Passive load-lifting exoskeleton

Abstract

The application discloses a passive carrying-assistance force wearing exoskeleton and belongs to the technical field of man-machine engineering assistance equipment. The exoskeleton comprises a waist backplate, an arm lifting device, a traction rope, a buttock elastic energy storage adjusting part, a waistband, a thigh bandage, a hand fixing device and a shoulder strap. The shoulder strap cooperates with the waistband to fix the waist backplate on the back of the human body trunk. The arm lifting device is arranged on the left and right sides of the upper part of the waist backplate. The two ends of the traction rope are connected with the arm lifting device and the hand fixing device respectively. The buttock elastic energy storage adjusting part is assembled on the rear side of the waistband and connected with the thigh bandage at the lower end. The exoskeleton constructs a complete force transmission path. The heavy load is sequentially transmitted from the hand fixing device to the thigh bandage. When the buttock elastic energy storage adjusting part is upright, it is relaxed and not stressed. When bending over to carry, the energy is stored. When standing up, the energy is released, and the hand load is transferred to the thigh. The exoskeleton does not need a power source, reduces the lumbar vertebra pressure and torsional moment, reduces the risk of lumbar muscle injury and is suitable for different body types and light and heavy load operation scenes.

Description

Technical Field

[0001] This invention relates to the field of wearable assistive devices, and in particular to a passive handling assistive wearable exoskeleton, which is suitable for manual heavy object handling operations in scenarios such as warehouses, workshops, and logistics sites. It is used to reduce the load on the hands and waist of the human body during the handling process and reduce work-related injuries. Background Technology

[0002] In logistics warehousing, factory workshops, and other work scenarios, workers need to frequently perform cyclical lifting and straightening movements, bending over to grab, lift, and stand up. Long-term repetitive heavy lifting work can easily cause hand fatigue and excessive pressure on the lumbar spine, which can easily lead to occupational injuries such as lumbar muscle strain and lumbar sprains.

[0003] Existing passive assistive exoskeletons are mainly divided into two categories: one is the upper limb rope-assisted exoskeleton. This type of device relies on ropes and coil spring mechanisms to assist the human arm and can share some of the load when the hand is grasping heavy objects. However, the load is mainly transmitted to the shoulder and back, and the thigh cannot participate in sharing the load. After long-term operation, the shoulder bears a heavy burden, and the overall assistive sharing effect is limited.

[0004] Another type is the hip-based energy storage exoskeleton. This type of device mainly uses connecting rods or elastic components arranged at the hip position to store energy when the body bends over and release energy when standing up. It is mainly used to reduce the burden on the lumbar spine when standing up. However, this type of product lacks a force transmission structure for the hands to grasp heavy objects. It cannot share the pulling force generated by the hands holding heavy objects. It can only assist the body in completing the bending-standing action and cannot relieve the burden on the hands.

[0005] In addition, most existing hip energy storage exoskeletons are designed with pre-tight elasticity. When worn, the elastic components are always under tension regardless of whether the person is standing or bending over. This results in continuous binding force when the person is standing or walking normally, interfering with normal human movement and causing poor wearing comfort.

[0006] In summary, current technology lacks a passive wearable exoskeleton that can both distribute the pulling force of the hands when grasping heavy objects and effectively transfer the load of the heavy objects from the hands to the thighs; at the same time, it can ensure that the elastic energy storage components are in a relaxed state when the human body is upright and only store energy when bending over to carry things, thus balancing assistive performance and wearing comfort.

[0007] In warehousing and workshop heavy-duty handling operations, workers frequently perform cyclical movements of bending over to grab and then standing up while carrying heavy loads. This continuous weight-bearing on the hands and significant pressure on the lumbar spine easily leads to occupational injuries such as hand fatigue and lumbar muscle strain. Passive exoskeletons, which rely on elastic components to provide assistance and require no motor or power supply, have been widely studied in handling operations.

