Waist and abdomen auxiliary exoskeleton and application thereof

Abstract

The invention discloses a waist and abdomen auxiliary exoskeleton and application thereof. The exoskeleton comprises a stay wire module, a pulley module, a back supporting module, a waist supporting module and a lower limb fixing module. The stay wire module comprises a wire coil and a stay wire, and the wire coil is connected with the lower limb fixing module; the back supporting module comprises a back contact plate, a back plate, a pneumatic spring, a manual air pump, a carbon fiber tube and an adjusting mechanism, the back contact plate is slidably connected to the back plate through the adjusting mechanism, the pneumatic spring is connected with the manual air pump and the pulley module, the pneumatic spring is arranged in the carbon fiber tube, and the carbon fiber tube is connected to the back plate and the wire coil; the waist supporting module comprises a waist support, a waist support connecting rod, a waist support connecting piece and a waist support adjustable printing piece, the upper end and the lower end of the waist support are connected with the waist support connecting rod respectively, the waist support adjustable printing piece is connected to the waist support connecting rod, and the waist support connecting piece is connected to the wire coil. The exoskeleton provided by the invention not only can assist in stooping, but also can assist in over-head operation, and can be suitable for two working conditions of stooping and over-head operation at the same time.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a lumbar and abdominal auxiliary exoskeleton and its application. Background Technology

[0002] In recent years, the development of mechanical exoskeletons has been booming. However, the exoskeletons sold on the market and those under research in academic reports are almost all mechatronic devices used for assistance or rehabilitation training. Since manual craftspeople often work with their heads down for long periods of time, which can lead to certain diseases of the spine and cervical spine, exoskeletons are a good assistive tool for manual craftspeople, providing them with some assistance and protection.

[0003] In recent years, research on lumbar and back exoskeletons has received widespread attention. Most research teams have proposed exoskeletons primarily for industrial applications with high load-bearing requirements. Therefore, these exoskeletons typically employ active drive systems. Active motor-driven exoskeletons are heavy, usually exceeding 6 kg, complex to wear, and add extra burden. Passive exoskeletons, while lightweight, offer limited assistance, lack adaptability, and have poor flexibility. Furthermore, existing exoskeletons mostly provide assistance for single scenarios, such as bending or leaning back, lacking the ability to handle both working conditions. This forces workers to rely on their core or back muscles for extended periods in different working postures, easily leading to fatigue and injury. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of this invention is to provide a waist and abdomen auxiliary exoskeleton and its application, so as to solve the problem that existing exoskeletons can only adapt to a single working condition.

[0005] The present invention is a lumbar and abdominal auxiliary exoskeleton, comprising a cable module, a pulley module, a back support module, a lumbar support module, and a lower limb fixation module;

[0006] The cable module includes a cable reel and several cables. The cable reel is connected to the lower limb fixing module. The cable reel is located at the lower end of the pulley module. The cables are used to wind around and connect to the pulley module and the cable reel.

[0007] The back support module includes a back contact plate, a back plate, a pneumatic spring, a manual air pump, a carbon fiber tube, and an adjustment mechanism. The back contact plate is slidably connected to the back plate through the adjustment mechanism. The upper end of the pneumatic spring is connected to the manual air pump, and the lower end of the pneumatic spring is connected to the pulley module. The pneumatic spring is disposed inside the carbon fiber tube, the upper end of the carbon fiber tube is connected to the back plate, and the lower end of the carbon fiber tube is connected to the coil.

[0008] The lumbar support module includes a lumbar support, a lumbar support connecting rod, a lumbar support connector, and an adjustable lumbar support printout. The upper and lower ends of the lumbar support are respectively connected to the lumbar support connecting rod. The adjustable lumbar support printout is connected to the lumbar support connecting rod. The upper adjustable lumbar support printout is connected to the back plate, and the lower adjustable lumbar support printout is connected to the lumbar support connector. The lumbar support connector is connected to the reel.

[0009] Preferably, the lower limb fixation module includes a thigh base plate, a leg contact plate, and a pull wire shaft. The leg contact plate is connected to the pull wire shaft, the pull wire shaft is connected to the thigh base plate, and the thigh base plate is connected to the wire reel.

