Lumbar vertebra assisting exoskeleton robot

Abstract

The invention discloses a lumbar assisting exoskeleton robot which comprises a chest connecting piece, a waist connecting piece, two sets of variable-rigidity soft actuators and at least one set of variable-rigidity soft actuators. The chest connecting piece and the waist connecting piece are arranged up and down, and the two sets of variable-rigidity soft actuators and the at least one set of variable-rigidity soft actuators are arranged on the left side and the right side of the chest connecting piece and the waist connecting piece respectively. The variable-rigidity soft actuator comprises a rear end cover, a soft continuum, a blocking material, an outer film and a front end cover, a plurality of air cavities are formed in the soft continuum, the front end cover and the rear end cover seal the two ends of the soft continuum to form a sealed positive pressure cavity, a vacuum sealing cavity is formed between the surface of the soft continuum and the inner side of the outer film, and the front end cover and the rear end cover are connected through the blocking material. The blocking material is arranged in the vacuum sealing cavity, bending, stretching and rigidity adjustment of the variable-rigidity soft actuator are achieved by adjusting the air pressure in the positive pressure cavity and the negative pressure in the vacuum sealing cavity, and the lumbar vertebra of the human body is driven to do pitching, twisting and lateral bending movement. The problem that an existing lumbar vertebra robot is difficult to carry out all-around assistance or rehabilitation training on the lumbar vertebra of the human body is solved.

Description

Technical Field

[0001] The present invention belongs to the field of rehabilitation equipment, and in particular relates to a lumbar vertebra power-assisted exoskeleton robot. Background Art

[0002] Most of the existing exoskeleton rehabilitation or power-assisting devices are driven by traditional servo motors. Traditional drive motors are made of rigid materials, and their shapes adapt to specific external constraints and obstacles, and they are highly precise. However, there are two major problems that are difficult to overcome: rigid drives mostly transmit driving force through hinges and connecting rod structures. Each additional degree of freedom requires the addition of corresponding kinematic pairs, resulting in an extremely complex structure of the transmission mechanism and limited flexibility. Rigid drives are mostly made of rigid materials, and it is difficult to show high deformability and adaptability to different situations. Although they can interact with people or the environment through sensor feedback control, they still have great safety risks.

[0003] The human lumbar spine has three degrees of freedom, namely pitch, twist and scoliosis. The transmission structure of multi-motor drive is complex, so most lumbar robots can only assist or rehabilitate the human lumbar spine in one direction, and rarely assist or rehabilitate the human lumbar spine in three directions.

[0004] Wang Zongbao et al. applied for a protective lumbar rehabilitation exercise device (authorization announcement number: CN116725827A). All drives are driven by servo motors, which not only increases the weight of the entire robot and adds extra burden to the human body, but also has a complex transmission structure and can only train the human lumbar spine in the pitch direction. Ding Xiaohua applied for a power-assisted lumbar rehabilitation device (application publication number CN113730182A) that uses rigid transmission. Not only is the entire device relatively large and difficult to carry, but it can only assist the human lumbar spine in one direction. Therefore, the existing lumbar robots are not only extremely complex in structure, resulting in heavy weight, poor environmental adaptability, and safety hazards, but also have a small number of degrees of freedom, making it difficult to provide all-round power assistance or rehabilitation training for the human lumbar spine. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a lumbar vertebrae-assisted exoskeleton robot, which solves the technical problems that the prior lumbar vertebrae robots are not only extremely complex in structure, resulting in heavy weight, and poor environmental adaptability, which poses a safety hazard, but also have few degrees of freedom, making it difficult to provide all-round assistance or rehabilitation training for the human lumbar spine.