[0008] CN112975909A discloses a component including a waist assist component, an arm assist component, a hip joint assist component, and a knee joint assist component; it is equipped with an assist rope, a hand gripping mechanism, and a coil spring-ratchet-pawl locking mechanism, through which the load of heavy objects is transferred to the shoulders via the rope; the waist elastic element is arranged between the upper back plate and the lower back plate to realize bending energy storage; the lower limbs adopt rigid rod-type hip joint and knee joint torsion springs to provide lower limb assistance. Arm Assistance: One end of the assist rope is wound around the arm assist mounting shaft, and the other end is connected to the hand gripping mechanism; a coil spring is used to achieve rope rewinding, and a ratchet-pawl locking mechanism is also provided to lock the rope when lifting heavy objects, fixing the rope length, and transferring the force of the heavy object to the human shoulder; Waist Energy Storage: Elastic elements are arranged between the upper and lower back plates to store and release energy for waist flexion and extension; Lower Limb Structure: A rigid rod structure with thigh and calf bars is used, and lower limb assistance is achieved by hip and knee joint torsion springs; Force Transmission Path: Heavy load → assist rope → human shoulder, with the force ultimately borne by the human shoulder; the waist elastic elements only compensate for the waist bending moment; the lower limb torsion springs only provide assistance for hip and knee joint flexion and extension, and there is no force flow path that transfers the hand load downward to the thigh straps.

[0009] CN113370191A discloses a material handling exoskeleton, which is composed of a back frame mechanism, a first energy storage mechanism, a waist mechanism, a second energy storage mechanism, and a leg mechanism. It uses steel wire ropes to connect the hand handling fixtures and features two levels of energy storage: the first energy storage mechanism is a spring steel plate for energy storage during waist bending; the second energy storage mechanism uses a cam-compression spring mechanical energy storage unit arranged on the hip side, transmitting force downwards to the leg guards through rigid limbs. It is an exoskeleton with rigid mechanical legs, relying on the limbs and leg guards to bear the load; those skilled in the art would not modify the rigid mechanical leg design into the flexible strap design of this application. It does not disclose the cantilever arm support device, the W / w variable-shape elastic energy storage adjustment component behind the hip, or the full strap force transmission path of this application.

[0010] CN114378790A discloses a full-body transport exoskeleton. The shoulders are equipped with servo motors providing active assistance, the upper limbs have tension springs for passive assistance, and the hip and knee joints have compression springs in a three-section telescopic rod configuration for passive assistance. The exoskeleton is a rigid full-body structure consisting of hard plates, hinges, and footplates. Load is primarily transferred to the ground through the exoskeleton. Upper limb assistance relies on rigid armplates and motors; there is no cantilevered arm support device, no traction rope, and no hand fixation device. Therefore, the upper limb force transmission link of the present application—hand → traction rope → cantilevered support—is completely absent.

[0011] In summary, the three prior art documents each have their own focus: CN112975909A focuses on upper limb rope assistance, transferring load to the back; CN113370191A focuses on hip-linked trunk assistance for standing up, but cannot handle hand pull; CN114378790A only provides a backplate wearing base. None of the three prior art documents disclose a complete closed-loop force transmission structure: transferring the heavy load from the hands through the upper limb ropes, the backplate, and the elastic energy storage adjustment components in the hips to the thigh straps. Furthermore, most existing exoskeleton energy storage structures are always in a pre-tensioned state; when standing and walking, the elastic components remain continuously tense, creating a restraining pull on the body and resulting in poor wearing comfort.

[0012] Therefore, the existing technology has the following technical problems:

[0013] 1. Existing assistive exoskeletons have a single assistive path, either only sharing the load of the arms, with the load borne by the shoulders and back, and the thighs cannot share the load; or only assisting the torso in bending over and standing up, without sharing the pulling force of the hands grasping heavy objects.

