Air bag type flexible wearable exoskeleton system for spine assistance

Abstract

The invention discloses an air bag type flexible wearable exoskeleton system for spine assistance, and relates to the technical field of biomechanics. The device comprises a flexible wearing mechanism which comprises a vest, a waist belt and a leg binding belt, the waist belt is connected with the leg binding belt through a connecting belt, and a built-in air pipe is arranged in the waist belt; the spine assisting mechanism comprises an air bag strap and a plurality of TPU air bags installed on the air bag strap, the TPU air bags are connected in series and longitudinally arranged through an external air pipe, the external air pipe is connected with the internal air pipe, the upper end of the air bag strap is pressed through a pressing buckle, and the pressing buckle is connected with the vest through a pull wire. The lower end of the air bag bridle is pressed tightly through a connecting buckle, and the connecting buckle is fixed to the waistband. The air bag is inflated in an air pump mode, assistance in the spine bending process is provided through the counter-acting force generated by compression of the air bag, the technical problem of the force-weight ratio of the exoskeleton is solved, and meanwhile damage to the human body caused by the shear force of the spine part in the movement process is prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of biomechanics, and specifically to an airbag-type flexible wearable exoskeleton system for spinal assistance. Background Art

[0002] At present, there are many studies on spinal exoskeletons. In terms of the assistance method, active exoskeletons mostly use energy sources such as motors, hydraulics, and pneumatics to provide power for the exoskeleton. They adopt rigid rods and use sensors, computers, etc. to realize the perception of human motion intentions, so as to generate behaviors that cooperate with human walking. Therefore, they have no advantages in terms of volume, weight, wearing comfort, user acceptance, etc. In contrast, flexible exoskeleton robots use lightweight and flexible materials as the transmission units of auxiliary force, can be worn for a long time, and can provide single-joint or multi-joint coordinated assistance to the human lower limbs. The driving methods of flexible assistance robots are mainly motor driving and pneumatic driving.

[0003] Different from the continuous driving energy provided by active exoskeletons, the energy source of passive exoskeletons is mainly the energy consumed by useless work during human movement. Taking the walking movement of the human body as an example: when walking, the sole of the human foot touches the ground, the ankle and knee joints absorb the ground impact force, the lower limbs support the body weight, the hip and thigh muscles exert force to swing the upper body center of gravity, and the sole of the foot is used to push the ground to move forward periodically. The swinging, flexion and extension of the lower limbs not only provide the power for forward movement, but also consume a lot of energy in the vertical movement. Some lower limb exoskeletons collect the energy generated by the stretching and contraction of the calf through a ratchet structure and a spring and use it for walking assistance, which can reduce the energy consumption by 7.2%. This exoskeleton only needs a ratchet mechanism made of aluminum alloy, a lightweight spring and a plastic bracket to enable the wearer to move relatively flexibly. However, this passive exoskeleton has great room for improvement in self-energy recovery, and the actual assistance effect after wearing is poor.

[0004] In summary, there are technical defects in the current field such as insufficient structural lightweight, safety and reliability, and high cost. Therefore, we propose an airbag-type flexible wearable exoskeleton system for spinal assistance, which uses the air chamber compression of a TPU airbag to generate tension, an air pressure regulating pump as the strength control unit, an airbag belt as the force application unit, and explains the design method of the assistance system, so that the spinal exoskeleton can obtain a high force-to-weight ratio while being lightweight.

[0005] The above information disclosed in this background art is only used to increase the understanding of the background art of the present invention. Therefore, it may include prior art that is not known to those of ordinary skill in the art. Summary of the Invention

[0006] The object of the present invention is to provide an airbag - type flexible wearable exoskeleton system for spinal assistance, aiming to provide assistance to users according to the spinal force intensity and bending angle in different postures, and reduce the burden on the spine. This system mainly completes wearing in cooperation with the user's body through a vest, a waistband, and leg bindings.