[0010] Preferably, the adjustment mechanism includes an adjustment plate, an adjustment block is connected to the adjustment plate, and the adjustment block is connected to the back contact plate.

[0011] Preferably, the upper end of the carbon fiber tube is connected to an upper fixing component, which is connected to the back plate, and the lower end of the carbon fiber tube is connected to a lower fixing component, which is connected to the coil.

[0012] Preferably, the lumbar support connector includes a connecting rod and connecting arms connected to both ends of the connecting rod. The connecting arms are connected to the reel, and the adjustable lumbar support printout at the lower end is connected to the connecting rod.

[0013] Preferably, an elastic cord is connected to the back contact plate.

[0014] Preferably, the pulley module includes a first pulley group, a second pulley group, and a third pulley group. The third pulley group is connected to the pneumatic spring, and the second pulley group and the first pulley group are connected to the lower end fixing component. The first pulley group is located on the reel.

[0015] Preferably, a BOA knob is connected to the thigh sole plate.

[0016] Preferably, a binding connecting plate is connected to the thigh sole plate.

[0017] This invention also provides an application of a lumbar and abdominal auxiliary exoskeleton, which is applied to industrial operations to achieve dual working conditions of assisting bending over and lying back.

[0018] Compared with existing technologies, the present invention has the following technical advantages: The exoskeleton provided by the present invention, by setting up a back support module, a waist support module, and a lower limb fixation module, forms a hip auxiliary joint with centering characteristics through the back support module and the waist support module. During the backward bending process, the waist is supported by the waist support module in the exoskeleton, reducing the load on the abdominal muscles and realizing a dual-mode working environment for bending and leaning. At the same time, the exoskeleton is equipped with a cable module, a pulley module, and a pneumatic spring, and the overall weight is about 3kg, which is significantly lighter than the traditional motor-driven exoskeleton of more than 6kg, reducing the overall weight of the machine while ensuring support force. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the exoskeleton provided in an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the back support module provided in an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the lower limb fixation module provided in an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the structure of a pneumatic spring provided in an embodiment of the present invention;

[0023] Figure 5 For is Figure 1 An enlarged schematic diagram of part A in the middle;

[0024] Figure 6 For is Figure 4 Enlarged schematic diagram of part B in the middle;

[0025] Figure 7 This is a schematic diagram of the structure of the pull wire module and pulley module provided in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the exoskeleton in a supine position provided in an embodiment of the present invention;

[0027] Figure 9 This is a schematic diagram of the exoskeleton bending over state provided in an embodiment of the present invention;

[0028] Main reference numerals: 1-Pull cable module, 2-Pulley module, 3-Back support module, 4-Lumbar support module, 5-Lower limb fixation module; 101-Pull cable one, 103-Pull cable two, 102-Pull cable three, 104-Pull cable four, 105-Cable reel, 1051-Pull cable groove, 1052-Cable hole; 31-Back contact plate, 32-Back plate, 33-Pneumatic spring, 34-Manual air pump, 35-Carbon fiber tube, 36-Adjusting plate, 37-Adjusting block, 38-Upper fixing component, 39-Lower fixing component, 391 - Connecting sleeve, 392- Clamping plate; 41- Waist support, 42- Waist support connecting rod, 43- Waist support connector, 44- Adjustable waist support, 431- Connecting rod, 432- Connecting arm; 21- First pulley group, 22- Second pulley group, 23- Third pulley group, 231- Fixing piece, 232- Thread wheel one, 221- Thread wheel two, 222- Thread wheel three, 211- Thread wheel four, 212- Thread wheel five; 51- Thigh base plate, 52- Leg contact plate, 53- Pulling shaft, 54- BOA knob, 55- Binding connecting plate. Detailed Implementation

[0029] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "top surface," "bottom surface," "inner," "outer," "inner side," and "outer side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limitations on this invention.