[0014] 2. Lack of a passive force transmission closed-loop mechanism capable of completely transferring the load of heavy objects from the hand to the thigh;

[0015] 3. Most of the energy storage elastic components are continuously pre-tightened, which causes continuous pulling and restraint when walking upright, interfering with normal movement and resulting in poor wearing comfort. Summary of the Invention

[0016] The purpose of this invention is to overcome the shortcomings of the prior art and provide a passive handling assistive wearable exoskeleton. This invention solves the technical problems of existing handling assistive exoskeletons, such as a single load-sharing path, inability to simultaneously share the pulling force of the hands, and continuous pre-tension of the elastic element in the standing state interfering with normal movement. It achieves the transfer of heavy loads from the hands to the thighs, reducing the load on the hands and lumbar spine, while improving the comfort of daily wear and movement.

[0017] The technical problem to be solved by the present invention is to provide a passive handling assistive wearable exoskeleton that constructs a complete force transmission closed loop, which not only shares the pulling force of the hand grasping heavy objects, but also can transfer the load of the hand to the thigh to achieve load sharing; at the same time, the energy storage component is relaxed and not subjected to force in the upright state, and only works to store energy when bending over to carry objects, thus taking into account both assistive performance and wearing comfort.

[0018] To achieve the above objectives, the present invention adopts the following technical solution:

[0019] This passive, transport-assisted wearable exoskeleton includes a lumbar backplate, arm support devices, traction ropes, a hip elastic energy storage adjustment device, a waist belt, thigh straps, hand fixation devices, and shoulder straps. The lumbar backplate conforms to the user's back. The waist belt wraps around the waist and passes laterally through the lumbar backplate, securing it to the user's back. The shoulder straps extend downwards from the shoulders, connecting at the top and bottom of the lumbar backplate. Together, they secure the lumbar backplate to the user's torso. The arm support devices are located on the upper left and right sides of the lumbar backplate. The traction ropes connect at both ends to the arm support devices and hand fixation devices. The hip elastic energy storage adjustment device is mounted on the back of the waist belt, with its lower end connected to the thigh straps and its upper end fixed to the waist belt. The thigh straps are symmetrically arranged, openable strap components. The inner side of the thigh straps fits against the outer side of the thigh, and can wrap around and fix the upper part of the human thigh.

[0020] The force transmission path of this exoskeleton is as follows: the load borne by the hand fixation device is transmitted sequentially through the traction rope, arm support device, lumbar back plate, waist belt, and hip elastic energy storage adjustment device to the thigh straps. The hip elastic energy storage adjustment device is configured such that: when the body is upright, it is in a relaxed and stress-free state; when the body bends over to lift heavy objects, it is stretched and wraps around the hips to store energy; when the body lifts heavy objects and stands up, it releases the stored energy, transferring the load from the hands to the thighs, reducing the load on the hands.

[0021] Furthermore, the hip elastic energy storage adjustment component is an integrated elastic band with adjustable length; the hip elastic energy storage adjustment component passes through a reserved through hole below the waist back plate, and the left and right ends of the elastic band are respectively fixed to the back of the waist belt, with the middle section of the elastic band hanging down and straddling the back of the human hip; adjusting the total length of the elastic band can change its contour shape: shortening the elastic band length increases the downward arch of the middle section of the elastic band, forming a double concave lowercase W shape, improving the hip coverage and assist output; extending the elastic band length decreases the arch of the middle section of the elastic band, forming an uppercase W shape, reducing the hip coverage and assist output.

[0022] Furthermore, the traction rope is fixedly connected to the hand fixing device by means of perforation; the traction rope is fixedly connected to the arm lifting device by means of perforation.

[0023] Furthermore, the arm support device is a cantilever support component arranged in pairs on the left and right sides, which can be detachably and fixedly installed on the upper left and right sides of the waist back plate; the arm support device extends forward and upward from the root to the front end to form a cantilever support structure; the front end of the arm support device has a through hole for the traction rope to pass through and fix, which is used to receive the load transmitted by the traction rope and transmit the load to the waist back plate.

[0024] Furthermore, the waist back panel has an assembly through hole, through which the shoulder strap passes to connect with the waist back panel; the waist belt passes through the assembly through hole of the waist back panel to complete the assembly and fixation.

[0025] Furthermore, the hip elastic energy storage adjustment component and the thigh strap are slidably connected by a slider structure. The slider structure includes a guide groove fixed on the thigh strap and a sliding block slidably assembled in the guide groove. The sliding block is connected to the lower end of the hip elastic energy storage adjustment component and can slide up and down along the guide groove to adapt to the hip flexion and extension movements of the human body.