[0007] To achieve the above object, the present invention provides the following technical solution: An airbag - type flexible wearable exoskeleton system for spinal assistance, comprising:

[0008] A flexible wearing mechanism, including a vest, a waistband, and leg binding straps. The waistband is connected to the leg binding straps through connecting straps, and an internal air tube is arranged inside the waistband;

[0009] A spinal assistance mechanism, including an airbag strap and a plurality of TPU airbags installed on the airbag strap. The plurality of TPU airbags are longitudinally connected in series through an external air tube, and the external air tube is connected to the internal air tube. The upper end of the airbag strap is tightened by a compression buckle, and the compression buckle is connected to the vest through a traction line. The lower end of the airbag strap is tightened by a connection buckle, and the connection buckle is fixed on the waistband. An inertial unit for identifying the bending posture of the human torso is provided on the compression buckle;

[0010] An air pressure regulating pump, which is fixed on the waistband and connected to the intake end of the internal air tube. The air pressure regulating pump communicates with the inertial unit on the compression buckle via Bluetooth. The air pressure regulating pump monitors and adjusts the air pressure of the TPU airbags, judges the torso force according to the initial pressure of the air pressure valve, and according to the human torso bending posture data transmitted back by the inertial unit, deflates when the torso bends and inflates to provide assistance during the process of the torso stretching under load. The air pressure adjustment method of the air pressure regulating pump satisfies the linear trend of the torso force bending change.

[0011] Preferably, the TPU airbag is equipped with a fixing buckle, and the TPU airbag is connected to the airbag strap through the fixing buckle.

[0012] Preferably, the air pressure regulating pump is used to monitor and adjust the air pressure of the TPU airbags. The air pressure of the TPU airbags is p, which generates a tension fp between the airbag strap and the TPU airbags.

[0013] Preferably, the cross - section of the TPU airbag is oval. After the TPU airbag is inflated, part of the airbag strap fits on the TPU airbag. During the inflation process, the tension fp is converted into the traction force Fp generated by a single TPU airbag on both ends of the airbag strap:

[0014] F p =f p 2L1L22b

[0015] Wherein, L1 is the unilateral fitting length of the airbag strap on a single TPU airbag, L2 is the width of the airbag strap; b is the minor axis of the elliptical cross-section of a single TPU airbag.

[0016] Preferably, the boosting intensity generated by the airbag type flexible wearable exoskeleton system is the sum of the traction forces generated by each TPU airbag.

[0017] Preferably, the pressing buckle is triangular, and a pulley is arranged on the pressing buckle. The pulley is in sliding fit with the traction line, which is used to avoid damage to the traction line caused by excessive friction, and at the same time ensure that the contact point of the traction line is on the midline of the human body's coronal plane after wearing the exoskeleton.

[0018] Preferably, both ends of the traction line pass through the connection holes and are placed inside the vest, and are connected to the knobs on the front side of the vest. The length of the traction line is adjusted by the ratchet inside the knob to adapt to the different height characteristics of the user. The length of the cord on the front side of the vest is adjusted by the adjustment buckle for wearing dimension adaptation.

[0019] Preferably, the waistband is fastened by Velcro. An air pipe connection sleeve and a through hole are arranged inside the waistband, so that the external air pipe and the internal air pipe cooperate in the through hole to form a continuous air passage, and the air pressure regulating pump regulates the air pressure of the TPU airbag.

[0020] Preferably, the internal air pipe passes through the through hole and penetrates out of the waistband to be connected to the air pressure regulating pump. The waistband is connected to the leg strap through a connecting strap, and the waistband and the leg strap play a role in pulling the airbag strap to generate tension during movement.

[0021] Preferably, the air pressure regulating pump is provided with a positive pressure button, a negative pressure button, an automatic control button, a power switch, a display and an air inlet and outlet hole. The positive pressure button and the negative pressure button are used to manually adjust the boosting intensity. The automatic control button is used to set the air pump to automatic inflation. The power switch is used to turn off and turn on the air pump. The display is used to display the current air pump usage mode.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] The present invention uses airbags as flexible boosting units, which are lighter than rigid boosting units, have a higher force-to-weight ratio advantage, and are not likely to cause secondary injuries; compared with wire-driven boosting devices, the human-machine contact surface is larger and the compression on the human body is smaller, having a high degree of human-machine adaptability; the present invention inflates the airbags by means of an air pump, and uses the reaction force generated by the compression of the airbags to provide assistance during the spinal curvature process, while solving the technical problem of the force-to-weight ratio of the exoskeleton and preventing the damage caused by the shear force on the spine part to the human body during movement.