[0031] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0033] Figure 1 This is a schematic diagram of the exoskeleton provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the back support module provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the structure of the pneumatic spring provided in an embodiment of the present invention. (See attached diagram.) Figure 1 , Figure 2 and Figure 4 The aforementioned lumbar and abdominal auxiliary exoskeleton includes a cable module 1, a pulley module 2, a back support module 3, a lumbar support module 4, and a lower limb fixation module 5.

[0034] The pull-line module 1 includes a spool 105 and several pull lines. The spool 105 is connected to the lower limb fixing module 5. The spool 105 is located at the lower end of the pulley module 2. The pull lines are used to wind and connect to the pulley module and the spool 105.

[0035] Figure 5 For is Figure 1 See the enlarged diagram of part A in the middle. Figure 5 The reel 105 is provided with a pull groove 1051 for pulling the wire, and wire holes 1052 are provided at both ends of the pull groove 1051 for securing the wire. The reel 105 also has connecting holes for connecting the reel 105 to other modules of the exoskeleton.

[0036] The back support module 3 includes a back contact plate 31, a back plate 32, a pneumatic spring 33, a manual air pump 34, a carbon fiber tube 35, and an adjustment mechanism. The back contact plate 31 is slidably connected to the back plate 32 through the adjustment mechanism. The upper end of the pneumatic spring 33 is connected to the manual air pump 34, and the lower end of the pneumatic spring 33 is connected to the pulley module 2. The pneumatic spring 33 is disposed inside the carbon fiber tube 35, the upper end of the carbon fiber tube 35 is connected to the back plate 32, and the lower end of the carbon fiber tube 35 is connected to the coil 105. The adjustment mechanism is connected to the back plate 32 and can limit the sliding of the back contact plate 31.

[0037] The back contact plate 31 is connected to the front of the back plate 32, with the front of the back plate 32 facing the back of the human body, allowing the back contact plate 31 to contact the back of the human body to form a back support. The back contact plate 31 is slidably mounted on the back plate 32, and the adjustment mechanism is used to prevent the back contact plate from sliding off the back plate, thus limiting the sliding of the back contact plate 31.

[0038] In a preferred embodiment, an elastic cord is connected to the back contact plate 31. The back contact plate 31 is always in contact with the back and slides along the back plate 32 as the back leans back, providing stable support. The elastic cord connected to the back contact plate 31 is used to provide support force in the sliding direction.

[0039] The carbon fiber tube 35 and the waist support module 4 are connected to the back of the back plate 32.

[0040] The exoskeleton includes two pneumatic springs 33 and two carbon fiber tubes 35. The two carbon fiber tubes 35 are respectively connected to the back plate 32 to fix the pneumatic springs 33 to the back plate 32. The two carbon fiber tubes 35 are symmetrically arranged on the back plate 33.

[0041] See Figure 2 The lumbar support module 4 includes a lumbar support 41, a lumbar support connecting rod 42, a lumbar support connector 43, and an adjustable lumbar support printout 44. The upper and lower ends of the lumbar support 41 are respectively connected to the lumbar support connecting rod 42. The adjustable lumbar support printout 44 is connected to the lumbar support connecting rod 42. The upper end of the adjustable lumbar support printout 44 is connected to the back plate 32, and the lower end of the adjustable lumbar support printout 44 is connected to the lumbar support connector 43. The lumbar support connector 43 is connected to the coil 105.

[0042] The lumbar support link 42 at the upper end of the lumbar support 41 is connected to the upper adjustable lumbar support printing element 44 via a rotating shaft on the lumbar support. The lumbar support link 42 at the upper end of the lumbar support 41 can rotate relative to the upper adjustable lumbar support printing element 44. The lumbar support link 42 at the lower end of the lumbar support 41 is connected to the lower adjustable lumbar support printing element 44 via a rotating shaft on the lower end of the lumbar support. The lumbar support link 42 at the lower end of the lumbar support 41 can rotate relative to the lower adjustable lumbar support printing element 44.

[0043] The upper and lower ends of the lumbar support 41 are rotatably connected to the lumbar support 41.

