Variable stiffness cervical spine support exoskeleton for long periods of low head work

Abstract

This invention discloses a variable stiffness cervical spine support exoskeleton for prolonged head-down work, comprising two sets of forward flexion support structures arranged relatively apart. Each forward flexion support structure includes a head-side fixation rod and a chest support rod. The head-side fixation rod connects to the chest support rod to form a revolute joint arranged in an L-shape. Each chest support rod has an actuator cavity within its length direction, housing a tensile variable stiffness actuator. The upper end of the tensile variable stiffness actuator is hinged to the chest support rod, and the lower end is hinged to the short arm of the L-shaped rod. The long arm of the L-shaped rod is hinged to the head-side fixation rod. A chin rest is arranged between the head-side fixation rods, with both ends of the chin rest hinged to a guide rail-linkage mechanism on the inner surface of the head-side fixation rod. This invention reduces the strain on the neck muscles of workers during prolonged head-down work and meets the head movement flexibility requirements of related jobs.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a variable stiffness cervical spine support exoskeleton for prolonged periods of working with the head down. Background Technology

[0002] In jobs that require prolonged periods of looking down, such as surgeons performing operations or assembly line workers doing assembly work, workers often have to maintain a forward-bent head and neck posture. The weight of the head puts a great strain on the neck muscles and bones, resulting in a significantly higher probability of neck-related diseases among these individuals compared to the general population.

[0003] Exoskeletons, as wearable devices, provide assistance to wearers in daily work and life, effectively compensating for head gravity and reducing the burden on the cervical spine. Based on their working principles, cervical exoskeletons can be divided into active and passive types. Active exoskeletons are typically equipped with motors and other drive components, resulting in relatively large size and weight, which is not conducive to prolonged wear. In contrast, passive exoskeletons, which are lighter, more compact, and more reliable, offer better practicality. Existing passive cervical exoskeletons mostly use elastic elements such as torsion springs or leaf springs to provide head support. This design largely only allows for flexion and extension of the head, lacking the freedom of left and right rotation, thus restricting the wearer's head movement.

[0004] Furthermore, while these elastic elements can counteract head gravity during static posture maintenance, their non-adjustable stiffness creates resistance during head flexion, increasing strain on neck muscles and impacting user experience. Variable stiffness actuators, as adjustable-stiffness drive elements, can extend and retract with minimal resistance in a flexible state, while being less flexible and able to withstand greater loads in a rigid state. Integrating them into an exoskeleton allows for flexible adjustment of joint stiffness, providing appropriate assistance during different movement phases.

[0005] Therefore, the development of a lightweight cervical exoskeleton with high degrees of freedom of movement and adjustable stiffness is of great significance. It can provide new options for the design of exoskeleton robots, promote the development of exoskeleton robots, and broaden their application fields. Summary of the Invention

[0006] The purpose of this invention is to reduce the strain on the neck muscles of workers when they are working with their heads down for long periods of time and to meet the requirements of head movement flexibility for related work. This invention provides a variable stiffness cervical spine support exoskeleton for working with the head down for long periods of time.

[0007] This invention is implemented as follows:

[0008] A variable stiffness cervical spine support exoskeleton for prolonged head-down work includes two sets of forward flexion support structures arranged relatively apart. Each forward flexion support structure includes a horizontally arranged head-side fixation rod and a vertically arranged chest support rod. Each head-side fixation rod is connected to a chest support rod to form a revolute joint in an L-shape. Each chest support rod has an actuator cavity along its length, within which a tensile variable stiffness actuator is arranged. The upper end of the tensile variable stiffness actuator is hinged to the chest support rod, and the lower end of the tensile variable stiffness actuator is hinged to the short arm of the L-shaped rod. The long arm of the L-shaped rod is hinged to the head-side fixation rod. The two sets of forward flexion support structures are connected by a width adjustment rod. A chin rest is arranged in the spaced area between the head-side fixation rods, and both ends of the chin rest are hinged to a guide rail-linkage mechanism on the inner surface of the head-side fixation rod.

[0009] Preferably, the guide rail-linkage mechanism includes a guide rail arranged on the inner side of the head-side fixed rod, a slider that slides with the guide rail, a transition plate connected to the slider, and a guide rod hinged to the transition plate, wherein the guide rod is hinged to the chin rest.

