight to meet the user's personalized needs, and θ is the forward tilt angle of the torso detected by the posture detection sensor.

[0014] It can be seen from the above technical solution that the present invention has the following beneficial effects: 1. The present invention provides an automatic spinal corrector, the working method of which is to connect the first connecting sleeve to the chest position, the second connecting sleeve to the waist or below the waist, the waist support to support the lower back, input a preset tension to the controller, and detect the tension value of the cable on the power-assisting connecting piece according to the force sensor. The controller is used to control the driver to pull the power-assisting connecting piece within a preset range. The power-assisting connecting piece generates a backward pulling force on the upper connecting frame and a forward thrust on the waist support, forming a pair of force couples to correct the abnormalities of the lumbar and thoracic vertebrae at the same time. It can effectively improve the treatment effect of sagittal imbalance of the spine.

[0015] 2. The present invention provides a control method for an automatic spinal corrector, which can adjust the tension parameters based on the user's posture to eliminate the influence of gravity on the trunk. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the use of an automatic spinal corrector in an embodiment of the present application; Figure 2 This is a schematic structural diagram of an automatic spinal corrector in an embodiment of the present application (the connecting sleeve is omitted); Figure 3 for Figure 2 A partial enlarged view of the area A in the middle circle; Figure 4 is a schematic diagram of an upper connecting frame in an embodiment of the present application; Figure 5 A schematic diagram of the positions of the upper connecting frame and the elastic band in an embodiment of the present application; Figure 6 Schematic diagram of the internal structure of the lower connecting frame in the embodiment of the present application; Figure 7 Schematic diagram of the forces acting on the trunk after leaning forward.

[0017] In the figure: 1-upper connecting frame; 10-sliding cavity; 111-upper binding belt; 12-connecting seat; 13-upper plate; 131-upper belt groove; 14-lower plate; 140-groove cavity; 141-lower belt groove; 2-lower connecting frame; 21-lumbar support; 22-second connecting sleeve; 24-guide wheel; 25-connecting frame; 251-connecting rod; 252-plate body; 26-pressing block; 261-locking screw; 3-power-assisting connecting piece; 31-first rod body; 311-roller; 32-second rod body; 41-cable; 51-reel; 6-driver; 71-Force sensor; 8- posture sensor storage box; 81- elastic band. DETAILED DESCRIPTION

[0018] Example 1 An automatic spinal corrector, comprising: An upper connecting frame 1 and a lower connecting frame 2 are arranged on the back side, the upper connecting frame 1 is provided with a first connecting sleeve, and the first connecting sleeve is used to connect the trunk corresponding to the thoracic section; the lower connecting frame 2 is arranged below the upper connecting frame 1, and a waist support 21 is arranged at the front end of the lower connecting frame 2, and the waist support 21 is supported at the front end on the back waist, and a second connecting sleeve 22 is arranged on the lower connecting frame 2 corresponding to the lower side of the waist support 21; A power-assisting connecting member 3, which is connected between the upper connecting frame 1 and the lower connecting frame 2, and the power-assisting connecting member 3 is rotatably connected to the lower connecting frame 2; The driving device includes a driver 6 and a cable 41. The cable 41 is connected between the power-assisting connecting member 3 and the movable part of the driver 6. The driver 6 is used to pull the power-assisting connecting member 3 in the rearward and downward direction through the cable 41 to generate a backward pulling force at the upper connecting frame 1 and a forward thrust at the lumbar support 21; The force sensor 71 is used to detect the tension of the cable 41 on the power-assisting connecting member 3 . In this embodiment, the force sensor 71 is a tension sensor connected between the cable 41 and the power-assisting connecting member 3 .

[0019] A controller (not shown) is communicatively connected with the driver 6 and the force sensor 71 .

[0020] In this embodiment, an automatic spinal corrector is provided, and its working method is as follows: the first connecting sleeve is connected to the chest position, the second connecting sleeve 22 is connected to the waist or below the waist, the waist support 21 supports the back waist, and a preset tension is input to the controller. The tension value of the cable 41 on the power-assisting connecting member 3 is detected by the force sensor 71. The controller is used to control the driver 6 to pull the power-assisting connecting member 3 within a preset range. The power-assisting connecting member 3 generates a backward pulling force on the upper connecting frame 1 and a forward thrust on the waist support 21, so as to correct the abnormalities of the lumbar and thoracic vertebrae at the same time. It can effectively improve the treatment effect of sagittal imbalance of the spine.