[0044] In a preferred embodiment, the adjustment mechanism includes an adjustment plate 36, on which an adjustment block 37 is connected. The adjustment block 37 is connected to the back contact plate 31. The adjustment plate 36 is connected to the back of the back plate 32, and has an adjustment groove. The adjustment block 37 is connected to the adjustment groove and to the back contact plate 31. The adjustment block 37 ensures that the back contact plate 31 does not slide out of the adjustment groove when sliding on the back plate 32, thereby preventing the back contact plate 31 from sliding off the back plate 32.

[0045] In a preferred embodiment, the upper end of the carbon fiber tube 35 is connected to an upper end fixing component 38, which is connected to the back plate 32, and the lower end of the carbon fiber tube 35 is connected to a lower end fixing component 39, which is connected to the coil 105.

[0046] The upper fixing component 38 includes a connecting seat, which is connected to the back plate 32. The connecting seat is provided with a clamping block, which is connected to the upper end of the carbon fiber tube 35. The clamping block is provided with a through hole to facilitate the installation and connection of the pneumatic spring 33.

[0047] See Figure 5 The lower fixing component 39 includes a connecting sleeve 391, on which two clamping plates 392 are connected. The coil 105 is positioned between the two clamping plates 392, and the clamping plates 392 are connected to the coil 105 via shafts. The connecting sleeve 391 is connected to the lower end of the carbon fiber tube 35. The connecting sleeve 391 has a round hole for securing the pull wire.

[0048] Figure 3 This is a schematic diagram of the lower limb fixation module provided in an embodiment of the present invention. (See attached diagram.) Figure 3 In a preferred embodiment, the lower limb fixation module 5 includes a thigh base plate 51, a leg contact plate 52, and a pull wire shaft 53. The leg contact plate 52 is connected to the pull wire shaft 503, the pull wire shaft 503 is connected to the thigh base plate 51, the thigh base plate 51 is connected to the wire reel 105, a BOA knob 54 is connected to the thigh base plate 51, and a binding connection plate 55 is connected to the thigh base plate 51.

[0049] The coil 105 is connected to the upper end of the thigh base plate 51, the BOA knob 54 is connected to the middle position of the thigh base plate 51, the end of the BOA pull line is tied to the pull line shaft, the middle part of the pull line shaft 503 is hinged to the middle position of the thigh base plate 51, and the two ends of the pull line shaft 503 are respectively connected to the leg contact plate 52, which is used to contact the thigh.

[0050] See Figure 3 In a preferred embodiment, the lumbar support connector 42 includes a connecting rod 421 and connecting arms 423 connected to both ends of the connecting rod 421. The connecting arms 423 are connected to the reel 105, and the adjustable lumbar support print 44 at the lower end is connected to the connecting rod 421.

[0051] The adjustable lumbar support 44 at the lower end of the lumbar support 41 is assembled and connected to the middle position of the connecting rod 421, and the connecting arm 423 is connected to the coil 105 via a shaft.

[0052] The binding connecting plate 55, the clamping plate 392, the spool 105, and the connecting arm 432 are hinged together by the same shaft, and the thigh base plate 51 and the spool 105 are hinged together by a shaft.

[0053] Figure 6 For is Figure 4 See the enlarged diagram of Part B. Figure 4 and Figure 6 In a preferred embodiment, the pulley module includes a first pulley group 21, a second pulley group 22, and a third pulley group 23. The third pulley group 23 is connected to the pneumatic spring 33, the second pulley group 22 and the first pulley group 21 are connected to the lower end fixing component 29, and the first pulley group 21 is located on the coil 105.

[0054] The third pulley assembly 23 includes a fixing member 231 and a first spool 232. The first spool 232 is connected to the lower end of the pneumatic spring 33 through the fixing member. The third pulley assembly 23 is located inside the lower end of the carbon fiber tube 35.

[0055] The second pulley group 22 is disposed at the lower end of the third pulley group 23. The second pulley group 22 includes a second pulley 221 and a third pulley 222. The second pulley 221 and the third pulley 222 are connected to the connecting sleeve 391 of the lower end fixing component 39.