[0010] Preferably, the head-side fixing rod includes an outer fixing rod and an inner fixing rod. The inner fixing rod is designed with a shaft near one end connected to a hole at the top of the chest support rod via a bearing. The bearing, shaft, and hole are all interference fits. The outer fixing rod and the inner fixing rod are locked by form-locking and bolts. A torsion spring is contained in the cavity formed between the top end and the outer fixing rod. The two ends of the torsion spring are respectively clamped to the chest support rod and the outer fixing rod. Furthermore, the outer fixing rod, the inner fixing rod, the chest support rod, and the long arm end of the L-shaped rod form a sandwich structure at different positions to allow the head-side fixing rod to rotate around the chest support rod, while the L-shaped rod rotates around the pin connected to its long arm end.

[0011] Preferably, a support stud is installed between the outer fixing rod and the inner fixing rod. The support stud is sandwiched between the inner fixing rod and the outer fixing rod. The fixing bolts on the inner and outer sides pass through the bolt holes of the inner fixing rod and the outer fixing rod respectively to form a threaded connection with the stud, so as to reinforce and fix the outer fixing rod and the inner fixing rod.

[0012] Preferably, the tensile variable stiffness actuator includes two centrally symmetrically arranged sheets, two T-shaped sealing end blocks, and an elastic airbag. Each sheet includes a tensile band and an elastic band, as well as staggered interlocking teeth and supporting sponge bonded to the surface of the tensile band. The tensile band and the elastic band are connected in series. The two sealing end blocks are arranged at both ends of the sheet with opposite interlocking teeth. The two surfaces of the thin end of the sealing end block are fixed to the tensile band / elastic band of the sheet. The elastic airbag is bonded to the thick end of the sealing end block to achieve sealing of the tensile variable stiffness actuator.

[0013] Preferably, the outer end of the tensile strap is folded inward and sewn together to form a hinge hole for connection.

[0014] Preferably, the outer end of the sealing end block has an air passage connector, which communicates with the interior of the tensile variable stiffness actuator through an air passage inside the sealing end block.

[0015] Preferably, the width adjustment rod has holes for adjusting the width of the two sets of forward flexion support structures.

[0016] Preferably, the side of the chest support rod is provided with a guide limiting groove for the movement of the L-shaped rod along its length direction, and the guide limiting groove communicates with the driver arrangement cavity.

[0017] Preferably, a shoulder strap is connected to the chest support rod to fix the variable stiffness cervical spine support exoskeleton to the wearer's body.

[0018] This invention relates to a variable stiffness cervical spine support exoskeleton for prolonged periods of looking down, which achieves active adjustment of the exoskeleton's joint stiffness by introducing a variable stiffness actuator. In its flexible state, the exoskeleton allows for low-resistance head movement, ensuring unrestricted head motion and meeting the wearer's need for flexible head position adjustments during work. In its rigid state, the exoskeleton provides sufficient support for the neck, reducing the burden on neck muscles during prolonged flexion.

[0019] The present invention relates to a variable stiffness cervical spine support exoskeleton for prolonged periods of looking down, which is designed with two main degrees of freedom: sagittal flexion and axial rotation, and these two degrees of freedom are independent of each other. In the flexible state, the exoskeleton allows the head to perform flexion, rotation, and coupled movements; in the rigid state, the exoskeleton restricts the head's flexion movement but allows the head to rotate freely.

[0020] The present invention relates to a variable stiffness cervical spine support exoskeleton for prolonged head-down work, which employs a design method in which the exoskeleton is not completely fixed to the head. This design allows for a certain degree of lateral flexion, providing greater flexibility and operating space while avoiding discomfort caused by excessive restraint.

