A motion enhancement device utilizing an exoskeleton robot

Abstract

This invention provides a motion enhancement device utilizing an exoskeleton robot, comprising a hip exoskeleton, with first actuators mounted on the left and right sides of the hip exoskeleton, the output ends of the first actuators connected to a hip joint connecting plate, a second actuator mounted on the lower end of the hip joint connecting plate, and the output end of the second actuator connected to a leg exoskeleton. The first actuators control the left-right swing of the hip joint connecting plate, and the second actuators control the forward-backward swing of the leg exoskeleton. The leg exoskeleton includes a thigh joint, the upper end of which is connected to the output end of the second actuator, and the lower end of which is mounted to a third actuator. The output end of the third actuator is connected to a lower leg joint, and leg wearables are mounted on both the thigh and lower leg joints. The second actuators control the forward-backward swing of the thigh joint, and the third actuators control the forward-backward swing of the lower leg joint.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a motion enhancement device utilizing an exoskeleton robot. Background Technology

[0002] With the rapid development of technology, the application of exoskeleton robots has become more widespread, especially in the field of mining assistance and mobility, where their application is particularly important. These robots can provide miners with extra strength and support in harsh environments such as coal mines, especially in working conditions that require prolonged standing, walking, and carrying heavy objects, significantly reducing the physical burden on miners and improving work efficiency.

[0003] In the field of mining assistance, exoskeleton robots are particularly suitable for miners who need to work in extreme conditions, such as confined or dangerous environments. These robots can assist miners in performing heavy physical labor, reducing musculoskeletal injuries caused by prolonged high-intensity work. However, in practical applications, using existing exoskeleton robots often requires multiple people to assist in wearing and operating them, necessitating constant information exchange between the miner and others. During this information exchange and operation, information discrepancies can easily occur, affecting work efficiency and even potentially causing accidental injuries to miners.

[0004] Therefore, it is necessary to provide a motion enhancement device utilizing exoskeleton robots to address the problems mentioned in the background section. This device should simplify the wearing and operation process, reduce reliance on multi-person collaboration, and improve the accuracy and reliability of information transmission, ensuring the safety and efficiency of miners during use. Through technological innovation, a more intelligent and automated assistive solution can be provided to miners to meet the specific needs of mining operations. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a motion enhancement device utilizing an exoskeleton robot, comprising a hip exoskeleton, with first actuators mounted on the left and right sides of the hip exoskeleton respectively, the output end of the first actuators connected to a hip joint connecting plate, a second actuator mounted on the lower end of the hip joint connecting plate, and the output end of the second actuator connected to a leg exoskeleton. The first actuators are used to control the left-right swing of the hip joint connecting plate, and the second actuators are used to control the front-back swing of the leg exoskeleton. The leg exoskeleton includes a thigh joint, the upper end of the thigh joint connected to the output end of the second actuator, and a third actuator mounted on the lower end of the thigh joint. The output end of the third actuator is connected to a lower leg joint, and leg wearables are mounted on both the thigh joint and the lower leg joint. The second actuator is used to control the front-back swing of the thigh joint, and the third actuator is used to control the front-back swing of the lower leg joint.

[0006] Preferably, the leg wearable device includes an adjustment seat, on which a drive shaft is vertically rotatably mounted, and two sets of drive shafts are symmetrically arranged front and rear. A fourth driver is connected to the upper end of the drive shaft, and a rotating plate is fixedly sleeved on the drive shaft. A semi-circular cover is fixedly mounted on the outer end of the rotating plate.

[0007] Preferably, the semi-circular cover includes an arc-shaped ring and an elastic silicone cloth. The arc-shaped ring has a sealing cavity inside, and the inner arc wall of the sealing cavity has an inner convex ring. The inner convex ring has concave holes distributed at equal angles, and a venting tube passes through the concave holes. The venting tube is slidably connected to the concave holes. The inner and outer ends of the venting tube are respectively provided with an inner limiting block and an outer limiting block. The outer limiting block is located inside the sealing cavity, and the inner limiting block is located inside the concave holes. The elastic silicone cloth seals and covers the inner ring surface of the arc-shaped ring, and the inner end of the venting tube is bonded to the elastic silicone cloth. An air port is provided between the inner end of the venting tube and the inner limiting block. An air valve is installed on the adjusting seat, and the air valve is connected to the sealing cavity through an air pipe.

[0008] Preferably, both the thigh joint and the calf joint are provided with vertical leg adjustment rails, and the adjustment seat is installed on the leg adjustment rails.