[0006] The present invention provides a lumbar assisted exoskeleton robot, comprising a chest connector and a waist connector arranged up and down, and two groups and at least one group of variable stiffness soft actuators respectively arranged on the left and right of the chest connector and the waist connector and located in the middle, one end of each group of variable stiffness soft actuators is fixed to the waist connector, and the other end is connected to the chest connector through a universal ball head, the variable stiffness soft actuator comprises a rear end cover, a soft continuum, a blocking material, an outer membrane and a front end cover, a plurality of air cavities are arranged in the soft continuum, the front end cover and the rear end cover respectively seal the two ends of the soft continuum to form a sealed positive pressure cavity, a vacuum sealing cavity is arranged between the surface of the soft continuum and the inner side of the outer membrane, the blocking material is arranged in the vacuum sealing cavity, and the bending, elongation and stiffness adjustment of the variable stiffness soft actuator are realized by adjusting the air pressure in the positive pressure cavity and the negative pressure in the vacuum sealing cavity, thereby driving the human lumbar spine to perform pitching, twisting and scoliosis movements.

[0007] Furthermore, by injecting negative pressures of different magnitudes into the vacuum sealing cavity, different friction forces are generated between the blocking materials, between the blocking material and the surface of the soft continuum, and between the blocking material and the outer membrane, thereby achieving stiffness adjustment of the variable stiffness soft actuator.

[0008] Furthermore, there are three air cavities, and the expansion and elongation of the three air cavities are controlled by adjusting the size of the injected positive pressure. When the positive pressure injected into the three air cavities is the same, the variable stiffness soft actuator shows elongation. When there are differences in the positive pressure injected into the three air cavities, the variable stiffness soft actuator shows elongation and bending.

[0009] Furthermore, the rear end cover is provided with positive pressure holes corresponding to the three air cavities respectively, the positive pressure holes form an equilateral triangle and the center coincides with the axis of the soft continuum, and the rear end cover is provided with three evenly distributed negative pressure holes corresponding to the vacuum sealing cavity, and the negative pressure holes are connected to the vacuum sealing cavity.

[0010] Furthermore, the blocking material is formed by stacking a number of flexible films, and adjacent films are movably connected. The film includes a rectangular outer edge and a number of saw teeth arranged in sequence, and circular holes and waist-shaped holes are arranged in sequence on the outer edge in the direction in which the width of each saw tooth increases. The film is a tubular multi-layer structure formed by winding the film along the circular holes and the waist-shaped holes through a wire.

[0011] Furthermore, a plurality of restriction ring installation openings are provided on the surface of the soft continuum along the axial direction, and the restriction ring installation openings are used to install restriction rings.

[0012] Furthermore, the chest connector and the waist connector are respectively provided with an L-shaped base, the two L-shaped bases are mirror-arranged and the vertical surfaces are respectively fixedly connected to the chest connector and the waist connector, the L-shaped base on the chest connector is connected to the front end cover of the variable stiffness soft actuator through a universal ball head, and the L-shaped base on the waist connector is directly connected to the rear end cover of the variable stiffness soft actuator.

[0013] Furthermore, a middle hole is provided in the middle of the soft continuum.

[0014] Furthermore, the waist connector and the chest connector are designed according to ergonomics to be U-shaped structures that fit the waist and chest.

[0015] Furthermore, the waist connector and the chest connector are fixed to the waist and chest of the human body through the waist buckle and the chest socket respectively, and the chest connector is also provided with a shoulder strap that is placed on the shoulders of the human body.

[0016] Beneficial Effects

[0017] The present invention uses multiple groups of parallel variable stiffness actuators to form a lumbar vertebrae-assisted exoskeleton robot. The variable stiffness soft actuator is connected to the chest connector through a universal ball head and has three degrees of freedom, namely, bending in two directions at the rear end cover and elongation along the axial direction. The combined movement of multiple parallel variable stiffness actuators and their mutual position coordination and output force control can drive the human lumbar spine to perform pitch, twist and lateral bending movements, thereby performing all-round assistance or rehabilitation training for the human lumbar spine. The lumbar vertebrae-assisted exoskeleton robot uses a soft drive method that is completely different from traditional drives, and has flexibility and safety. The entire exoskeleton has a light weight, is easy to wear, reduces the extra burden on the human body, and is easy to transport.