[0026] Furthermore, the hand fixing device is a pair of hand-grip load-bearing components arranged on the left and right. The hand fixing device is equipped with a grip handle, and a reserved round hole is opened on the upper part of the handle for the traction rope to pass through and fix. When the user grips the grip handle to move heavy objects, the load of the heavy objects is directly applied to the hand fixing device. The lower end of the traction rope passes through the reserved round hole and is locked and fixed, and the upper end of the traction rope is fixedly connected to the arm support device through a hole.

[0027] Furthermore, the thigh strap is made of flexible and breathable woven fabric, with the inner side fitting the outer side of the thigh and Velcro fasteners on both sides to wrap around and fix it to the upper part of the thigh; vertical guide grooves are fixedly installed on the outer side of the thigh strap.

[0028] Furthermore, the lumbar support and arm support devices are made of carbon fiber.

[0029] Beneficial effects

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. This invention constructs a complete force transmission chain. The heavy load borne by the hand fixation device can be transmitted sequentially through the traction rope, arm lifting device, waist back plate, waist belt, and hip elastic energy storage adjustment component to the thigh strap. The heavy load grasped by the hand is transferred to the thigh for distribution, and the load is not only borne by the shoulders and back. This significantly reduces the load on the hands and the pressure and torsional torque on the lumbar spine, and reduces the risk of lumbar muscle strain caused by handling operations.

[0032] 2. The present invention configures the elastic energy storage adjustment component of the buttocks according to working conditions. When the human body is standing upright or walking, the elastic energy storage adjustment component of the buttocks is in a relaxed and stress-free state, and will not exert continuous pulling and restraint on the human body. It is only stretched and wrapped around the buttocks to store energy when the human body bends over to lift heavy objects, and releases energy to provide assistance when standing up. This ensures the assistance effect of lifting operations, avoids interfering with the normal standing and walking of personnel, and significantly improves the wearing comfort.

[0033] 3. The entire device is a passive structure, which does not require power components such as motors and batteries. It relies on elastic components to achieve energy storage assistance. The structure is simple and the overall weight is light, making it easy for operators to wear and use. It is suitable for long-term repetitive handling operations in warehouses and workshops.

[0034] 4. The length of the elastic energy storage adjustment component in the buttocks is adjustable, and each component adopts a detachable assembly structure, which can be adapted to workers of different heights and weights, making the device highly versatile. Attached Figure Description

[0035] Figure 1 is a three-dimensional structural diagram of the passive transport-assisted wearable exoskeleton of the present invention;

[0036] Figure 2 is a front view of the passive transport-assisted wearable exoskeleton of the present invention;

[0037] Figure 3 is a side view of the passive transport-assisted wearable exoskeleton of the present invention;

[0038] Explanation of the labels in the attached drawings: 1-Backrest, 2-Arm support device, 3-Traction rope, 4-Elastic energy storage adjustment device for hips, 5-Waist belt, 6-Thigh straps, 7-Hand fixation device, 8-Shoulder straps. Detailed Implementation

[0039] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0040] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of protection of the invention.

[0041] Example 1

[0042] As shown in Figures 1 and 2, a passive transport-assisted wearable exoskeleton includes a lumbar backplate 1, an arm support device 2, a traction rope 3, a hip elastic energy storage adjustment component 4, a waist belt 5, thigh straps 6, a hand fixation device 7, and shoulder straps 8. The lumbar backplate 1 conforms to the back of the human body. The waist belt 5 wraps around the waist of the human body and passes laterally through the lumbar backplate 1, limiting the lumbar backplate 1 to the back of the human body. The shoulder straps 8 extend downward from the shoulders of the human body. The upper end of the shoulder straps 8 is connected to the upper part of the lumbar backplate 1, and the lower end of the shoulder straps 8 is connected to the lower end of the lumbar backplate 1. The shoulder straps 8 and the waist belt 5 cooperate with each other to wear and fix the lumbar backplate 1 to the back of the human torso.