[0009] Preferably, the outer limiting block is equipped with a distance sensor for monitoring the distance between the outer limiting block and the inner convex ring.

[0010] Preferably, a pressure sensor is installed at the inner end of the air duct to monitor the pressure it experiences.

[0011] Preferably, the elastic silicone cloth includes a first elastic silicone cloth and a second elastic silicone cloth. The center of the first elastic silicone cloth is provided with a square second elastic silicone cloth, and the corners of the square second elastic silicone cloth and the corners of the first elastic silicone cloth are connected by a slanted second elastic silicone cloth. The elastic modulus of the second elastic silicone cloth is greater than that of the first elastic silicone cloth.

[0012] Preferably, the hip exoskeleton includes a hip joint wear plate and a locking plate. Positioning plates and elastic clips are respectively installed at both ends of the hip joint, and the end of the locking plate is used for assembling and fixing the positioning plates.

[0013] Compared with the prior art, the present invention provides a motion enhancement device utilizing an exoskeleton robot, which has the following beneficial effects:

[0014] 1. The design structure of the leg wearable device in this invention, with its semi-circular cover arrangement, can fully fix the thigh and calf joints. On the one hand, this is conducive to improving the safety of coal mine workers, and on the other hand, it makes it more convenient for coal mine workers to wear the device.

[0015] 2. The semi-circular cover design of this invention creates a gas-filled airbag that provides contact and fixation to the legs of coal miners. This design improves the contact with the legs, enhancing the reception and feedback of movement information and increasing the accuracy of information transmission. Furthermore, the airbag's flexibility is relatively high, allowing for a slight increase in radial thickness during leg movements. This improves comfort and avoids leg swelling issues associated with fixed leg support. It also allows for real-time monitoring of leg shape changes, enabling timely adjustments to the air pressure to ensure optimal force application. This makes leg training more precise and efficient.

[0016] 3. In this invention, by combining pressure sensors and distance sensors, the assistance for leg movement becomes more flexible and efficient, thus providing assistance for leg movement. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0018] Figure 1 This is a schematic diagram of a motion enhancement device utilizing an exoskeleton robot according to the present invention.

[0019] Figure 2 This is a partial structural diagram of a motion enhancement device utilizing an exoskeleton robot according to the present invention;

[0020] Figure 3 This is a schematic diagram of the leg wearable component of the present invention;

[0021] Figure 4 This is a schematic diagram of the semi-circular cover structure of the present invention;

[0022] Figure 5 This is a partial cross-sectional view of the semi-circular cover structure of the present invention;

[0023] Figure 6 This is a schematic diagram of the unfolded structure of the elastic silicone cloth of the present invention.

[0024] The above figures include the following reference numerals:

[0025] 1. Hip exoskeleton; 2. Leg exoskeleton;

[0026] 3. First actuator; 4. Hip joint connection plate;

[0027] 5. Second drive; 6. Thigh joint;

[0028] 7. Third drive; 8. Lower leg joint;

[0029] 9. Leg support components; 10. Leg adjustment rails;

[0030] 11. Hip joint fitting plate; 12. Positioning plate;

[0031] 13. Locking plate; 14. Elastic clip;

[0032] 91. Adjustment seat; 92. Semi-circular cover;

[0033] 93. Arc-shaped ring; 94. Air valve; 95. Air pipe;

[0034] 921. Fourth drive unit; 922. Drive shaft;

[0035] 923. Rotating plate; 924. Elastic silicone cloth;

[0036] 9241. First elastic silicone cloth; 9242. Second elastic silicone cloth;

[0037] 931. Sealing cavity; 932. Inner convex ring; 933. Concave hole;

[0038] 934. Air guide tube; 935. Outer limiting block; 936. Inner limiting block;

[0039] 937. Air inlet; 938. Distance sensor; 939. Pressure sensor. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0041] Reference Figure 1-6The present invention provides a technical solution: a motion enhancement device using an exoskeleton robot, including a hip exoskeleton 1, with a first driver 3 installed on the left and right sides of the hip exoskeleton 1 respectively, the output end of the first driver 3 connected to a hip joint connecting plate 4, a second driver 5 installed at the lower end of the hip joint connecting plate 4, the output end of the second driver 5 connected to a leg exoskeleton 2, and the first driver 3 is used to control the swing of the hip joint connecting plate 4 in the left and right direction, and the second driver 5 is used to control the swing of the leg exoskeleton 2 in the front and back direction;

[0042] The leg exoskeleton 2 includes a thigh joint 6, the upper end of which is connected to the output of a second driver 5, and a third driver 7 is installed at the lower end of the thigh joint 6. The output of the third driver 7 is connected to a lower leg joint 8, and leg wearers 9 are installed on both the thigh joint 6 and the lower leg joint. The second driver 5 is used to control the swinging of the thigh joint 6 in the front-back direction, and the third driver 7 is used to control the swinging of the lower leg joint 8 in the front-back direction.

