Anti-tilting hanging bracket for power-assisted exoskeleton

Abstract

The utility model provides an anti-tilting hanging bracket for a power-assisted exoskeleton. The anti-tilting hanging bracket comprises a chassis, a vertical guide rail frame arranged on the chassis and a handrail device installed on the vertical guide rail frame in a sliding mode. The armrest device is used for mounting the power-assisted exoskeleton; a pedal mechanism is detachably arranged on the chassis, and the pedal mechanism is used for supporting a patient switched from a sitting posture state to a standing posture state; due to the fact that the patient steps on the pedal to assist standing of the power-assisted exoskeleton, the weight of the patient and the weight of the power-assisted exoskeleton are both transferred to the hanging bracket, the pressure of the hanging bracket on the ground is increased, the stabilizing moment of the hanging bracket can be improved without additionally increasing the weight of the hanging bracket, and the hanging bracket is prevented from turning backwards under the action of the power-assisted exoskeleton.

Description

Technical Field

[0001] The utility model belongs to the technical field of lower limb exoskeleton rehabilitation devices, and in particular relates to an anti-tilt hanger for a power-assisted exoskeleton. Background Art

[0002] A power-assisted exoskeleton is a device worn on the lower limbs of the human body to assist the lower limbs of the human body in rehabilitation exercises. Since the power-assisted exoskeleton has power, the power-assisted exoskeleton can assist the patient to switch from a sitting position to a standing position, and assist the patient in walking exercises. However, in the process of assisting the patient to switch from a sitting position to a standing position, the power-assisted exoskeleton still requires the patient to provide part of the support force to maintain the center of gravity balance, and it is not suitable for patients with insufficient support to stand up. In order to ensure the stability of patients with insufficient support during the posture switching process, additional personnel and / or equipment are usually required for auxiliary support. At present, it is mainly configured by configuring a hanger connected to the power-assisted exoskeleton so that when the patient standing up under the action of the power-assisted exoskeleton, the hanger can be used for guidance and center of gravity stabilization when standing up. However, when the power-assisted exoskeleton assists the patient to stand up, the force applied by the power-assisted exoskeleton to the hanger will form a flipping torque that causes the hanger to flip backward, which requires the hanger to have a certain weight to avoid the flipping torque formed by the power-assisted exoskeleton being greater than the stabilizing torque formed by the weight of the hanger. However, the increase in the weight of the hanger will not only increase the cost of the hanger, but also increase the difficulty of carrying and transferring the hanger. Therefore, how to provide a lightweight anti-tilt hanger for a power-assisted exoskeleton is a technical problem that needs to be solved urgently in this application. Utility Model Content

[0003] In view of the shortcomings of the prior art mentioned above, the purpose of the utility model is to provide an anti-tilt hanger for a power-assisted exoskeleton, which does not require additional weight of the hanger. It only requires a pedal mechanism for the patient to step on to be placed on the chassis of the hanger, so as to increase the pressure of the hanger on the ground by using the patient's own weight and the weight of the power-assisted exoskeleton, thereby preventing the hanger from tipping over under the action of the power-assisted exoskeleton.

[0004] To achieve the above-mentioned purpose and other related purposes, the utility model provides an anti-tilt hanger for a power-assisted exoskeleton, comprising a chassis, a vertical guide frame arranged on the chassis and an armrest device slidably installed on the vertical guide frame; the armrest device is used to install the power-assisted exoskeleton; a foot pedal mechanism is detachably provided on the chassis, and the foot pedal mechanism is used to support a patient who switches from a sitting posture to a standing posture; because the patient steps on the foot pedal mechanism to assist the power-assisted exoskeleton in standing up, the weight of the patient and the power-assisted exoskeleton is transferred to the hanger, which increases the pressure of the hanger on the ground, thereby increasing the stabilizing torque of the hanger without adding additional weight to the hanger, thereby preventing the hanger from tipping over under the action of the power-assisted exoskeleton.

