Exoskeleton device with return driving part

Abstract

The invention belongs to the technical field of exoskeleton devices, and provides an exoskeleton device with a return driving part, which comprises a main body, a left rotating body and a right rotating body, the main body is fixed on the back of a human body when being worn, and the main body comprises a main battery and a controller; the left-right rotating body comprises a middle support, an upper support rotating on the upper side of the middle support, and a lower support rotating on the lower side of the middle support, the middle support is provided with an upper driving part, a lower driving part and a return driving part, the upper driving part drives the upper support to rotate, the lower driving part drives the lower support to rotate, and the return driving part drives the lower support to return. The lower driving part enables the lower side supporting piece to rotate; the main body and the left and right rotating bodies are respectively connected through left and right connecting parts. According to the present invention, rotation of the rotating shaft is limited using an auxiliary power supply without providing a main power supply, and then the drive motor is driven at a low speed from a walking state to an upright state. Therefore, a wearer wearing the exoskeleton device can safely return to an upright position without losing the center of gravity.

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