[0043] In this embodiment, the leg-wearing device 9 includes an adjustment seat 91, on which a drive shaft 922 is vertically rotatably mounted. Two sets of drive shafts 922 are symmetrically arranged front and rear. A fourth driver 921 is connected to the upper end of the drive shaft 922. A rotating plate 923 is fixedly sleeved on the drive shaft 922. A semi-circular cover 92 is fixedly installed on the outer end of the rotating plate 923. That is, each adjustment seat 91 is provided with two semi-circular covers 92, and the two semi-circular covers 92 can be combined to form a circular sleeve, which can fully fix the thigh joint 6 and the lower leg joint 8. On the one hand, this is conducive to improving the safety of coal mine workers, and on the other hand, it makes it more convenient for coal mine workers to wear.

[0044] Furthermore, the semi-circular cover 92 includes an arc-shaped ring 93 and an elastic silicone cloth 924. The arc-shaped ring 93 has a sealing cavity 931 inside. The inner arc-shaped cavity wall of the sealing cavity 931 has an inner convex ring 932. The inner convex ring 932 has equally angled concave holes 933, and a venting tube 934 passes through the concave holes 933. The venting tube 934 is slidably connected to the concave holes 933. The inner and outer ends of the venting tube 934 are respectively provided with an inner limiting block 936 and an outer limiting block 935. The outer limiting block 935 is located inside the sealing cavity 931, and the inner limiting block 936 is located inside the concave holes 933. That is to say, during the sliding process of the venting tube 934 through the concave holes 933, wherein, combined with... Figure 5As shown, when the air guide tube 934 slides to the right, the outer limiting block 935 restricts the left end of the air guide tube 934 to be inside the sealing cavity 931. When the air guide tube 934 slides to the left, the inner limiting block 936 restricts the right end of the air guide tube 934 to be inside the concave hole 933. The elastic silicone cloth 924 seals and covers the inner ring surface of the arc-shaped ring 93, and the inner end of the air guide tube 934 is bonded to the elastic silicone cloth 924. An air port 937 is provided between the inner end of the air guide tube 934 and the inner limiting block 936. The edge of the elastic silicone cloth 924 is bonded and sealed to the edge of the inner ring surface of the arc-shaped ring 93. That is to say, when the sealing cavity 931... When inflated with gas, the gas enters from the left end of the air duct 934 and exits through the air port 937, causing the elastic silicone cloth 924 to inflate and expand. This forms a retaining airbag composed of a gaseous medium between the coal miner's leg and the circular sleeve. On the one hand, this improves the contact between the retaining airbag and the coal miner's leg, enhancing the reception and feedback of the worker's leg movement information and improving the accuracy of movement information transmission. On the other hand, the retaining airbag between the coal miner's leg and the circular sleeve also has relatively high flexibility. During the movement of the coal miner's thigh and calf, the radial thickness of the retaining airbag acts as a... Its minimal displacement during movement improves the comfort of coal mine workers, avoiding problems such as leg swelling caused by fixed wearing of leg supports. An air valve 94 is installed on the adjusting seat 91, connected to the sealing cavity 931 via an air pipe 95. That is, the air valve 94 controls the air pressure in the sealing cavity 931 within the two semi-circular covers 92, controlling the expansion and contraction of the elastic silicone cloth 924. In other words, when a coal mine worker wears the leg support, the air pressure acts as a fixation force on the worker's legs, gradually forming a fixation airbag. During the process, coal miners can better feel the overall pressure on their legs, making it easier to control and apply force to their legs. Furthermore, as leg exercises progress, the shape of the miners' legs changes. By monitoring changes in air pressure, these changes can be observed in real time, allowing for timely adjustments to the air pressure to ensure optimal force is applied to the legs. This makes the leg exercises more precise and efficient.