[0005] Preferably, the anti-tilt hanger for the power-assisted exoskeleton includes a position locking mechanism, which is used to lock the height position of the armrest device, so that when the power-assisted exoskeleton assists the patient in exercising and walking, the anti-tilt hanger can reduce the weight of the patient wearing the power-assisted exoskeleton to reduce the burden on the patient when exercising and walking.

[0006] Preferably, the armrest device includes a fixing plate, a left arm and a right arm slidably arranged on the fixing plate, and a spacing adjustment mechanism for adjusting the spacing between the left arm and the right arm to meet the usage requirements of patients with different widths.

[0007] Preferably, a left slide plate and a right slide plate are horizontally slidably arranged on the fixed plate, and the spacing adjustment mechanism is used to adjust the spacing between the left slide plate and the right slide plate; the left force arm is vertically slidably installed on the left slide plate, and the right force arm is vertically slidably installed on the right slide plate; a spring support seat is provided on each slide plate, and the position of the spring support seat is lower than the position of the force arm on the corresponding slide plate; a vertical spring is coupled between the spring support seat and the force arm on the corresponding slide plate, so as to facilitate the left and right force arms.

[0008] Preferably, the spacing adjustment mechanism is a synchronous adjustment mechanism, and the synchronous adjustment mechanism is used to achieve synchronous approach or synchronous separation of the left skateboard and the right skateboard, thereby reducing the difficulty of adjustment.

[0009] Preferably, the synchronous adjustment mechanism includes a forward and reverse screw rotatably arranged on a fixed plate; the left slide plate and the right slide plate are respectively threadedly connected to the two ends of the forward and reverse screw, so that the left slide plate and the right slide plate can be synchronously approached or moved away by simply rotating the forward and reverse screw.

[0010] Preferably, there are two vertical guide rail frames, and the two vertical guide rail frames are spaced apart in the left-right direction; a movable seat is slidably provided on each vertical guide rail frame, and the left slide plate and the right slide plate are respectively connected to the two movable seats to facilitate adjustment of the width of the entire hanger, thereby facilitating reduction of storage space and entry and exit of narrow elevators.

[0011] Preferably, casters with brakes are provided at the bottom of the chassis so that the hanging frame can move with the patient.

[0012] Preferably, one end of the footrest mechanism is hinged on the chassis, and the other end of the footrest mechanism is placed on the chassis; in this way, when the patient needs to step on the footrest mechanism to assist the exoskeleton in standing up, it is only necessary to rotate the footrest mechanism so that the free end of the footrest mechanism is placed on the chassis; when the patient completes the assisted standing up and moves backward to separate from the footrest mechanism, it is only necessary to flip the footrest mechanism so that the free end of the footrest mechanism is away from the chassis, so that the patient can exercise walking.

[0013] Preferably, the pedal mechanism is a pedal or a round tube or a square tube, and the user can choose according to actual conditions.

[0014] As described above, an anti-tipping hanging bracket for a powered exoskeleton of the present utility model has the following beneficial effects:

[0015] The anti-tipping hanging bracket for a powered exoskeleton provided by the present utility model does not need to increase the self-weight of the hanging bracket. Only by configuring a foot pedal mechanism for the patient to step on, the stable moment of the hanging bracket when the patient stands up can be increased, avoiding the backward turn of the hanging bracket under the action of the powered exoskeleton, and ensuring the safety of the patient when standing up. At the same time, due to the relatively light self-weight of the hanging bracket, the cost of the hanging bracket is greatly reduced. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the force on the existing hanging bracket when the powered exoskeleton assists the patient to stand up.

[0017] Figure 2 It is a perspective view of the anti-tipping hanging bracket for a powered exoskeleton in the present utility model.

[0018] Figure 3 It is a front view of the anti-tipping hanging bracket for a powered exoskeleton in the present utility model.

[0019] Figure 4 It is a schematic diagram of the internal structure of the armrest device in the present utility model.