[0021] The variable stiffness cervical spine support exoskeleton of the present invention for long-term head-down work is manufactured by 3D printing, except for parts such as pins, bearings, guide rails, sliders, and bolts. It has the advantages of being lightweight, easy to manufacture, and low cost, which helps to reduce the total cost of exoskeleton robots and promotes large-scale use. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of an embodiment of the present invention is shown;

[0023] Figure 2 A schematic diagram of the flexion support structure according to an embodiment of the present invention is shown;

[0024] Figure 3 A schematic diagram of the guide rail-connecting rod structure according to an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram of the structure of the stretching actuator according to an embodiment of the present invention is shown;

[0026] Figure 5 This diagram illustrates the motion of the cervical spine support exoskeleton in the sagittal plane according to an embodiment of the present invention.

[0027] Figure 6 A schematic diagram of the leftward rotation of the cervical spine support exoskeleton on the horizontal plane according to an embodiment of the present invention is shown;

[0028] Figure 7 A schematic diagram of right-rotation motion on the horizontal plane of the cervical spine support exoskeleton according to an embodiment of the present invention is shown;

[0029] In the picture:

[0030] 1-Shoulder strap, 2-Head side fixing rod, 3-Guide rail-linkage mechanism, 4-L-shaped rod, 5-Tension variable stiffness actuator, 6-Chest support rod, 7-Width adjustment rod, 8-Outer fixing rod, 9-Torsion spring, 10-Support stud, 11-Inner fixing rod, 12-Bolt, 13-Pin, 14-Pin shaft, 15-Guide rail, 16-Slider, 17-Adapter plate, 18-Guide rod, 19-Chin rest, 20-Tension band, 21-Sealing end block, 22-Elastic band, 23-Elastic airbag, 24-Eating teeth, 25-Supporting sponge. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0032] See Figures 1 to 7As shown in the exemplary embodiment of this application, the variable stiffness cervical spine support exoskeleton for prolonged head-down work includes two sets of forward flexion support structures arranged relatively apart. The forward flexion support structure includes a horizontally arranged head-side fixing rod 8 and a vertically arranged chest support rod 6. Each head-side fixing rod 2 is connected to a chest support rod 6 to form a rotating pair and is arranged in an L-shape, allowing relative rotation between the two. Each chest support rod has an actuator arrangement cavity in its length direction. A tensile variable stiffness actuator 5 is arranged in the actuator arrangement cavity. The upper end of the tensile variable stiffness actuator is hinged to the chest support rod, and the lower end of the tensile variable stiffness actuator is hinged to the short arm of the L-shaped rod 4. The long arm of the L-shaped rod is hinged to the head-side fixing rod. The two sets of forward flexion support structures are connected by a width adjustment rod 7. A chin rest 19 is arranged in the spaced area between the head-side fixing rods. The two ends of the chin rest are hinged to the guide rail-linkage mechanism on the inner side of the head-side fixing rod.

[0033] In the above embodiments, when the tensile variable stiffness actuator is in a flexible state, the flexion support structure allows the head to flex in the sagittal plane; after the tensile variable stiffness actuator switches to a rigid state, the flexion support structure can provide stable support for the head.

[0034] The variable stiffness cervical spine support exoskeleton for prolonged head-down work in this invention innovatively uses a variable stiffness actuator instead of a traditional elastic element. In a flexible state, it allows the head to move with less resistance, ensuring the flexibility and smoothness of the wearer's head movements during work. In a rigid state, it can provide support and assistance for the head, effectively relieving the burden on the neck muscles.

[0035] To meet the wearer's need for flexible head posture adjustment, the cervical spine support exoskeleton adopts an independent linkage mechanism with multiple degrees of freedom of movement, which can avoid restricting normal head movement and meet the application requirements of different work scenarios, greatly improving the practicality and versatility of the cervical spine support exoskeleton.

[0036] In an exemplary embodiment, the upper end or top end of the chest support rod 6 can be connected to the shaft on the head-side fixing rod 2 via a bearing to form a rotating pair; the long arm end of the L-shaped rod 4 can be connected to the head-side fixing rod 2 via a bearing at its long arm end and a corresponding pin 14.

[0037] In an exemplary embodiment, two identical forward flexion support structures are symmetrically arranged on the width adjustment rod 7 via pins. In this embodiment, the width adjustment rod 7 has horizontally arranged holes. The width of the forward flexion support structure can be adjusted by fixing it to the holes at different positions using pins, thus meeting the wearing needs of different wearers with different head widths. The width adjustment rod 7 can be at least one, or two or more, preferably two, arranged vertically spaced to connect the two sets of forward flexion support structures.