[0043] The shoulder strap 8 is made of polyester fiber material. Both ends of the shoulder strap 8 are inserted into the upper and lower mounting holes of the waist back plate 1 for fixation. The length of the shoulder strap 8 is adjustable and the structure is similar to a backpack strap, which can accommodate users of different heights.

[0044] The waist back panel 1 has a slender middle section and thicker ends, extending to the left and right sides from the top, forming a Y-shape with the middle section, and an elliptical structure at the bottom. Shoulder strap holes and screw holes are respectively provided on the left and right sides of the upper end of the waist back panel 1. The shoulder strap holes are used to fix the upper end of the shoulder strap 8, and the screw holes are used for the detachable installation of the arm support device 2. Shoulder strap holes and waist belt holes are provided on the left and right sides of the lower end of the waist back panel 1, and a hip belt through hole is provided at the center of the bottom of the waist back panel 1. The lower end of the shoulder strap 8 passes through the lower shoulder strap hole for positioning, and the waist belt 5 passes through the waist belt hole and is fixed to the waist back panel 1. The hip elastic energy storage adjustment component 4 is assembled through the bottom hip belt through hole.

[0045] The arm support devices 2 are arranged in pairs on the left and right sides, forming an inverted L shape. They are cantilever support components made of carbon fiber material in one piece. The base of the arm support devices 2 is detachably locked to the upper left and right sides of the waist back plate 1 by screws, and extends forward and upward from the base to the front end to form a cantilever support structure. The end of the arm support devices 2 away from the waist back plate 1 has a through hole for the traction rope 3 to be threaded and fixed, to receive the load transmitted by the traction rope and to transmit the load to the waist back plate 1.

[0046] The upper end of the traction rope 3 is fixed by passing through the hole at the front end of the arm support device 2, and the lower end of the traction rope 3 is fixed by passing through the round hole of the hand fixing device 7. That is, the traction rope 3 is fixedly connected to the hand fixing device 7 and the arm support device 2 by passing through holes.

[0047] The hand restraint devices 7 are arranged in pairs, serving as hand-grip load-bearing components with handles. A pre-drilled hole is provided at the top of the handle for the traction rope 3 to pass through and be secured. The lower end of the traction rope 3 passes through this hole and is locked in place. The hand restraint device 7 is a J-shaped hook made of magnesium-aluminum alloy, with a hook width adapted to the width of a human hand. When the user holds the hand restraint device 7 while lifting heavy objects, the load is directly applied to the hand restraint device 7, reducing pressure marks and chafing on the palm. The load is then transferred upwards along the traction rope 3 to the arm support device 2.

[0048] The waist belt 5 is assembled by passing through the waist belt hole of the waist back plate 1, and the front end of the waist belt 5 is provided with an opening and closing buckle; when wearing it, the buckle is fastened and the tightness is adjusted to fit the waist size of different users.

[0049] The hip elastic energy storage adjustment component 4 is an integrated elastic band with adjustable length. The middle part of the elastic band passes through the hip belt through hole in the middle of the bottom of the waist back plate 1. The left and right ends of the elastic band are fixed to the left and right positions behind the waist belt 5, respectively. The middle section of the elastic band hangs down and crosses behind the buttocks. The upper end of the hip elastic energy storage adjustment component 4 is fixed to the back of the waist belt 5, and the lower end is slidably connected to the thigh strap 6 through a slider structure. Adjusting the total length of the elastic band can change its outline shape: shortening the elastic band length increases the downward arch of the middle section, forming a double concave lowercase W shape, improving the hip coverage and assist output, suitable for heavy load handling conditions; extending the elastic band length decreases the arch of the middle section, forming an uppercase W shape, reducing the hip coverage and assist output, suitable for light load handling conditions.