[0020] Figure 5 It is a schematic diagram of the structure of the synchronous adjustment mechanism in an embodiment.

[0021] Figure 6 It is a schematic diagram of the structure of the synchronous adjustment mechanism in another embodiment.

[0022] Description of the Reference Numerals

[0023] Chassis 1, caster 1a, vertical guide rail frame 2, movable seat 3, armrest mechanism 4, fixing plate 41, left sliding plate 42a, right sliding plate 42b, spring support seat 421, positive and negative lead screw 431, intermediate gear 432, first rack 433a, second rack 433b, intermediate rotating rod 434, first push rod 435a, second push rod 435b, left force arm 44a, right force arm 44b, vertical spring 45, foot pedal mechanism 5, limiting member 6. Detailed Embodiments

[0024] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0025] Please refer to Figures 1 to 6It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in this technology to understand and read, and are not used to limit the implementation conditions of this utility model. Therefore, they do not have any technical essence. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the efficacy that this utility model can generate and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, rather than used to limit the implementation scope of this utility model. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the implementable scope of this utility model.

[0026] Currently, when the powered exoskeleton assists a patient to stand up, the patient still needs to provide some self-supporting force to maintain the center of gravity balance. For those patients with insufficient supporting force, additional hanging brackets are usually required for auxiliary support. Currently, during the process of the powered exoskeleton assisting the patient to stand up, the patient's feet are always in contact with the ground to utilize the ground to support the patient and the powered exoskeleton. However, Figure 1 it can be known that when the powered exoskeleton stands up, it will exert a force F on the hanging bracket. Under the action of this force F, the hanging bracket has a tendency to flip backward, and the flipping moment M F = F × L F , where L F is the moment arm from the rear support point at the bottom of the hanging bracket to the force F; the self-weight G of the hanging bracket itself will form a stabilizing moment M G = G × L G , where L G is the moment arm from the rear support point at the bottom of the hanging bracket to the gravity G of the hanging bracket; if we want to ensure the stability of the hanging bracket during the patient's standing up process, it must satisfy the condition that the stabilizing moment M G is greater than the flipping moment M F . In other words, it is necessary to significantly increase the weight of the hanging bracket, which will increase the cost of the hanging bracket and is not conducive to meeting the cost reduction requirements of the hanging bracket.

[0027] Based on this, this application provides an anti-tipping hanging bracket for a powered exoskeleton to ensure the stability of the hanging bracket during the patient's standing up without increasing the self-weight of the hanging bracket. In the following embodiments, for the convenience of narration, the definitions of each direction are as follows: The front-back direction of the patient after putting on the upper machine (i.e., the powered exoskeleton wearing the exoskeleton auxiliary hanging bracket) is defined as the front-back direction, the left-right direction of the patient after putting on the upper machine is defined as the left-right direction, and the height direction of the patient after putting on the upper machine is defined as the up-down direction. Based on this, Figure 3 in the view, the left side and the right side of the paper surface are the right direction and the left direction respectively, the upper side and the lower side of the paper surface are the up direction and the down direction respectively, and the inside and the outside of the paper surface are the rear direction and the front direction respectively.

[0028] As Figure 2 and Figure 3 shown, the anti-tipping hanger for powered exoskeleton involved in the present application includes a chassis 1, a footrest mechanism 5 detachably arranged on the chassis 1, a vertical guide rail frame 2 fixedly arranged on the chassis 1, and an armrest device 4 slidably mounted on the vertical guide rail frame 2; the armrest device 4 is used for mounting a powered exoskeleton (not shown in the figure); the powered exoskeleton is used to assist a patient to switch from a sitting posture to a standing state or assist the patient to walk; the footrest mechanism 5 is used to support the patient who switches from a sitting posture to a standing state.