[0018] The present invention forms a lumbar vertebra assisting exoskeleton robot through multiple groups of variable stiffness actuators in parallel. The mutual position coordination and output force control can drive the human lumbar spine to perform pitch, twist and lateral bending movements, and provide all-round assistance or rehabilitation training for the human lumbar spine. The present invention injects different amounts of positive pressure into the three positive pressure sealed chambers on the variable stiffness soft actuator, so that the entire driver can achieve bending and extension in different directions; by introducing different amounts of negative pressure into the vacuum sealed chamber, the output force of the variable stiffness soft actuator can be controlled. The lumbar vertebra assisting exoskeleton robot proposed in the present invention uses a soft drive method that is completely different from the traditional drive, and has flexibility and safety; the variable stiffness soft actuator has three degrees of freedom, and the joint movement of multiple parallel mechanisms can fully adapt to the complex movements of the human lumbar spine; due to the simple transmission structure, the entire exoskeleton has a lighter mass, is easy to wear, reduces the extra burden on the human body, and is easy to transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1A three-dimensional image of the lumbar vertebrae assisting exoskeleton robot of the present invention;

[0020] Figure 2 is a cross-sectional schematic diagram of a variable stiffness soft actuator;

[0021] Figure 3 for Figure 2 AA section marked on top;

[0022] Figure 4 The three-dimensional internal structure diagram of the variable stiffness soft actuator;

[0023] Figure 5 Schematic diagram of the bending state of the variable stiffness soft actuator;

[0024] Figure 6 It is a schematic diagram of the structure of the soft continuum;

[0025] Figure 7 It is a schematic diagram of the blocking material plane;

[0026] Figure 8 A schematic diagram of the curling of the blocking material;

[0027] Fig. 9 This is the lumbar lateral swing assist diagram of the present invention;

[0028] Fig.10 This is a diagram of the lumbar vertebra torsion assistance of the present invention;

[0029] Fig.11 This is a diagram of the lumbar vertebra bending assistance of the present invention.

[0030] In the figure: 1. variable stiffness soft actuator, 11. rear end cover, 111. connecting hole, 112. negative pressure air hole, 113. positive pressure air hole, 12. soft continuum, 121. air cavity A, 122. air cavity B, 123. air cavity C, 124. middle hole, 125. limiting ring installation port, 13. limiting ring, 14. blocking material, 141. round hole, 142. waist-shaped hole, 15. outer membrane, 16. front end cover, 17. vacuum sealing chamber; 2. actuator base; 3. waist connector; 4. waist buckle; 5. universal ball head; 6. ball head base; 7. chest connector; 8. shoulder strap; 9. chest buckle. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, 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 the present invention can be understood by specific circumstances.

[0034] Example 1

[0035] like Figure 1 As shown, an embodiment of the present invention provides a lumbar assisted exoskeleton robot, comprising a chest connector 7 and a waist connector 3 arranged above and below, and two groups of variable stiffness soft actuators 1 respectively arranged on the left and right of the chest connector 7 and the waist connector 3 and at least one group located in the middle, one end of each group of variable stiffness soft actuators 1 is fixed to the waist connector 3, and the other end is connected to the chest connector 7 through a universal ball head 5, and the variable stiffness soft actuator 1 includes a rear end cover 11, a soft continuum 12, a blocking material 14, and an outer membrane 15. and a front end cover 16, a plurality of air cavities are arranged in the soft continuum 12, the front end cover 16 and the rear end cover 11 respectively seal the two ends of the soft continuum 12 to form a sealed positive pressure cavity, a vacuum sealing cavity 17 is arranged between the surface of the soft continuum 12 and the inner side of the outer membrane 15, and the blocking material 14 is arranged in the vacuum sealing cavity 17, and the bending, elongation and stiffness adjustment of the variable stiffness soft actuator 1 are realized by adjusting the air pressure in the positive pressure cavity and the negative pressure in the vacuum sealing cavity 17, thereby driving the human lumbar spine to perform pitch, twist and lateral bending movements.