[0050] The slider structure includes a guide groove fixed to the thigh strap 6 and a sliding block slidably assembled within the guide groove. The sliding block is connected to the lower end of the hip elastic energy storage adjuster 4, and can slide up and down along the guide groove to adapt to the flexion and extension movements of the human hip. When the human bends over and flexes the hip, the sliding block slides upward along the guide groove; when the human stands up, the sliding block slides downward along the guide groove as the hip extends, thereby compensating for the relative displacement caused by hip flexion and extension, avoiding additional pulling interference from the elastic energy storage adjuster, and ensuring stable energy storage and release.

[0051] The thigh strap 6 is a symmetrically arranged, openable strap assembly made of flexible, breathable woven fabric. Its inner side conforms to the outer thigh, and both sides feature Velcro fasteners to wrap around and securely fasten it to the upper part of the thigh. A vertical guide groove is fixedly installed on the outer side of the thigh strap 6. When not worn, the thigh strap 6 is in the open / closed state. When worn, the Velcro fasteners are fastened together to securely fasten the thigh strap 6 to the user's thigh.

[0052] After the exoskeleton is assembled, a complete force transmission path is formed: the heavy load borne by the hand fixation device 7 is transmitted sequentially through the traction rope 3, the arm support device 2, the waist back plate 1, the waist belt 5, and the hip elastic energy storage adjustment component 4 to the thigh strap 6.

[0053] The device works as follows: When the user is walking upright and not carrying anything, the elastic energy storage adjustment component 4 of the buttocks is relaxed and unloaded, so it does not compress the buttocks and does not store elastic potential energy; when the user bends over to grab a heavy object, the elastic energy storage adjustment component 4 of the buttocks is stretched and wraps around the buttocks to store energy; when the user stands up with the heavy object, the elastic energy storage adjustment component 4 of the buttocks releases the stored energy, transferring the load of the heavy object from the hand to the thigh, reducing the load on the hand, and at the same time reducing the pressure and torsional torque on the lumbar spine, thus reducing the risk of lumbar muscle injury.

[0054] In this embodiment, the waist back plate 1 and the arm support device 2 are made of carbon fiber; it is understood that in other embodiments, other equivalent high-strength lightweight materials such as high-strength engineering plastics can also be used as substitutes.

[0055] This device has a passive structure, requiring no motors, batteries, or other power components. It relies on elastic components to store energy and provide assistance, making it suitable for work scenarios in warehouses and logistics workshops where workers repeatedly bend over to lift heavy objects. When worn, the energy storage components are relaxed and unstretched when the person is walking upright; only when bending over to grab a heavy object and bending their body does the elastic energy storage adjustment component at the buttocks stretch and store energy, releasing assistance when standing up.

[0056] Example 2: Human Simulation Trial Test Example

[0057] To verify the actual assistive effect of the passive handling assistive wearable exoskeleton of this invention, 10 subjects of different ages, weights, and basic physical conditions were selected to conduct simulated handling operations. The test was divided into a control group (without wearing the exoskeleton) and an experimental group (wearing the exoskeleton of this invention). Test conditions: Subjects repeatedly performed the action of bending over to grab, carrying, and standing up, with each group repeating the carrying 20 times; two weight carrying conditions were set up: a light load of 12 kg and a heavy load of 22 kg.

[0058] Equivalent weight reduction (kg): The equivalent weight of the hand load shared by the exoskeleton; the higher the value, the stronger the assistive effect.

[0059] Lumbar pressure reduction rate (%): The percentage decrease in lumbar spine pressure compared to the unwearing state;

[0060] Subjective comfort rating (0-10 points): 0 represents unbearable, 10 represents a snug fit without pressure and no hindrance to movement;

[0061] Table 1 Basic Information of Subjects

[0062] S1 24 62 Healthy, with no history of lower back injury. 12kg light load handling S2 28 71 Healthy, with no history of lower back injury. 22kg heavy load handling S3 33 68 Mild lumbar muscle strain 12kg light load handling S4 36 76 Mild lumbar muscle strain 22kg heavy load handling S5 41 83 Moderate lumbar muscle strain 12kg light load handling S6 45 79 Moderate lumbar muscle strain 22kg heavy load handling S7 48 72 Healthy, long-term manual labor 12kg light load handling S8 52 86 Mild lumbar muscle strain, middle-aged and elderly movers 22kg heavy load handling S9 55 74 Moderate lumbar muscle strain 12kg light load handling S10 58 81 Moderate lumbar muscle strain 22kg heavy load handling