[0038] In this embodiment, the guide rail-linkage structure 3 allows free rotation of the head, and this degree of freedom is not affected by the stiffness of the tensile variable stiffness actuator. In an exemplary embodiment, refer to... Figure 3 The guide rail-linkage mechanism 3 is preferably completely fixed to the head-side fixing rod 2 by bolts. Both sets of guide rail-linkage mechanisms 3 have the same structure, including a guide rail 15 arranged on the inner side of the head-side fixing rod, a slider 16 slidingly engaged with the guide rail, a transition plate 17 connected to the slider, and a guide rod 18 hinged to the transition plate. The guide rod is hinged to the chin rest 19. The slider and the guide rail form a sliding pair, allowing free sliding along the guide rail axis. Specifically, the slider 16 and the transition plate 17 can be completely fixed by bolts. The transition plate 17, guide rod 18, and chin rest 19 are connected sequentially by pins. Specifically, both ends of the guide rod are connected to one end of the transition plate and one end of the chin rest via bearings and pins, respectively. This connection method allows adjacent parts to rotate relative to each other. With this design, when the head rotates, the chin rest 19 rotates synchronously with the head, and the slider 16 and guide rod 18 adjust their positions accordingly to adapt to the head posture.

[0039] In an exemplary embodiment, the head-side fixing rod includes an outer fixing rod 8 and an inner fixing rod 11. The head-side fixing rod is connected to the top end of the chest support rod via a shaft and a bearing through a hole. The bearing, shaft, and hole are interference-fitted. The outer fixing rod and the inner fixing rod are locked by a locking mechanism and bolts 12. A torsion spring 9 is contained in the cavity formed between the top end and the outer fixing rod. The two ends of the torsion spring are respectively clamped to the chest support rod and the outer fixing rod. The outer fixing rod, the inner fixing rod, the chest support rod, and the long arm end of the L-shaped rod form a sandwich structure at different positions to allow the head-side fixing rod to rotate around the chest support rod, while the L-shaped rod rotates around the pin connected to its long arm end.

[0040] In this embodiment, the shaft is arranged on the inner fixing rod, and the shaft and the chest support rod are connected by bearings, allowing them to rotate relative to each other. The inner fixing rod and the outer fixing rod are completely fixed by a square hole and bolts, and the head-side fixing rod formed by the inner fixing rod and the outer fixing rod can rotate relative to each other with the chest support rod. The torsion spring is sleeved on the shaft, with one end of the torsion spring inserted into the groove of the chest support rod and the other end of the torsion spring inserted into the groove of the outer fixing rod.

[0041] In an exemplary embodiment, the torsion spring 9 generates a restoring force, which, together with the restoring force of the tensile variable stiffness actuator 5, ensures a tight fit between the exoskeleton and the chin. When the exoskeleton is not activated, if the head performs a forward flexion movement in the sagittal plane, the head-side fixing rod 2 and the L-shaped rod 4 will rotate accordingly, thereby causing the tensile variable stiffness actuator 5 to stretch and deform with relatively little resistance. After the exoskeleton is activated, the tensile variable stiffness actuator 5 is difficult to stretch and deform. At this time, the head-side fixing rod 2 and the L-shaped rod 4 cannot rotate relative to each other, thus limiting the wearer's head from continuing to perform forward flexion movements.

[0042] In an exemplary embodiment, a support stud 10 is installed between the outer fixing rod 8 and the inner fixing rod 11. The support stud is sandwiched between the inner fixing rod and the outer fixing rod. The fixing bolts on the inner and outer sides pass through the bolt holes of the inner fixing rod and the outer fixing rod respectively to form a threaded connection with the support stud, so as to reinforce and fix the outer fixing rod and the inner fixing rod.