[0021] Furthermore, if the pulling force F applied to the power-assisting connector 3 is constant, then when the user bends forward, the gravity on the torso will offset F, thereby affecting the correction effect. In this embodiment, a posture detection sensor (not shown) is also included, which is connected to the body trunk, and the posture detection sensor is communicatively connected to the controller. In this embodiment, the posture detection sensor is used to detect the posture parameters of the body trunk in the sagittal plane. The controller applies a compensating tension p on the basis of controlling the driver 6 to apply a constant tension P to the power-assisting connector 3 according to the input posture parameters. Then the total tension applied by the driver 6 to the power-assisting connector 3 is F=P+p. To compensate for the gravity torque of the upper body of the user in real time. To balance the influence of gravity on the user when the torso is leaning forward, especially when bending.

[0022] Combined with Figure 1 、 Figure 2 and Figure 4 As shown, in this embodiment, the upper connecting frame 1 includes an upper plate 13 and a lower plate 14. The lower plate 14 is rotatably connected to the lower end of the upper plate 13. The first connecting sleeve is the upper strap 111 whose end parts are respectively connected to the upper plate 13 and the lower plate 14. In this embodiment, the upper plate 13 and the lower plate 14 are rotatably connected to adapt to the pitching motion of the user's torso. In this embodiment, a pair of upper strap grooves 131 are provided on both sides of the upper plate 13, and a pair of lower strap grooves 141 corresponding to the upper strap grooves 131 are provided on the lower plate 14. The end parts of the upper strap 111 are respectively connected to the upper strap grooves 131 and the lower strap grooves 141. When in use, the upper end of the upper strap 111 is connected to the upper strap groove 131, extends from above and in front of the user's shoulder to hold the corresponding shoulder of the user, and the lower end of the upper strap 111 extends backward from under the user's armpit and is connected to the lower strap groove 141. Specifically, an adjustable strap such as a combined strap connected by a "day" - shaped connecting buckle (not shown) can be used. In this embodiment, the upper plate 13 extends horizontally, the upper strap grooves 131 are provided at both ends of the extending direction of the upper plate 13, the lower plate 14 extends longitudinally, and the lower strap grooves 141 are provided at the lower end of the lower plate 14.

[0023] Furthermore, if the attitude detection sensor is separately strapped to the torso, it increases the wear complexity. And when the attitude detection sensor is installed on the upper plate 13 or the lower plate 14, since the upper plate 13 and the lower plate 14 are rigid components that are rotatably connected to each other, it is impossible to ensure the tightness of the fit between the upper plate 13 and the lower plate 14 and the torso when the torso attitude changes, thus affecting the accuracy of attitude detection. Combined with Figure 4 As shown, in this embodiment, it further includes an attitude sensor storage box 8 and an elastic band 81. The attitude detection sensor is placed in the attitude sensor storage box 8. The elastic band 81 is arranged on the front side of the upper connecting frame 1. Both ends of the elastic band 81 are respectively connected to the upper plate 13 and the lower plate 14. The elastic band 81 is always in a stretched state. The attitude sensor storage box 8 is connected to the rear side of the elastic band 81. A cavity 140 for storing the attitude sensor storage box 8 is provided on the upper connecting frame 1 corresponding to the attitude sensor storage box 8. In this embodiment, since the elastic band 81 is placed on the front side of the upper connecting frame 1 and the elastic band 81 is always in a stretched state, therefore, when the upper plate 13 and the lower plate 14 rotate relative to each other, combined with Figure 5 As shown, the rotation connection point C between the upper plate 13 and the lower plate 14 is placed on the rear side of the elastic band 81. The two end points of the elastic band 81 are D and B respectively. If the elastic band 81 is not in contact with the back, the elastic band 81 is like Figure 5The dotted line shows one side of the triangle BCD. After being put on, as the upper plate 13 and the lower plate 14 rotate, the elastic band 81 can always be attached to the back, and the posture sensor storage box 8 is connected to the rear side of the elastic band 81, so that the accuracy of the posture detection sensor collecting the trunk posture can be guaranteed. In this embodiment, the groove 140 is set on the lower plate 14.

[0024] Combination Figure 2 As shown, in this embodiment, the power-assisting connecting member 3 includes a first rod body 31 rotatably connected to the lower connecting frame 2 and a second rod body 32 connected to the upper connecting frame 1, the second rod body 32 is slidably connected to the first rod body 31, and the cable 41 is connected to the first rod body 31. Based on the above structure, the power-assisting connecting member 3 can be adjusted in length to accommodate users of different heights. In this embodiment, the first rod body 31 is a tubular body sleeved on the second rod body 32, and the first rod body 31 and the second rod body 32 are axially locked by a locking pin.