[0063] Table 2 Test data of the experimental group wearing this exoskeleton

[0064] S1 4.7 34.2 31.5 1.8 8.6 2.1 S2 8.9 38.7 35.3 2.7 8.1 3.2 S3 4.4 32.6 30.1 2.2 8.3 2.4 S4 8.2 36.4 33.8 3.1 7.8 3.6 S5 4.1 30.8 28.4 2.6 7.9 2.8 S6 7.7 34.1 31.2 3.5 7.5 4.0 S7 4.5 33.3 30.7 1.9 8.4 2.2 S8 8.4 37.2 34.6 3.3 7.6 3.8 S9 4.0 29.7 27.3 2.8 7.7 3.0 S10 7.5 32.9 30.0 3.7 7.3 4.2

[0065] Table 3. Test data for the control group without exoskeleton.

[0066] S1 4.2 — 4.8 S2 6.6 — 7.1 S3 4.8 — 5.3 S4 7.0 — 7.6 S5 5.5 — 6.0 S6 7.8 — 8.2 S7 4.4 — 4.9 S8 7.3 — 7.9 S9 5.8 — 6.4 S10 8.1 — 8.6

[0067] The test data above shows that: 1. Under a light load of 12kg, the equivalent weight reduction can reach 4.0-4.7kg; under a heavy load of 22kg, the equivalent weight reduction can reach 7.5-8.9kg. The device of this invention can effectively share the load of heavy objects grasped by the hands. 2. After wearing the exoskeleton, the subjects' lumbar pressure reduction rate was 29.7%-38.7%, and the lumbar torque reduction rate was 27.3%-35.3%, which can significantly reduce the pressure and torsional torque on the lumbar spine during the handling process and reduce the risk of lumbar muscle injury. 3. Compared with the control group, after wearing this exoskeleton, the subjects' subjective strain score and post-work fatigue score decreased significantly; the subjects' subjective comfort score was 7.3-8.6 points; under heavy load conditions, the strap tension increased, and the comfort decreased slightly. 4. All subjects reported that when walking upright and not carrying heavy objects, the elastic energy storage adjustment component of the buttocks was in a relaxed state, with no continuous pulling or restraining feeling. Energy storage force was only generated when bending over to grasp heavy objects, achieving a balance between assistance and wearing comfort.

[0068] Example 3: Adjusting Gear Changes Example

[0069] This embodiment, based on implementation method 1, adjusts the length of the elastic energy storage component in the buttocks area to accommodate users of different body types. For users with a slender build, the effective length of the elastic energy storage component is shortened; for users with a taller build and larger hips, the effective length is lengthened. After length adjustment, it ensures that: the energy storage component remains relaxed and stress-free when the user is upright; and when bending over to a working angle, the elastic energy storage component can fully stretch and wrap around the buttocks to complete energy storage. This adjustable length structure enhances the versatility of the lifting device for workers of different heights and waist circumferences.