[0036] The present invention uses multiple groups of parallel variable stiffness actuators to form a lumbar vertebrae-assisted exoskeleton robot. The variable stiffness soft actuator is connected to the chest connector through a universal ball head and has three degrees of freedom, namely, bending in two directions at the rear end cover and elongation along the axial direction. The combined movement of multiple parallel variable stiffness actuators and their mutual position coordination and output force control can drive the human lumbar spine to perform pitch, twist and lateral bending movements, thereby performing all-round assistance or rehabilitation training for the human lumbar spine. The lumbar vertebrae-assisted exoskeleton robot uses a soft drive method that is completely different from traditional drives, and has flexibility and safety. The entire exoskeleton has a light weight, is easy to wear, reduces the extra burden on the human body, and is easy to transport.

[0037] Example 2

[0038] like Figure 1-10 As shown, an embodiment of the present invention provides a lumbar assisted exoskeleton robot, including a variable stiffness soft actuator 1, a rear end cover 11, an actuator base 2, a waist connector 3, a waist buckle 4, a universal ball head 5, a ball head base 6, a chest connector 7, a shoulder strap 8, and a chest buckle 9. The lumbar assisted exoskeleton robot has three groups of variable stiffness soft actuators 1 connected in parallel, which are respectively located on the left and right sides and the middle part. Each group of variable stiffness soft actuators 1 is connected to the chest connector 7 through a universal ball head 5. The variable stiffness soft actuator 1 includes a rear end cover 11, a soft continuum 12, a blocking material 14, an outer membrane 15 and a front end cover 16. The front end cover 16 and the rear end cover 11 are respectively adhered to the two ends of the soft continuum 12 by organic silica gel, so that the multiple air cavities in the middle of the soft continuum 12 form a sealed positive pressure cavity. A vacuum sealing cavity 17 is provided between the surface of the soft continuum 12 and the inner side of the outer membrane 15. The blocking material is provided in the vacuum sealing cavity 17. By adjusting the air pressure in the positive pressure cavity and the negative pressure in the vacuum sealing cavity 17, the bending and elongation states of the variable stiffness soft actuator 1 also change accordingly. The different bending and elongation motions of the three groups of parallel variable stiffness soft actuators 1 are coordinated and the stiffness is adjusted, so that the human lumbar spine produces pitch, twist and scoliosis motions.

[0039] In this embodiment, different negative pressures are introduced into the vacuum sealing chamber 17, resulting in friction between the blocking materials 14, between the blocking material 14 and the surface of the soft continuum 12, and between the blocking material 14 and the outer membrane 15. All the friction constitutes interlayer resistance, thereby adjusting the stiffness of the variable-stiffness soft actuator 1.

[0040] In this embodiment, three air cavities are provided in the soft continuum 12, namely, air cavity A 121, air cavity B 122 and air cavity C 123. The expansion and elongation of the three air cavities are controlled by adjusting the size of the injected positive pressure. When the positive pressure injected into the three air cavities is the same, the variable stiffness soft actuator 1 shows elongation. When there is a difference in the positive pressure injected into the three air cavities, the variable stiffness soft actuator 1 shows elongation and bending.

[0041] In this embodiment, the rear end cover 11 is provided with a plurality of positive pressure air holes 113 and negative pressure air holes 112, each positive pressure air hole 113 is connected to an air cavity, the three positive pressure air holes 113 form an equilateral triangle and the center coincides with the axis of the soft continuum 12, and the negative pressure air hole 112 is connected to the vacuum sealing cavity 17.

[0042] Specifically, the three positive pressure holes 113 on the rear end cover 11 are used to respectively connect the air cavity A121, the air cavity B122 and the air cavity C123 on the soft continuum 12. When different air pressures are introduced into the three positive pressure holes 113, the air cavities A121, B122 and C123 connected thereto expand and stretch to different degrees, thereby causing the bending and stretching of the variable stiffness soft actuator 1. When the air cavities A121, B122 and C123 are injected with the same positive pressure, the expansion and stretching of the three cavities are the same, so the variable stiffness actuator 1 shows stretching; when the air cavities A121, B122 and C123 are injected with different positive pressures, the expansion and stretching of the three cavities are different, and the three cavities restrict each other, so the variable stiffness actuator 1 shows stretching and bending. When positive pressure is injected into air cavity A121 and air cavity B122 and air cavity C123 are at normal pressure, variable stiffness actuator 1 will produce Figure 5 Bending and elongation effects shown.