[0056] The first pulley group 21 is disposed at the lower end of the second pulley group 22. The first pulley group 21 includes a fourth pulley 211 and a fifth pulley 212. The fourth pulley 211 and the fifth pulley 212 are connected to the clamping plate 392 of the lower end fixing component 39 and are located between the two clamping plates 392. The fourth pulley 211 and the fifth pulley 212 are disposed at the upper end of the pull groove 1051 of the spool 105.

[0057] Figure 7 The schematic diagram of the pull wire module and pulley module provided in the embodiment of the present invention is shown below. Figure 7The pull wire in the pull wire module 1 includes a first pull wire and a second pull wire. The first pull wire includes pull wire one 101 and pull wire two 103, and the second pull wire includes pull wire three 102 and pull wire four 104.

[0058] Among them, one pneumatic spring 33 is equipped with pull wire 101 and pull wire 302; the other pneumatic spring 33 is equipped with pull wire 203 and pull wire 404.

[0059] One end of pull wire 101 and pull wire 2 103 are respectively tied to the fixing part of the third pulley group on the pneumatic spring 33. One end of pull wire 3 102 and pull wire 4 104 are respectively tied to the round hole of the lower fixing part, pass upward through the spool in the third pulley group, and then pass downward together with pull wire 101 and pull wire 2 103 in the first pull wire group to pass through the spool in the second pulley group. After that, they pass through the spool in the first pulley group and are then tied to the wire holes at both ends of the spool.

[0060] The use of the exoskeleton in this invention will be described in detail below:

[0061] Figure 8 This is a schematic diagram of the exoskeleton in a supine position provided in an embodiment of the present invention, as shown below. Figure 8 As shown, when the human body leans back to perform overhead work, the exoskeleton back support module rotates backward, the second cable is tightened, and the pneumatic spring is stretched to provide support torque.

[0062] During the backward tilting process, the stiffness of the pneumatic spring is adjusted in real time by the stiffness adjustment air pump to ensure that the back support module rotates backward along an impact-free trajectory and provides sufficient support for the operator.

[0063] As the tilting angle increases, the lumbar support connector in the lumbar support module gradually moves backward from its free state to the limiting position, and then the lumbar support contacts the user's upper back. During the backward tilting process, the back support module provides effective support to the back, reducing the mechanical tension on the core anterior abdominal muscles and oblique abdominal muscles.

[0064] During the backward lean, the back contact plate remains in contact with the back, providing stable support as the back slides along the plate. Elastic cables connect to the back contact plate to provide support in the direction of sliding. By adjusting the lumbar support position, the lumbar support and back support can provide two-point stable support for the upper back in the backward leaning plane at different leaning angles, reducing the tension in the muscles on the front that resist gravity and the activation of the muscles in the back that maintain spinal posture.

[0065] During operation, the back support module provides tangential support, reducing muscle tension in the anterior core, namely the abdominal and rectus abdominis muscles, and decreasing spinal pressure. Simultaneously, the shoulders press firmly against the back contact plate, transferring the vertical pressure generated by the tool in the upper limbs directly to the exoskeleton and then to the lower limbs. This decentralization of pressure effectively reduces the load on the scapular stabilizing muscles (upper and middle trapezius) and the spine.

[0066] The lumbar support helps maintain the worker's posture, preventing excessive backward leaning and loss of stability. It also serves as a limit to the angle of backward leaning, preventing dangerous situations such as falling backward in the event of power failure or overload.

[0067] Figure 9 This is a schematic diagram of the exoskeleton bending over state provided in an embodiment of the present invention, as shown below. Figure 9 As shown, when a person bends over to perform a lifting operation, the lumbar support connector disengages from its limit and follows the body's forward lean. The exoskeleton's back support module rotates forward, the first cable is tightened, and the pneumatic spring is stretched. The tension acts on the rear of the cable reel, providing a supporting torque for the user's upper body. Before bending over, the worker manually adjusts the pneumatic spring stiffness using a pneumatic tube. When bending over, the pneumatic muscles stretch and store energy, transmitting the tension to the upper body through the back support module. This reduces the load torque that the back muscles need to contract to resist, thus reducing the load on the back muscles and the pressure on the spine.