[0024] The above summary is only for the purpose of the specification and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the main structure of the airbag-type flexible wearable exoskeleton system for spinal assistance of the present invention;

[0026] Figure 2 It is a schematic diagram of the disassembled structure of the airbag-type flexible wearable exoskeleton system for spinal assistance of the present invention;

[0027] Figure 3 It is a schematic diagram of the air pump structure of the present invention;

[0028] Figure 4 It is a schematic diagram of the compression buckle structure of the present invention;

[0029] Figure 5 It is a schematic diagram of the connection buckle structure of the present invention;

[0030] Figure 6 It is a schematic cross-sectional view of a single airbag of the present invention;

[0031] Figure 7 It is a graph showing the relationship between pressure and tensile force of the assistance structure formed by 5 TPU airbags;

[0032] Figure 8 It is a schematic diagram of the average value of the amplitude of the erector spinae muscles during exercise without wearing and wearing the present invention.

[0033] In the figures: 1. Vest; 2. Adjusting buckle; 3. Air pressure regulating pump; 4. Belt; 5. Leg strap; 6. Rope; 7. Compression buckle; 8. Airbag strap; 9. TPU airbag; 10. Fixed buckle; 11. Connection buckle; 12. Connection strap; 13. Knob; 14. Magic tape; 15. External air pipe; 16. Traction line; 17. Connection hole; 18. Internal air pipe; 19. Positive pressure button; 20. Negative pressure button; 21. Automatic control button; 22. Power switch; 23. Display; 24. Air inlet and outlet hole; 25. Pulley; 26. Air pipe connection sleeve; 27. Through hole; 28. Inertial unit. Detailed Embodiments

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Example 1

[0036] Please refer to Figure 1 - Figure 8 , a balloon - type flexible wearable exoskeleton system for spinal assistance, comprising a flexible wearing mechanism, a spinal assistance mechanism, and a pneumatic regulating pump 3;

[0037] The flexible wearing mechanism includes a vest 1, a waist belt 4, and leg straps 5. The waist belt 4 is connected to the leg straps 5 through a connecting strap 12. During movement, the waist belt 4 and the leg straps 5 play a role in pulling the airbag strap 8 to generate tension. The vest 1, the waist belt 4, and the leg straps 5 cooperate with the user's body to complete the wearing.

[0038] The spinal assistance mechanism includes an airbag strap 8 and a plurality of TPU airbags 9 installed on the airbag strap 8. The plurality of TPU airbags 9 are connected in series longitudinally through an external air tube 15.

[0039] Specifically, the TPU airbag is equipped with a fixing buckle 10. The TPU airbag 9 is connected to the airbag strap 8 through the fixing buckle 10 to prevent the airbag from shifting during movement.

[0040] The upper end of the airbag strap 8 is tightly pressed by a compression buckle 7, and the compression buckle 7 is connected to the vest 1 through a traction wire 16.

[0041] Specifically, the compression buckle 7 is triangular, and a pulley 25 is provided on the compression buckle 7. The pulley 25 is in sliding cooperation with the traction wire 16, which is used to avoid damage to the traction wire 16 caused by excessive friction, and at the same time ensure that the contact point of the traction wire 16 is on the mid - line of the human coronal plane after wearing the exoskeleton.

[0042] Both ends of the traction wire 16 pass through the connection holes 17 and are placed inside the vest 1, and are connected to the knob 13 on the front side of the vest 1. The length of the traction wire 16 is adjusted by the ratchet inside the knob 13 to adapt to the different height characteristics of the user. The cord 6 on the front side of the vest 1 adjusts the length through the adjustment buckle 2 for wearing dimension adaptation.