[0043] The negative pressure pores 112 are used to connect the external negative pressure with the vacuum sealing chamber 17. The blocking materials 14 are stacked layer by layer in the vacuum sealing chamber 17. When the soft continuum 12 is stretched or bent, the blocking materials 14 are misaligned. The negative pressure injected into the vacuum sealing chamber 17 causes friction between the blocking materials 14, between the blocking materials 14 and the surface of the soft continuum 12, and between the blocking materials 14 and the outer membrane 15. All the friction constitutes interlayer resistance, thereby improving the stiffness of the variable stiffness actuator 1. Different sizes of negative pressure injected into the vacuum sealing chamber 17 will generate different sizes of friction, thereby achieving adjustable output force of the variable stiffness soft actuator. Generally, the greater the negative pressure, the greater the output force.

[0044] In this embodiment, the blocking material 14 is formed by stacking a number of flexible films, and adjacent films are movably connected. The film includes a rectangular outer edge and a number of saw teeth arranged in sequence. In the direction in which the width of each saw tooth increases, circular holes 141 and waist-shaped holes 142 are arranged on the outer edge in sequence. The film is a multi-layer structure formed by winding the film along the circular holes 141 and the waist-shaped holes 142 through a wire to form a tubular shape.

[0045] Specifically, the blocking material 14 can be made of any film with bending properties. Under the same negative pressure, the blocking material 14 made of different materials will produce different interlayer resistances, resulting in different output forces of the variable stiffness soft actuator 1. The blocking material 14 is rolled into a tube and attached to the surface of the soft continuum 12. The blocking material 14 is provided with a plurality of round holes 141 and waist-shaped holes 142. A wire is used to pass through the round holes 141 and the waist-shaped holes 142 to string together multiple pieces of the blocking material 14. The waist-shaped holes 142 can provide a certain amount of slippage.

[0046] In this embodiment, a plurality of limiting ring installation openings 125 for installing limiting rings 13 are provided on the surface of the soft continuum 12 along the axial direction. The limiting rings 13 are used to limit the radial expansion of the variable stiffness soft actuator 1 but do not limit its axial expansion.

[0047] In this embodiment, the actuator base 2 is L-shaped, with through holes on both sides, one side is fixed to the waist connecting piece 3, and the other side is fixed to the connecting hole 111 of the rear end cover 11 on the variable stiffness soft actuator 1; one end of the variable stiffness soft actuator 1 is fixed to the actuator base 2, and the other end is fixed to the universal ball head 5; one end of the universal ball head 5 is fixed to the front end cover 16 on the variable stiffness soft actuator 1, and the other end is fixed to the ball head base 6; the ball head base 6 is L-shaped, with through holes on both sides, one side is connected to the universal ball head 5, and the other side is fixed to the through hole on the chest connecting piece 7, and the actuator base 2 and the ball head base are arranged in a mirror-symmetrical manner.

[0048] In this embodiment, a middle hole 124 is opened in the middle of the soft continuous body 12 to reduce its own weight and increase its bending deformation ability.

[0049] In this embodiment, the waist connector 3 and the chest connector 7 are designed according to ergonomics to be U-shaped structures that fit the waist and chest.

[0050] In this embodiment, the waist connector 3 is fixed to the human waist through the waist buckle 4, and a shoulder strap 8 is tied to the chest connector 7. The entire device is carried on the human shoulder through the shoulder strap 8 and fixed to the human chest through the chest buckle 9.