[0043] Reference Figure 4 In an exemplary embodiment, the tensile variable stiffness actuator includes two centrally symmetrically arranged interlocking layers, two T-shaped sealing end blocks 21, and an elastic airbag 23. The interlocking layer includes a tensile band 20 and an elastic band, and staggered interlocking teeth 24 and a supporting sponge 25 bonded to the surface of the tensile band by adhesive. The tensile band and the elastic band 22 are connected in series. The two sealing end blocks are arranged at both ends of the interlocking layer with opposite interlocking teeth. The two surfaces of the thin end of the sealing end block are fixed to the tensile band / elastic band of the interlocking layer. The elastic airbag is bonded to the thick end of the sealing end block to achieve sealing of the tensile variable stiffness actuator.

[0044] Preferably, the engagement teeth 24 and the supporting sponge 25 are arranged alternately and glued to the tensile band 20. The tensile band with the engagement teeth 24 and the supporting sponge 25 glued together is connected in series with the elastic band 22 to form an engagement layer. Two identical engagement layers are arranged symmetrically at the center to form the core structure of the variable stiffness actuator.

[0045] Specifically, the two end faces of the sealing end block 21 are respectively bonded with tensile strips of different properties, wherein an elastic strip with an interlocking layer is bonded to the A side, and a tensile strip with another interlocking layer is bonded to the B side.

[0046] Under normal pressure, there is a certain gap between the upper and lower interlocking layers of the tensile variable stiffness actuator implemented in this application. Under this condition, the two interlocking layers do not mesh. At this time, the tensile variable stiffness actuator can be stretched with relatively small resistance by stretching through the elastic bands 22 on both sides. Under negative pressure, the interlocking teeth 24 on the two interlocking layers mesh, effectively transferring the tensile tension to the tensile band, thereby achieving greater tensile stiffness.

[0047] In an exemplary embodiment, the outer end of the tensile strap 20 is folded inward and sewn to form a hinge hole for connection. This constitutes a hinge connection hole between the tensile variable stiffness actuator and the chest support rod and L-shaped rod. Using this hinge hole, the tensile variable stiffness actuator 5 can be fixed to the short arm ends of the chest support rod 6 and L-shaped rod 4 respectively by means of pins 13. Therefore, the variable stiffness actuator 5 will deform as the L-shaped rod 4 moves.

[0048] In an exemplary embodiment, the outer end of the sealing end block 21 has an air passage connector. The air passage connector communicates with the interior of the tensile variable stiffness actuator through the air passage inside the sealing end block. This allows for the vacuuming of the air bladder of the tensile variable stiffness actuator to form a negative pressure state or the introduction of external air, thereby enabling the tensile variable stiffness actuator to switch or transform between a flexible state and a rigid state.

[0049] In an exemplary embodiment, the side of the chest support rod 6 is provided with a guide limiting groove for the movement of the L-shaped rod along its length direction, and the guide limiting groove communicates with the driver arrangement cavity.

[0050] In an exemplary embodiment, a shoulder strap 1 is connected to the chest support rod to secure the variable stiffness cervical spine support exoskeleton to the wearer's body. The shoulder strap 1 originates from the shoulder, passes through the armpit along the back, and is secured in front of the chest, thereby fixing the exoskeleton to the body. Specifically, the upper end of the shoulder strap can be mounted on the surface of the chest support rod, specifically the surface in contact with the body, and the shoulder strap can have an overall U-shaped structure.

[0051] refer to Figure 5 ,Should Figure 5 This demonstrates the flexion movement of the exoskeleton in the sagittal plane under an exemplary embodiment, with the flexion support structure being the primary participating structure. Under normal pressure, the tension of the tensile variable stiffness actuator is relatively small, allowing the head-side fixing rod and L-shaped rod to rotate relatively easily; under negative pressure, the internal engagement of the tensile variable stiffness actuator results in greater tensile resistance, making it difficult for the head-side fixing rod and L-shaped rod to continue rotating, thus achieving head support. Figure 5 The medium-tension variable stiffness actuator has been omitted.