[0025] In this embodiment, the power-assisting connecting member 3 and the lower connecting frame 2 are connected by a universal joint. Different from a pivot connection, it ensures the freedom of the wearer's waist in the frontal plane and can adapt to the lateral rotation and lateral bending of the spine. Specifically, the universal joint is a fisheye bearing.

[0026] In order to generate a forward thrust at the lumbar support 21, the following two solutions are provided: First, the driver 6 is installed on the rear side of the lower connecting frame 2 corresponding to the lumbar support 21, the second connecting sleeve 22 is connected below the waist, the driver 6 is a motor, a wire wheel 51 is installed on the output shaft of the motor, and the cable 41 is connected to the wire wheel 51. Among them, the driver 6 is installed on the lower connecting frame 2 to improve the compactness of the device, and the wire wheel 51 is driven by the driver 6 to rotate to achieve the tightening and loosening of the cable 41, thereby controlling the pulling force on the power-assisting connecting member 3. And because the driver 6 is installed on the rear side of the lower connecting frame 2 corresponding to the lumbar support 21, the driver 6 is subjected to the reaction force of the cable 41 and the second connecting sleeve 22 to generate a forward thrust on the lumbar support 21. In this embodiment, the wire wheel 51, the cable 41 and the power-assisting connecting member 3 are located on the sagittal plane of the user. In this embodiment, the second connecting sleeve 22 is connected to the hip. With the position where the front end of the lumbar support 21 contacts the back waist as the fulcrum, when the cable 41 acts on the lower connecting frame 2, it generates a torque to pull the hip backward on the second connecting sleeve 22. Combined with the forward thrust of the lumbar support 21, a forward rotation couple is applied to the pelvis, which can simultaneously correct the excessive posterior rotation of the pelvis caused by sagittal plane imbalance of the spine.

[0027] Secondly, the lower connecting frame 2 is provided with a guide wheel 24, which is located at the rear side of the rotating joint between the power-assisting connecting member 3 and the lower connecting frame 2, and the cable 41 is pressed on the side of the guide wheel 24 away from the waist support 21. Based on the above structure, there are two beneficial effects. One is to ensure the inclination angle of the cable 41 relative to the power-assisting connecting member 3, so as to ensure that the cable 41 generates a backward pulling force on the power-assisting connecting member 3; the other is to generate a thrust to push the waist forward at the waist support 21.

[0028] This embodiment includes all the above two solutions, ensuring that the waist support 21 generates sufficient forward thrust.

[0029] In this embodiment, combined with Figure 2 and Figure 6 As shown, a connecting frame 25 that can be adjusted up and down is provided at the bottom of the lower connecting frame 2, and the connecting frame 25 includes a connecting rod 251 that is slidably connected to the lower connecting frame 2 and a plate body 252 that is rotatably arranged at the lower end of the connecting rod 251, and the second connecting sleeve 22 is connected to the plate body 252. It can adapt to users of different body shapes. Specifically, the connecting rod 251 is clamped between a pair of pressing blocks 26 on the lower connecting frame 2, and a locking screw 261 is connected to the pressing block 26, and the sliding adjustment state of the connecting rod 251 is switched by loosening and tightening the locking screw 261.

[0030] Further, combined with Figure 2 and Figure 3 As shown, in this embodiment, it also includes a roller 311 rotatably mounted on one end of the power-assisting connecting member 3 near the upper connecting frame 1. The rollers 311 are mounted in pairs on both sides of the power-assisting connecting member 3. A pair of connecting seats 12 are fixed on the rear side of the upper plate 13. A sliding cavity 10 is provided on the connecting seat 12. The sliding cavity 10 is extended in the spacing direction of the upper connecting frame 1 and the lower connecting frame 2. A pair of rollers 311 are respectively rolled in the sliding cavities 10 on both sides, and the rollers 311 are always separated from the bottom end of the sliding cavity 10. This embodiment is different from the general method of directly hinge the power-assisting connecting member 3 with the upper connecting frame 1. The power-assisting connecting member 3 contacts the side wall of the sliding cavity 10 through the rollers 311 to pull the upper connecting frame 1. Since the rollers 311 are always separated from the bottom end of the sliding cavity 10, they cannot transmit longitudinal tension to the upper connecting frame 1, so as to prevent the power-assisting connecting member 3 from transmitting the downward tension of the cable 41 to the upper connecting frame 1 to generate a downward compression force that is harmful to the spine. Specifically, the roller 311 is a ball bearing connected to the power-assisting connector 3 by screws, so as to avoid the friction between the first rod body 31 and the sliding cavity 10 causing longitudinal pressure.