[0029] When the patient is in a sitting state and is wearing and connected to the powered exoskeleton on the anti-tipping hanger, the patient steps on the footrest mechanism 5; then the standing-up function of the powered exoskeleton is activated, so that the patient switches from a sitting state to a standing state under the action of the powered exoskeleton; during this process, the weights of the patient and the powered exoskeleton are both transmitted to the anti-tipping hanger through the footrest mechanism 5. Therefore, the stabilizing moment of the anti-tipping hanger includes not only the basic stabilizing moment generated by the self-weight of the hanger, but also the additional stabilizing moment generated by the weights of the patient and the powered exoskeleton, thereby increasing the stabilizing moment of the hanger without increasing the self-weight of the hanger and avoiding the hanger from tipping over backward under the action of the powered exoskeleton.

[0030] It can be understood that the footrest mechanism 5 is a support member such as a pedal, a circular tube or a square tube, etc., and there is no limitation thereto; the forms of arranging the footrest mechanism 5 on the chassis 1 include but are not limited to the following two:

[0031] The first form of arrangement: the footrest mechanism 5 is directly placed on the chassis 1 and is supported by the left support beam and the right support beam of the chassis 1; in order to prevent the footrest mechanism 5 from moving forward during the assisted standing-up process, a limiting member 6 for restricting the forward movement of the footrest mechanism 5 needs to be arranged on the left support beam and the right support beam; since the footrest mechanism 5 is directly placed on the chassis 1, after the assisted standing-up, the footrest mechanism 5 can be directly removed to avoid the footrest mechanism 5 interfering with the patient's exercise and walking.

[0032] The second form of arrangement: the left end of the footrest mechanism 5 is hinged to the left support beam of the chassis 1, the right end of the footrest mechanism 5 is directly placed on the right support beam of the chassis 1 or the right end of the footrest mechanism 5 is hinged to the right support beam of the chassis 1, and the left end of the footrest mechanism 5 is directly placed on the left support beam of the chassis 1; by rotating the footrest mechanism 5, the free end of the footrest mechanism 5 can be made to approach or move away from the chassis 1 to meet the needs of the patient's assisted standing-up or exercise and walking.

[0033] Under the guiding action of the vertical guide frame 2, the patient assisted in standing up is basically in an inclined state (that is, the patient inclines forward from top to bottom). At this time, the patient can step backward to disengage from the footrest mechanism 5, facilitating others to remove the footrest mechanism 5 or flip the footrest mechanism 5 to ensure there is enough space in the chassis 1 for the patient to move.

[0034] It can be understood that the vertical guide frame 2 can be arranged on both sides of the armrest device 4 or at the rear side of the armrest device 4, and there is no limitation in this regard; in this embodiment, in order to ensure the stability of the up and down sliding of the armrest device 4, there are two vertical guide frames 2, and the two vertical guide frames 2 are arranged at intervals along the acting direction; a movable seat 3 is slidably arranged on each vertical guide frame 2, and the left and right ends of the armrest device 4 are respectively connected to the two movable seats 3.

[0035] Since the patient needs to exercise and walk after standing up with the assistance of the powered exoskeleton, and the weight of the patient himself and the powered exoskeleton will cause a greater burden on the patient; in order to reduce the burden on the patient during exercise and walking, according to the patient's height, the height position of the armrest device 4 is locked by a position locking mechanism (not shown in the figure) to convert the anti-tipping hanging bracket into a weight-reducing hanging bracket, so as to use the weight-reducing hanging bracket to reduce the burden on the patient during walking.

[0036] Since the armrest device 4 is slidably arranged on the vertical guide frame 2 through the movable seat 3, therefore, the position locking mechanism realizes the position locking of the armrest device 4 by locking the height position of the movable seat 3.

[0037] It can be understood that there are various types of position locking mechanisms, such as using positioning parts such as pins, bolts, and clamps to realize the relative locking of the movable seat 3 and the corresponding vertical guide frame 2. In this embodiment, a clamp is selected, and the clamp is installed at the bottom of the movable seat 3 to realize the clamping or release of the corresponding vertical guide frame 2.