[0043] The lower end of the airbag strap 8 is tightly pressed by a connection buckle 11, and the connection buckle 11 is fixed on the waist belt 4. The waist belt 4 is buckled through a magic tape 14, and the leg straps 5 are also buckled in the same way.

[0044] An internal air tube 18 is provided inside the waist belt 4. The internal air tube 18 is connected to the external air tube 15. The internal air tube 18 passes through the through - hole 27 to penetrate the waist belt 4 and is connected to the pneumatic regulating pump 3. The pneumatic regulating pump 3 is provided with an air inlet and outlet hole 24.

[0045] Specifically, an air pipe connecting sleeve 26 and a through hole 27 are arranged inside the belt 4, enabling the external air pipe 15 and the internal air pipe 18 to cooperate within the through hole 27 to form a continuous air passage, allowing the air pressure regulating pump 3 to regulate the air pressure of the TPU airbag 9.

[0046] The buckle 7 is provided with an inertial unit 28 for identifying the bending posture of the human torso. The inertial unit 28 incorporates components such as an acceleration sensor and a gyroscope to sense the movement changes of the human body in various directions, thereby accurately determining whether the current posture of the human body is in an upright, bent, or twisted state, etc.

[0047] The air pressure regulating pump 3 is fixed on the belt 4 and connected to the intake end of the internal air pipe 18. The air pressure regulating pump 3 communicates with the inertial unit 28 on the buckle 7 via Bluetooth. After the air pressure regulating pump 3 is turned on, it monitors and regulates the air pressure of the TPU airbag 9, judges the force on the torso based on the initial pressure of the air pressure valve, and according to the data of the bending posture of the human torso transmitted back by the inertial unit 28, deflates when the torso bends and inflates to provide assistance during the process of the torso stretching under load. The air pressure regulation method of the air pressure regulating pump 3 meets the linear trend of the bending change of the torso under force.

[0048] The air pressure regulating pump 3 is provided with a positive pressure button 19, a negative pressure button 20, an automatic control button 21, a power switch 22, a display 23, and an air inlet and outlet hole 24. The positive pressure button 19 and the negative pressure button 20 are used to manually adjust the assistance intensity. The automatic control button 21 is used to set the air pump to automatic inflation. The power switch 22 is used to turn off and turn on the air pump. The display 23 is used to display the current usage mode of the air pump.

[0049] During use, the personnel manually or the system automatically monitors and regulates the air pressure of the TPU airbag 9 through the air pressure regulating pump 3. When the air pressure p of the TPU airbag 9 generates a tension fp between the airbag belt 8 and the TPU airbag 9. In this process, the cross-section of the TPU airbag 9 is elliptical. After the TPU airbag 9 is inflated, part of the airbag belt 8 fits onto the TPU airbag 9. During the inflation process, the tension fp is converted into the traction force Fp generated by a single TPU airbag 9 on both ends of the airbag belt 8:

[0050] F p =f p 2L1L22b

[0051] In the formula, L1 is the unilateral fitting length of the airbag belt 8 on a single TPU airbag 9, L2 is the width of the airbag belt 8; b is the minor axis of the elliptical cross-section of a single TPU airbag 9.

[0052] The number of TPU airbags 9 can be increased or decreased according to the usage requirements. The assistance intensity generated by the airbag type flexible wearable exoskeleton system is the sum of the traction forces generated by each TPU airbag 9.

[0053] The working principle of this embodiment:

[0054] Wearing and Adjustment:

[0055] The user puts on the vest 1, the belt 4 and the leggings 5 ​​in sequence, adjusts the length of the traction line 16 by the ratchet in the knob 13, and adjusts the length of the rope 6 by the adjustment buckle 2 to adapt to the different height characteristics of the user; fixes the belt 4 and the leggings 5 ​​by the Velcro 14.

[0056] Inertial unit 28 monitors the bending posture of the human body:

[0057] The air pressure regulating pump 3 is turned on by the switch 22, and the inertial unit 28 in the clamping buckle 7 starts to monitor the bending posture of the human body in real time. The inertial unit 28 senses the movement changes of the human body in various directions through built-in acceleration sensors, gyroscopes and other components, thereby accurately judging whether the current posture of the human body is in an upright, bent or twisted state.