[0052] refer to Figure 6 and Figure 7 , Figure 6 and Figure 7 This demonstrates the exoskeleton's left-hand and right-hand rotation on a horizontal plane, primarily utilizing a rail-linkage structure. This degree of freedom is unaffected by varying stiffness, allowing free head rotation in both flexible and rigid states. The chin rest is fixed to the chin support via force locking; as the head rotates, the chin rest rotates synchronously. This rotation is sequentially transmitted to the width adjustment rod and slider, which slides accordingly on the track to adapt to changes in head position, thus achieving rotational freedom.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0054] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0055] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A variable stiffness cervical spine support exoskeleton suitable for prolonged periods of working with the head down, characterized in that: The device includes two sets of forward flexion support structures arranged relatively apart. Each forward flexion support structure includes a horizontally arranged head-side fixation rod and a vertically arranged chest support rod. Each head-side fixation rod is connected to a chest support rod to form a revolute joint in an L-shape. Each chest support rod has an actuator arrangement cavity in its length direction. A tensile variable stiffness actuator is arranged in the actuator arrangement cavity. The upper end of the tensile variable stiffness actuator is hinged to the chest support rod, and the lower end of the tensile variable stiffness actuator is hinged to the short arm of the L-shaped rod. The long arm of the L-shaped rod is hinged to the head-side fixation rod. The two sets of forward flexion support structures are connected by a width adjustment rod. A chin rest is arranged in the spaced area between the head-side fixation rods. The two ends of the chin rest are hinged to a guide rail-linkage mechanism on the inner surface of the head-side fixation rod.

2. The variable stiffness cervical spine support exoskeleton suitable for prolonged head-down work as described in claim 1, characterized in that, The guide rail-linkage mechanism includes a guide rail arranged on the inner side of the head-side fixed rod, a slider that slides with the guide rail, a transition plate connected to the slider, and a guide rod hinged to the transition plate. The guide rod is hinged to the chin rest.

3. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 1, characterized in that, The head-side fixing rod includes an outer fixing rod and an inner fixing rod. The inner fixing rod is designed with a shaft near one end connected to a hole at the top of the chest support rod via a bearing. The bearing, shaft, and hole are interference-fitted. The outer fixing rod and the inner fixing rod are locked by form-locking and bolts. A torsion spring is contained in the cavity formed between the top end and the outer fixing rod. The two ends of the torsion spring are respectively locked to the chest support rod and the outer fixing rod. Furthermore, the outer fixing rod, the inner fixing rod, the chest support rod, and the long arm end of the L-shaped rod form a sandwich structure at different positions to allow the head-side fixing rod to rotate around the chest support rod, while the L-shaped rod rotates around the pin connected to its long arm end.

4. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 3, characterized in that, A support stud is installed between the outer and inner fixing rods. The support stud is sandwiched between the inner and outer fixing rods. The fixing bolts on the inner and outer sides pass through the bolt holes of the inner and outer fixing rods respectively and form a threaded connection with the support stud to reinforce and fix the outer and inner fixing rods.

5. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 1, characterized in that, The tensile variable stiffness actuator includes two centrally symmetrically arranged sheets, two T-shaped sealing end blocks, and an elastic airbag. Each sheet includes a tensile band and an elastic band, as well as staggered interlocking teeth and supporting sponge bonded to the surface of the tensile band. The tensile band and the elastic band are connected in series. The two sealing end blocks are arranged at both ends of the sheet with opposite interlocking teeth. The two surfaces of the thin end of the sealing end block are respectively fixed to the tensile band / elastic band of the two sheets. The elastic airbag is bonded to the thick end of the sealing end block to achieve sealing of the tensile variable stiffness actuator.

6. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 5, characterized in that, The outer end of the tensile band is folded inward and sewn together to form a hinge hole for connection.

7. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 5, characterized in that, The outer end of the sealing end block has an air passage connector, which is connected to the interior of the tensile variable stiffness actuator through an air passage inside the sealing end block.

8. The variable stiffness cervical spine support exoskeleton for prolonged head-down work as described in claim 1, characterized in that, The width adjustment rod has holes for adjusting the width of the two sets of forward flexion support structures.

9. The variable stiffness cervical spine support exoskeleton for prolonged head-down work according to claim 1, characterized in that, The side of the chest support rod is provided with a guide limiting groove for the movement of the L-shaped rod along its length direction, and the guide limiting groove communicates with the driver arrangement cavity.

10. The variable stiffness cervical spine support exoskeleton for prolonged head-down work according to claim 1, characterized in that, Shoulder straps are connected to the chest support rod to fix the variable stiffness cervical spine support exoskeleton to the wearer's body.

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