[0038] When the anti-tipping hanging bracket is used as a weight-reducing hanging bracket, in order to reduce the difficulty of removing the footrest mechanism 5, the footrest mechanism 5 is preferably a square plate placed on the chassis 1. In this way, the footrest mechanism 5 can be directly removed from under the patient's feet by means of pulling.

[0039] To meet the usage requirements of patients with different widths, the structure of the armrest device 4 is as Figure 4 shown. The armrest device 4 includes a fixed plate 41, a left arm 44a and a right arm 44b slidably arranged on the fixed plate 41, and a spacing adjusting mechanism for adjusting the spacing between the left arm 44a and the right arm 44b. The left arm 44a and the right arm 44b are respectively used to connect the two leg mechanisms of the powered exoskeleton.

[0040] Preferably, there are various connection positions between the armrest device 4 and the movable seat 3; for example, the fixed plate 41 of the armrest device 4 is connected to the two movable seats 3, or the left arm 44a and the right arm 44b are respectively connected to the two movable seats 3. In this embodiment, the left arm 44a and the right arm 44b are respectively connected to the two movable seats 3. At this time, the chassis 1 is composed of two longitudinal load-bearing beams arranged at intervals in the left-right direction, and the two vertical guide frames 2 are respectively fixed on the two longitudinal load-bearing beams. In this way, when the spacing adjustment mechanism adjusts the spacing between the two arms, the spacing between the two vertical guide frames 2 can be adjusted synchronously. That is to say, the width of the hanging rack can be adjusted, so as to facilitate the hanging rack to enter and exit the elevator and reduce the storage space.

[0041] Furthermore, as Figure 4 shown, a left slide plate 42a and a right slide plate 42b are horizontally slidably arranged on the fixed plate 41; the left slide plate 42a and the right slide plate 42b are respectively connected to the two movable seats 3, and the spacing adjustment mechanism is used to adjust the spacing between the left slide plate 42a and the right slide plate 42b; vertical slide rails and spring support seats 421 are provided on both the left slide plate 42a and the right slide plate 42b; among them, the left arm 44a is vertically slidably installed on the vertical slide rail of the left slide plate 42a, and the right arm 44b is vertically slidably installed on the vertical guide rail of the right slide plate 42b; a vertical spring 45 is provided at the top of each spring support seat 421, and the top end of the vertical spring 45 abuts against the bottom of the corresponding arm; in this way, the two arms can be made to float up and down alternately following the left and right hips of the human body by the compression or restoration of the vertical spring 5, so as to ensure a good gait when the patient exercises and walks.

[0042] In order to limit the bending deformation of the vertical spring 45, a spring guide rod is provided at the top end of the spring support seat 421, and the vertical spring 45 is sleeved on the spring guide rod; in this way, the spring guide rod can be used to guide and limit the vertical spring 45.

[0043] It can be understood that there are various types of spacing adjustment mechanisms, which can be separate adjustment mechanisms or synchronous adjustment mechanisms; in this embodiment, the spacing adjustment mechanism is a synchronous adjustment mechanism, and the synchronous adjustment mechanism is used to realize the synchronous approach or synchronous separation of the left slide plate 42a and the right slide plate 42b.

[0044] Preferably, there are various structural types of the synchronous adjustment mechanism, including but not limited to the following three structural forms:

[0045] The first structural form: as Figure 4As shown in the figure, the synchronous adjustment mechanism includes a forward and reverse lead screw 431, which is horizontally installed on the fixed plate 41 through a lead screw support seat; positive and reverse threads are respectively provided on the outer walls at both ends of the forward and reverse lead screw 431, and the left slide plate 42a and the right slide plate 42b are respectively threadedly connected to the threads with different helix directions on the forward and reverse lead screw 431, so that when the forward and reverse lead screw 431 rotates forward or reversely, the left slide plate 42a and the right slide plate 42b can approach or move away synchronously.