[0058] The air pressure regulating pump 3 performs air pressure regulation:

[0059] The air pressure regulating pump 3 determines the force applied to the trunk based on the initial pressure of the air pressure valve. When the air pressure valve detects a pressure change, it means that the trunk is subjected to an external force, such as when the user is carrying heavy objects, bending over to work, etc. The air pressure regulating pump 3 communicates with the inertia unit 28 on the clamping buckle 7 via Bluetooth, so that the two work together to control the air pressure regulation.

[0060] When the inertial unit 28 detects that the human body is bent, it will quickly transmit a signal to the air pressure regulating pump 3. After receiving the signal, the air pressure regulating pump 3 controls the deflation of the TPU airbag 9. The volume of the deflated TPU airbag 9 becomes smaller, so that the tension on the airbag belt 8 is reduced, thereby reducing the support force on the spine to adapt to the bending posture of the human body.

[0061] When the inertial unit 28 detects that the human body trunk is in the process of weight-bearing and stretching, it will transmit this information to the air pressure regulating pump 3, and the air pressure regulating pump 3 will then control the inflation of the TPU airbag 9. As the TPU airbag 9 is inflated and expanded, a tension fp is generated between the airbag strap 8 and the TPU airbag 9, and is further converted into a traction force Fp generated by a single TPU airbag 9 on both ends of the airbag strap 8. The sum of the traction forces generated by many TPU airbags 9 forms a force for the spine, helping the user to reduce the activity of the erector spinae muscles when weight-bearing and stretching, thereby reducing musculoskeletal injuries caused by overload of the spine and waist.

[0062] The air pressure regulating method of the air pressure regulating pump 3 satisfies the linear trend of the change in the bending force of the trunk, ensuring that the provision of assistance can accurately match the actual needs of the human body, avoiding the occurrence of insufficient or excessive assistance.

[0063] Taking the setting of 5 TPU airbags as an example, the relationship between the lower pressure and the tensile force of the assisting structure formed by the 5 TPU airbags is as follows Figure 7 shown. The tensile force is x and the pressure is y, satisfying y = 0.6420 * x + 5.197. The average amplitudes of the erector spinae muscles during movement were measured separately in the cases of not wearing and wearing the airbag-type flexible wearable exoskeleton system of the present invention. The results are as follows Figure 8 shown: In the case of not wearing, for the thoracic erector spinae muscle: 97.1, and for the lumbar erector spinae muscle: 114.5; in the case of wearing, for the thoracic erector spinae muscle: 94.3, and for the lumbar erector spinae muscle: 93.5. It can be seen from this that the present invention can help the user reduce the activity of the erector spinae muscles during weight-bearing extension, thereby reducing the musculoskeletal injuries caused by overloading of the spine and waist.

[0064] In the present invention, unless otherwise clearly specified and defined, terms such as "installation", "connection", "connection", "fixation" and the like shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0065] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower horizontal height than the second feature.

[0066] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not have to be directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0067] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An airbag-type flexible wearable exoskeleton system for spinal assistance, characterized in that, Including: A flexible wearable mechanism, including a vest (1), a waistband (4) and leg straps (5), wherein the waistband (4) is connected to the leg straps (5) through a connecting strap (12), and an internal trachea (18) is arranged inside the waistband (4); A spinal assistance mechanism, including an airbag strap (8) and a plurality of TPU airbags (9) installed on the airbag strap (8), the plurality of TPU airbags (9) are connected in series longitudinally through an external trachea (15), and the external trachea (15) is connected to the internal trachea (18). The upper end of the airbag strap (8) is tightened by a pressure fastener (7), and the pressure fastener (7) is connected to the vest (1) through a traction wire (16). The lower end of the airbag strap (8) is tightened by a connecting buckle (11), and the connecting buckle (11) is fixed on the waistband (4). An inertial unit (28) for identifying the bending posture of the human torso is provided on the pressure fastener (7); A pneumatic regulating pump (3), the pneumatic regulating pump (3) is fixed on the waistband (4) and connected to the intake end of the internal trachea (18). The pneumatic regulating pump (3) communicates with the inertial unit (28) on the pressure fastener (7) via Bluetooth. The pneumatic regulating pump (3) monitors and adjusts the air pressure of the TPU airbag (9), judges the force on the torso according to the initial pressure of the air pressure valve, and according to the human torso bending posture data transmitted back by the inertial unit (28), deflates when the torso bends and inflates to provide assistance during the process of the torso stretching under load. The air pressure adjustment method of the pneumatic regulating pump (3) satisfies the linear trend of the force bending change of the torso.