[0070] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A passive transport-assisted wearable exoskeleton, characterized in that, It includes a backrest (1), an arm support device (2), a traction rope (3), a hip elastic energy storage adjustment device (4), a waist belt (5), thigh straps (6), a hand fixation device (7), and a shoulder strap (8). The back panel (1) fits against the back of the human body, and the waist belt (5) wraps around the waist of the human body and passes horizontally through the back panel (1) to limit the back panel (1) to the back of the human body; the shoulder strap (8) extends downward from the shoulder of the human body, the upper end of the shoulder strap (8) is connected to the upper part of the back panel (1), and the lower end of the shoulder strap (8) is connected to the lower end of the back panel (1). The shoulder strap (8) and the waist belt (5) work together to fix the back panel (1) to the torso of the human body. The arm support device (2) is located on the upper left and right sides of the waist back plate (1); The two ends of the traction rope (3) are respectively connected to the arm lifting device (2) and the hand fixing device (7). The hip elastic energy storage adjustment component (4) is assembled on the back of the waist belt (5), the lower end of the hip elastic energy storage adjustment component (4) is connected to the thigh strap (6), and the upper end of the hip elastic energy storage adjustment component (4) is fixed to the waist belt (5). The thigh strap (6) is a symmetrically arranged openable strap assembly. The inner side of the thigh strap (6) fits against the outer side of the thigh and can surround and fix the upper part of the human thigh. The exoskeleton forms a force transmission path: the heavy load borne by the hand fixation device (7) is transmitted sequentially through the traction rope (3), arm lifting device (2), waist back plate (1), waist belt (5), and hip elastic energy storage adjustment device (4) to the thigh strap (6); the hip elastic energy storage adjustment device (4) is configured such that: when the human body is upright, it is in a relaxed and unforced state; when the human body bends over to carry heavy objects, it is stretched and wrapped around the hips to store energy; when the human body lifts heavy objects and stands up, it releases the stored energy, transferring the heavy load on the hand to the human thigh, reducing the load on the hand.

2. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The hip elastic energy storage adjustment component (4) is an integrated elastic band with adjustable length; the hip elastic energy storage adjustment component (4) passes through the reserved through hole below the waist back plate (1), and the left and right ends of the elastic band are respectively fixed to the back of the waist belt (5), with the middle section of the elastic band hanging down and straddling the back of the human hip; adjusting the total length of the elastic band can change its outline shape: Shortening the elastic band length increases the downward arch in the middle section, creating a double-concave lowercase W shape, improving the hip support and power output; extending the elastic band length decreases the arch in the middle section, creating an uppercase W shape, reducing the hip support and power output.

3. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The traction rope (3) is fixedly connected to the hand fixing device (7) by means of perforation; the traction rope (3) is fixedly connected to the arm lifting device (2) by means of perforation.

4. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The arm lifting device (2) is a cantilever support component arranged in pairs on the left and right sides, which can be detachably and fixedly installed on the upper left and right sides of the waist back plate (1); the arm lifting device (2) extends forward and upward from the root to the front end to form a cantilever support structure; the end of the arm lifting device (2) away from the waist back plate (1) is provided with a through hole for the traction rope (3) to pass through and fix, which is used to receive the load transmitted by the traction rope and transmit the load to the waist back plate (1).

5. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The waist back panel (1) has an assembly through hole, and the shoulder strap (8) passes through the assembly through hole to connect with the waist back panel (1); the waist belt (5) passes through the assembly through hole of the waist back panel (1) to complete the assembly and fixation.

6. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The hip elastic energy storage adjustment component (4) and the thigh strap (6) are slidably connected by a slider structure. The slider structure includes a guide groove fixed on the thigh strap (6) and a sliding block slidably assembled in the guide groove. The sliding block is connected to the lower end of the hip elastic energy storage adjustment component (4). The sliding block can slide up and down along the guide groove to adapt to the hip flexion and extension movements of the human body.

7. The passive transport-assisted wearable exoskeleton according to claim 1, characterized in that, The hand fixing device (7) is a pair of hand-grip load-bearing components. The hand fixing device (7) is equipped with a grip handle. A reserved round hole is opened on the upper part of the handle for the traction rope (3) to pass through and fix. When the user holds the grip handle to move heavy objects, the load of the heavy objects is directly applied to the hand fixing device (7). The lower end of the traction rope (3) passes through the reserved round hole and is locked and fixed. The upper end of the traction rope (3) is fixedly connected to the arm lifting device (2) through a hole.

8. The passive transport-assisted wearable exoskeleton according to claim 6, characterized in that, The thigh strap (6) is made of flexible and breathable woven fabric, with the inner side fitting the outer side of the thigh and the two sides having Velcro fasteners, which can surround and fix the upper part of the human thigh; the outer side of the thigh strap (6) is fixedly installed with a vertical guide groove.

9. The passive transport-assisted wearable exoskeleton according to any one of claims 1 to 8, characterized in that, The waist back plate (1) and arm support device (2) are made of carbon fiber.

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