[0045] In this embodiment, both the thigh joint 6 and the calf joint 8 are provided with vertical leg adjustment guide rails 10, and adjustment seats 91 are installed on the leg adjustment guide rails 10 to adjust the position of the leg wear pieces 9 on the thigh joint 6 and the calf joint 8, thereby improving the comfort of coal mine workers and improving the fitting accuracy between the leg wear pieces 9 and the thighs and calves of coal mine workers.

[0046] In this embodiment, the outer limiting block 935 is equipped with a distance sensor 938 for monitoring the distance between the outer limiting block 935 and the inner convex ring 932; that is, after the coal mine worker wears the leg-wearing piece 9, the distance sensor 938 monitors the distance between it and the inner convex ring 932 as the initial monitoring distance, combined with... Figure 5 As shown, when the legs of the coal mine worker move, the distance sensor 938 monitors the real-time monitoring distance between the left end of the air duct 934 and the inner convex ring 932 in real time, compares it with the initial monitoring distance, and feeds back to the first driver 3, the second driver 5 and the third driver 7 so that the real-time monitoring distance is consistent with the initial monitoring distance, so that the leg exoskeleton can move in coordination with the legs of the coal mine worker.

[0047] In this embodiment, a pressure sensor 939 is installed at the inner end of the air duct 934 to monitor the pressure it receives. That is, by setting the pressure sensor 939, it is possible to provide leg assistance to users in coal mine usage scenarios. Specifically, when assistance is needed, the required assistance training intensity value is preset. When the pressure sensor 939 reaches the preset assistance intensity value, it feeds back to the first driver 3, the second driver 5, and the third driver 7, so that the monitored value of the pressure sensor 939 is within the assistance intensity value range, thereby providing leg assistance to coal mine workers.

[0048] In this embodiment, the elastic silicone cloth 924 includes a first elastic silicone cloth 9241 and a second elastic silicone cloth 9242. The center of the first elastic silicone cloth 9241 is provided with a square strip of the second elastic silicone cloth 9242, and the corner ends of the square strip of the second elastic silicone cloth 9242 and the corner ends of the first elastic silicone cloth 9241 are connected by oblique strips of the second elastic silicone cloth 9242. The elastic modulus of the second elastic silicone cloth 9242 is greater than that of the first elastic silicone cloth 9241. This makes it easier to form an annular retention ring structure during the expansion of the elastic silicone cloth 924, which is beneficial to forming a relatively stable retention ring structure.

[0049] In this embodiment, the hip exoskeleton 1 includes a hip joint wear plate 11 and a locking plate 13. The two ends of the hip joint wear plate 11 are respectively equipped with a positioning plate 12 and an elastic clip 14, and the end of the locking plate 13 is used for assembling and fixing the positioning plate 12.

[0050] In practice, it includes the following steps:

[0051] S1. The semi-circular cover 92 is opened by the fourth driver 921, and the position of the leg-wearing piece 9 is adjusted by the leg adjustment guide rail 10, and then clamped to the thigh and calf of the coal mine worker.

[0052] S2. Pressurize the sealed cavity 931 by introducing gas through the air valve 94, causing the elastic silicone cloth 924 to bulge and expand until the coal mine worker's legs feel the best comfort, then stop the inflation. During this process, the coal mine worker's legs should remain as still as possible.

[0053] S3. The distance sensor 938 reads the initial monitoring data. That is, the distance sensor 938 monitors the distance between itself and the inner convex ring 932 and sets it as the initial monitoring distance and records it. When the coal mine worker's legs move, the distance sensor 938 monitors the real-time monitoring distance between the left end of the air guide tube 934 and the inner convex ring 932 and compares it with the corresponding initial monitoring distance. At the instant when the coal mine worker's legs move, among the fluctuation data (change amount) monitored by multiple distance sensors 938, the distance sensor 938 with the highest data change and the largest fluctuation data is selected as the directional distance sensor and feeds back to the first driver 3, the second driver 5 and the third driver 7 so that the real-time monitoring distance is consistent with the initial monitoring distance, so that the leg exoskeleton can move in coordination with the coal mine worker's legs.

[0054] S4. When it is necessary to select to assist the legs, the feedback process between the distance sensor 938 and the first driver 3, the second driver 5 and the third driver 7 is paused, and the required assistance intensity value is preset. When the pressure sensor 939 reaches the preset assistance intensity value, and at the instant of the coal mine worker's leg movement, among the fluctuation data (change amount) monitored by multiple pressure sensors 939, the pressure sensor 939 with the largest preferred data change and fluctuation data is selected as the directional pressure sensor, and it feeds back to the first driver 3, the second driver 5 and the third driver 7, so that the monitored value of the pressure sensor 939 is within the assistance intensity value range, thereby assisting the coal mine worker's legs in walking.