2. The balloon-type flexible wearable exoskeleton system for spinal assistance according to claim 1, characterized in that: The TPU airbag is equipped with a fixing buckle (10), and the TPU airbag (9) is connected to the airbag strap (8) through the fixing buckle (10).

3. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 1, wherein: The pneumatic regulating pump (3) is used to monitor and adjust the air pressure of the TPU airbag (9). The air pressure p of the TPU airbag (9) generates a tension fp between the airbag strap (8) and the TPU airbag (9).

4. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 3, characterized in that: The cross-section of the TPU airbag (9) is oval. After the TPU airbag (9) is inflated, part of the airbag strap (8) fits on the TPU airbag (9). During the inflation process, the tension fp is converted into the traction force Fp generated by a single TPU airbag (9) on both ends of the airbag strap (8): F p = f p 2L1L22b In the formula, L1 is the unilateral fitting length of the airbag strap (8) on a single TPU airbag (9), L2 is the width of the airbag strap (8); b is the short axis of the oval cross-section of a single TPU airbag (9).

5. The airbag-type flexible wearable exoskeleton system for spinal assistance according to claim 4, wherein: The assistance intensity generated by the airbag type flexible wearable exoskeleton system is the sum of the traction forces generated by each TPU airbag (9).

6. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 1, wherein: The pressure fastener (7) is triangular, and a pulley (25) is arranged on the pressure fastener (7). The pulley (25) is in sliding fit with the traction wire (16) to avoid damage to the traction wire (16) caused by excessive friction, and at the same time ensure that the contact point of the traction wire (16) is on the midline of the human coronal plane after wearing the exoskeleton.

7. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 6, wherein: Both ends of the traction line (16) pass through the connection holes (17) and are placed inside the vest (1), and are connected to the knobs (13) on the front side of the vest (1). The length of the traction line (16) is adjusted by the ratchet in the knob (13) to adapt to the different height characteristics of the user. The length of the cord (6) on the front side of the vest (1) is adjusted by the adjustment buckle (2) for adapting to the wearing dimension.

8. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 1, characterized in that: The waistband (4) is buckled by the Velcro (14). An air tube connection sleeve (26) and a through hole (27) are arranged inside the waistband (4), so that the external air tube (15) and the internal air tube (18) are matched in the through hole (27) to form a continuous air passage, and the air pressure regulating pump (3) regulates the air pressure of the TPU airbag (9).

9. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 1, wherein: The internal air tube (18) passes through the through hole (27) to penetrate out of the waistband (4) and is connected to the air pressure regulating pump (3). The waistband (4) is connected to the leg strap (5) through the connecting strap (12). During exercise, the waistband (4) and the leg strap (5) play a role in generating tension on the airbag binding strap (8).

10. The airbag type flexible wearable exoskeleton system for spinal assistance according to claim 1, characterized in that: The air pressure regulating pump (3) is provided with a positive pressure button (19), a negative pressure button (20), an automatic control button (21), a power switch (22), a display (23) and an air inlet and outlet hole (24). The positive pressure button (19) and the negative pressure button (20) are used to manually adjust the assisting strength. The automatic control button (21) is used to set the air pump to automatically inflate. The power switch (22) is used to turn off and turn on the air pump. The display (23) is used to display the current air pump usage mode.

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