[0068] This invention also provides an application of a lumbar and abdominal auxiliary exoskeleton, which is applied to industrial operations to achieve both bending and supine working conditions.

[0069] In summary, the exoskeleton provided by this invention can assist in both bending over and overhead work, making it suitable for both types of work conditions. Utilizing a variable stiffness pneumatic spring and pulley transmission design, it achieves bidirectional assistance, effectively reducing the burden on the lower back and lateral chain muscles, while also reducing the load on the anterior core muscles and spinal stabilizing muscles during supine work. Furthermore, the entire exoskeleton is lightweight.

[0070] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A waist and abdomen auxiliary exoskeleton, characterized in that, It includes a cable module, a pulley module, a back support module, a lumbar support module, and a lower limb fixation module; The cable module includes a cable reel and several cables. The cable reel is connected to the lower limb fixing module. The cable reel is located at the lower end of the pulley module. The cables are used to wind around and connect to the pulley module and the cable reel. The back support module includes a back contact plate, a back plate, a pneumatic spring, a manual air pump, a carbon fiber tube, and an adjustment mechanism. The back contact plate is slidably connected to the back plate through the adjustment mechanism. The upper end of the pneumatic spring is connected to the manual air pump, and the lower end of the pneumatic spring is connected to the pulley module. The pneumatic spring is disposed inside the carbon fiber tube, the upper end of the carbon fiber tube is connected to the back plate, and the lower end of the carbon fiber tube is connected to the coil. The lumbar support module includes a lumbar support, a lumbar support connecting rod, a lumbar support connector, and an adjustable lumbar support printout. The upper and lower ends of the lumbar support are respectively connected to the lumbar support connecting rod. The adjustable lumbar support printout is connected to the lumbar support connecting rod. The upper adjustable lumbar support printout is connected to the back plate, and the lower adjustable lumbar support printout is connected to the lumbar support connector. The lumbar support connector is connected to the reel.

2. The lumbar and abdominal auxiliary exoskeleton according to claim 1, characterized in that, The lower limb fixation module includes a thigh base plate, a leg contact plate, and a pull wire shaft. The leg contact plate is connected to the pull wire shaft, the pull wire shaft is connected to the thigh base plate, and the thigh base plate is connected to the wire reel.

3. The lumbar and abdominal auxiliary exoskeleton according to claim 1, characterized in that, The adjustment mechanism includes an adjustment plate, an adjustment block connected to the adjustment plate, and the adjustment block connected to the back contact plate.

4. The lumbar and abdominal auxiliary exoskeleton according to claim 1, characterized in that, The upper end of the carbon fiber tube is connected to an upper fixing component, which is connected to the back plate. The lower end of the carbon fiber tube is connected to a lower fixing component, which is connected to the coil.

5. The lumbar and abdominal auxiliary exoskeleton according to claim 1, characterized in that, The lumbar support connector includes a connecting rod and connecting arms connected to both ends of the connecting rod. The connecting arms are connected to the reel, and the adjustable lumbar support printout at the lower end is connected to the connecting rod.

6. The lumbar and abdominal auxiliary exoskeleton according to claim 1, characterized in that, An elastic cord is attached to the back contact plate.

7. The lumbar and abdominal auxiliary exoskeleton according to claim 4, characterized in that, The pulley module includes a first pulley group, a second pulley group, and a third pulley group. The third pulley group is connected to the pneumatic spring, and the second pulley group and the first pulley group are connected to the lower fixed component. The first pulley group is located on the reel.

8. The lumbar and abdominal auxiliary exoskeleton according to claim 2, characterized in that, A BOA knob is connected to the thigh sole plate.

9. The lumbar and abdominal auxiliary exoskeleton according to claim 2, characterized in that, A binding connecting plate is connected to the thigh sole plate.

10. An application of a lumbar and abdominal auxiliary exoskeleton, characterized in that, The lumbar and abdominal auxiliary exoskeleton according to any one of claims 1-9 is applied to industrial operations to achieve dual working conditions of assisting bending over and lying back.

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