[0051] The lumbar assisted exoskeleton robot of this embodiment has three groups of variable stiffness soft actuators 1 in parallel, and each group of variable stiffness soft actuators 1 is connected to the chest connector 7 through a universal ball head 5. The different pressure configurations in the air chamber A121, air chamber B122 and air chamber C123 of the variable stiffness actuator 1 cause the bending and elongation states to change accordingly. The different bending and elongation movements of the three groups of variable stiffness soft actuators 1 in parallel make the chest connector 7 connected at the end produce pitch, twist and lateral bending movements, so it can match the movement of the human lumbar spine. And by adjusting the negative pressure in the vacuum sealing chamber 17 on the variable stiffness soft actuator 1, its output force is controlled, so that the human lumbar spine can be driven to move, and the human lumbar spine can be assisted or rehabilitated.

[0052] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A lumbar vertebrae-assisted exoskeleton robot, characterized in that: It includes a chest connector and a waist connector arranged above and below, and two groups and at least one group of variable stiffness soft actuators respectively arranged on the left and right of the chest connector and the waist connector and located in the middle. One end of each group of variable stiffness soft actuators is fixed to the waist connector, and the other end is connected to the chest connector through a universal ball head. The variable stiffness soft actuator includes a rear end cover, a soft continuum, a blocking material, an outer membrane and a front end cover. A plurality of air cavities are arranged in the soft continuum. The front end cover and the rear end cover respectively seal the two ends of the soft continuum to form a sealed positive pressure cavity. A vacuum sealing cavity is arranged between the surface of the soft continuum and the inner side of the outer membrane. The blocking material is arranged in the vacuum sealing cavity. By adjusting the air pressure in the positive pressure cavity and the negative pressure in the vacuum sealing cavity, the bending, elongation and stiffness adjustment of the variable stiffness soft actuator are realized, thereby driving the human lumbar spine to perform pitching, twisting and scoliosis movements.

2. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: By injecting negative pressures of different magnitudes into the vacuum sealing cavity, different friction forces are generated between the blocking materials, between the blocking material and the surface of the soft continuum, and between the blocking material and the outer membrane, thereby achieving stiffness adjustment of the variable stiffness soft actuator.

3. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: There are three air cavities, and the expansion and elongation of the three air cavities are controlled by adjusting the size of the injected positive pressure. When the positive pressure injected into the three air cavities is the same, the variable stiffness soft actuator shows elongation. When there are differences in the positive pressure injected into the three air cavities, the variable stiffness soft actuator shows elongation and bending.

4. The lumbar vertebrae-assisted exoskeleton robot according to claim 3, characterized in that: The rear end cover is provided with positive pressure holes corresponding to the three air cavities respectively, the positive pressure holes form an equilateral triangle and the center coincides with the axis of the soft continuum, and the rear end cover is provided with three evenly distributed negative pressure holes corresponding to the vacuum sealing cavity, and the negative pressure holes are connected to the vacuum sealing cavity.

5. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: The blocking material is formed by stacking a number of flexible films, and adjacent films are movably connected. The film includes a rectangular outer edge and a number of saw teeth arranged in sequence. Circular holes and waist-shaped holes are arranged in sequence on the outer edge in the direction in which the width of each saw tooth increases. The film is a tubular multi-layer structure formed by winding the film along the circular holes and the waist-shaped holes through a wire.

6. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: The surface of the soft continuum is provided with a plurality of restriction ring installation openings along the axial direction, and the restriction ring rotation openings are used to install restriction rings.

7. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: The chest connector and the waist connector are respectively provided with an L-shaped base, the two L-shaped bases are mirror-arranged and the vertical surfaces are respectively fixedly connected to the chest connector and the waist connector, the L-shaped base on the chest connector is connected to the front end cover of the variable stiffness soft actuator through a universal ball head, and the L-shaped base on the waist connector is directly connected to the rear end cover of the variable stiffness soft actuator.

8. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: A middle hole is provided in the middle of the soft continuum.

9. The lumbar vertebrae-assisted exoskeleton robot according to claim 1, characterized in that: The waist connector and the chest connector are designed according to ergonomics to be U-shaped structures that fit the waist and chest.

10. The lumbar vertebrae-assisted exoskeleton robot according to claim 9, characterized in that: The waist connector and the chest connector are respectively fixed to the waist and chest of the human body through the waist buckle and the chest socket, and the chest connector is also provided with a shoulder strap mounted on the shoulders of the human body.

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