[0055] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0057] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0058] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0059] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0060] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A motion enhancement device utilizing an exoskeleton robot, comprising a hip exoskeleton (1), characterized in that, The hip exoskeleton (1) is equipped with a first driver (3) on the left and right sides respectively. The output end of the first driver (3) is connected to a hip joint connecting plate (4). The lower end of the hip joint connecting plate (4) is equipped with a second driver (5). The output end of the second driver (5) is connected to a leg exoskeleton (2). The first driver (3) is used to control the swing of the hip joint connecting plate (4) in the left and right direction, and the second driver (5) is used to control the swing of the leg exoskeleton (2) in the front and back direction. The leg exoskeleton (2) includes a thigh joint (6), the upper end of which is connected to the output end of the second driver (5), and a third driver (7) is installed at the lower end of the thigh joint (6). The output end of the third driver (7) is connected to the lower leg joint (8), and leg wearers (9) are installed on both the thigh joint (6) and the lower leg joint (8). The second driver (5) is used to control the swing of the thigh joint (6) in the front-back direction, and the third driver (7) is used to control the swing of the lower leg joint (8) in the front-back direction. The leg wearable device (9) includes an adjustment seat (91), on which a drive shaft (922) is vertically rotatably mounted, and two sets of drive shafts (922) are symmetrically arranged in front and behind. A fourth driver (921) is connected to the upper end of the drive shaft (922), and a rotating plate (923) is fixedly sleeved on the drive shaft (922). A semi-circular cover (92) is fixedly mounted on the outer end of the rotating plate (923). The semi-circular cover (92) includes an arc-shaped ring (93) and an elastic silicone cloth (924). The arc-shaped ring (93) has a sealing cavity (931) inside. The inner arc wall of the sealing cavity (931) has an inner convex ring (932). The inner convex ring (932) has multiple concave holes (933), and a guide tube (934) passes through the concave holes (933). The guide tube (934) is slidably connected to the concave holes (933). The inner and outer ends of the guide tube (934) are respectively provided with an inner limiting block (936) and an outer limiting block (935). The outer limiting block (935) is located inside the sealing cavity (931), and the inner limiting block (936) is located inside the concave holes (933). The elastic silicone cloth (924) is sealed and covered on the inner ring surface of the arc ring (93), and the inner end of the air guide tube (934) is bonded to the elastic silicone cloth (924). An air port (937) is provided between the inner end of the air guide tube (934) and the inner limiting block (936). An air valve (94) is installed on the adjusting seat (91), and the air valve (94) is connected to the sealing cavity (931) through an air pipe (95); The elastic silicone cloth (924) includes a first elastic silicone cloth (9241) and a second elastic silicone cloth (9242). The first elastic silicone cloth (9241) has a square second elastic silicone cloth (9242) at its center, and the corners of the square second elastic silicone cloth (9242) and the corners of the first elastic silicone cloth (9241) are connected by the oblique second elastic silicone cloth (9242). The elastic modulus of the second elastic silicone cloth (9242) is greater than that of the first elastic silicone cloth (9241).

2. The motion enhancement device utilizing an exoskeleton robot according to claim 1, characterized in that, Both the thigh joint (6) and the calf joint (8) are provided with vertical leg adjustment rails (10), and the adjustment seat (91) is installed on the leg adjustment rails (10).

3. The motion enhancement device utilizing an exoskeleton robot according to claim 1, characterized in that, The outer limiting block (935) is provided with a distance sensor (938) for monitoring the distance between the outer limiting block (935) and the inner convex ring (932).

4. The motion enhancement device utilizing an exoskeleton robot according to claim 1, characterized in that, The inner end of the air duct (934) is equipped with a pressure sensor (939) to monitor the pressure it receives.

5. The motion enhancement device utilizing an exoskeleton robot according to claim 1, characterized in that, The hip exoskeleton (1) includes a hip joint wear plate (11) and a locking plate (13). The two ends of the hip joint wear plate (11) are respectively equipped with a positioning plate (12) and an elastic clip (14). The end of the locking plate (13) is used to assemble and fix with the positioning plate (12).

6. The motion enhancement device utilizing an exoskeleton robot according to claim 1, characterized in that, The plurality of the recessed holes (933) are distributed at equal intervals along the circumference of the inner convex ring (932).

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