[0031] Example 2 Based on an automatic spinal corrector provided in Example 1, this embodiment provides a control method thereof, which is: the tension F=P+p applied by the driver 6 to the cable 41, wherein: P is a preset constant tension, and in this embodiment, the value of P can be adjusted through the input terminal; p is a compensation tension, p=asinθ, wherein a is a preset parameter, and the value of a corresponds to the weight of the user's trunk. The user can adjust the value of a through the input terminal to adjust the comfort of eliminating the self-weight to meet the user's personalized needs, and θ is the forward tilt angle of the trunk detected by the posture detection sensor. Combined with Figure 7 As shown, Figure 7 The line segment in the figure which forms an angle θ with the vertical center line is a schematic diagram of the trunk in the forward leaning state. Based on the above method, the tension parameter can be adjusted based on the posture of the user to eliminate the influence of the gravity G of the trunk.

[0032] The technical principles of the present invention are described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations herein, those skilled in the art can associate other specific implementations of the present invention without creative work, and these methods will fall within the scope of protection of the present invention.

Claims

1. An automatic spinal corrector, characterized in that: include: An upper connecting frame (1) and a lower connecting frame (2) are arranged on the back side, the upper connecting frame (1) being provided with a first connecting sleeve, the first connecting sleeve being used to connect to the position of the trunk corresponding to the thoracic section; the lower connecting frame (2) is arranged below the upper connecting frame (1), a waist support (21) is provided at the front end of the lower connecting frame (2), and a second connecting sleeve (22) is provided on the lower connecting frame (2) corresponding to the lower side of the waist support (21); A power-assisting connecting member (3), the power-assisting connecting member (3) being connected between the upper connecting frame (1) and the lower connecting frame (2), the power-assisting connecting member (3) being rotatably connected to the lower connecting frame (2); A driving device, the driving device comprising a driver (6) and a cable (41), the cable (41) being connected between the power-assisting connecting member (3) and a movable part of the driver (6), the driver (6) being used to pull the power-assisting connecting member (3) in a rearward and downward direction via the cable (41), so as to generate a backward pulling force at the upper connecting frame (1) and a forward thrust at the waist support (21); A force sensor (71), the force sensor (71) being used to detect the pulling force of the cable (41) on the power-assisting connecting member (3); A controller is communicatively connected with the driver (6) and the force sensor (71).

2. The automatic spinal corrector according to claim 1, characterized in that: It also includes a posture detection sensor, which is attached to the body trunk and is communicatively connected with the controller.

3. The automatic spinal corrector according to claim 2, characterized in that: The upper connecting frame (1) comprises an upper plate (13) and a lower plate (14), wherein the lower plate (14) is rotatably connected to the lower end of the upper plate (13), and the first connecting sleeve is an upper binding belt (111) whose ends are respectively connected to the upper plate (13) and the lower plate (14).

4. The automatic spinal corrector according to claim 3, characterized in that: It also comprises a posture sensor storage box (8) and an elastic band (81), wherein the posture detection sensor is placed in the posture sensor storage box (8), the elastic band (81) is arranged on the front side of the upper connecting frame (1), the two ends of the elastic band (81) are respectively connected to the upper plate (13) and the lower plate (14), the elastic band (81) is always in a stretched state, and the posture sensor storage box (8) is connected to the rear side of the elastic band (81).

5. The automatic spinal corrector according to claim 1, characterized in that: The power-assist connecting member (3) comprises a first rod body (31) rotatably connected to the lower connecting frame (2) and a second rod body (32) connected to the upper connecting frame (1); the second rod body (32) is slidably adjustable and connected to the first rod body (31); and a cable (41) is connected to the first rod body (31).

6. The automatic spinal corrector according to claim 1, characterized in that: The power-assisting connecting piece (3) and the lower connecting frame (2) are connected via a universal joint.

7. The automatic spinal corrector according to claim 1, characterized in that: The driver (6) is mounted on the lower connecting frame (2) at the rear side of the corresponding waist support (21), and the second connecting sleeve (22) is connected below the waist. The driver (6) is a motor, and a wire wheel (51) is mounted on the output shaft of the motor. The cable (41) is connected to the wire wheel (51).

8. The automatic spinal corrector according to claim 1, characterized in that: The force sensor (71) is a tension sensor, connected between the cable (41) and the power-assisting connecting piece (3).

9. A control method of an automatic spinal corrector, based on the automatic spinal corrector of claim 2, characterized in that: The tension F=P+p applied by the driver (6) to the cable (41) is, where: P is the preset constant tension; p is the compensation tension, p=asinθ, where a is a preset parameter, the value of a corresponds to the weight of the user's torso, and the user can adjust the value of a through the input terminal, and θ is the forward tilt angle of the torso detected by the posture detection sensor.

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