[0046] The second structural form: As Figure 5 shown in the figure, the synchronous adjustment mechanism includes an intermediate gear 432 and a first rack 433a and a second rack 433b that are simultaneously meshed with the intermediate gear 432; the first rack 433a is connected to the left slide plate 42a, and the second rack 433b is connected to the right slide plate 42b; thus, when the intermediate gear 432 rotates forward or reversely, the left slide plate 42a and the right slide plate 42b can approach or move away synchronously.

[0047] The third structural form; As Figure 6 shown in the figure, the synchronous adjustment mechanism includes an intermediate rotating rod 434 and a first push rod 435a and a second push rod 435b that are respectively hinged to both ends of the intermediate rotating rod 434; one end of the first push rod 435a away from the intermediate rotating rod 434 is hinged to the left slide plate 42a, and one end of the second push rod 435b away from the intermediate rotating rod 434 is hinged to the right slide plate 42b; thus, when the intermediate rotating rod 434 rotates forward or reversely, the first push rod 435a and the second push rod 435b can approach or move away synchronously.

[0048] Since the lead screw has a self-locking function, therefore, considering the cost, in this embodiment, the synchronous adjustment mechanism is Figure 4 the first structural form shown in the figure.

[0049] Furthermore, as Figure 2 shown in the figure, casters 1a with brakes are provided at the bottom of the chassis 1 to facilitate the movement of the anti-tipping hanger.

[0050] To sum up, in the anti-tipping hanger for the powered exoskeleton involved in this application, by configuring the foot pedal mechanism 5 to replace increasing the weight of the hanger itself, the tipping moment formed by the powered exoskeleton on the hanger is offset, effectively avoiding the problems of increased cost and increased transfer difficulty caused by the overweight of the hanger.

[0051] To sum up, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0052] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not intended to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. An anti-tipping hanging frame for a power-assisted exoskeleton, comprising a chassis (1), a vertical guide rail frame (2) arranged on the chassis (1), and an armrest device (4) slidably mounted on the vertical guide rail frame (2); the armrest device (4) is used for installing the power-assisted exoskeleton; characterized in that, A footrest mechanism (5) is detachably provided on the chassis (1), and the footrest mechanism (5) is used to support a patient who switches from a sitting posture to a standing posture.

2. The anti-tipping hanger for a powered exoskeleton according to claim 1, characterized in that, The anti-tipping hanging frame for the powered exoskeleton includes a position locking mechanism, and the position locking mechanism is used to lock the height position of the armrest device (4).

3. The anti-tipping hanger for a powered exoskeleton according to claim 1 or 2, characterized in that, The armrest device (4) includes a fixed plate (41), a left arm (44a) and a right arm (44b) slidably arranged on the fixed plate (41), and a spacing adjustment mechanism for adjusting the spacing between the left arm (44a) and the right arm (44b).

4. The anti-tipping hanging bracket for a powered exoskeleton according to claim 3, characterized in that, A left slide plate (42a) and a right slide plate (42b) are horizontally slidably arranged on the fixed plate (41), and the spacing adjustment mechanism is used to adjust the spacing between the left slide plate (42a) and the right slide plate (42b); the left arm (44a) is vertically slidably installed on the left slide plate (42a), and the right arm (44b) is vertically slidably installed on the right slide plate (42b); a spring support seat (421) is provided on each slide plate, and the position of the spring support seat (421) is lower than the position of the arm on the corresponding slide plate; a vertical spring (45) is coupled between the spring support seat (421) and the arm on the corresponding slide plate.

5. The anti-tipping hanger for a powered exoskeleton according to claim 4, characterized in that, The spacing adjustment mechanism is a synchronous adjustment mechanism, and the synchronous adjustment mechanism is used to achieve the synchronous approach or synchronous separation of the left slide plate (42a) and the right slide plate (42b).

6. The anti-tipping hanger for a powered exoskeleton according to claim 5, wherein, The synchronous adjustment mechanism includes a positive and negative lead screw (431) rotatably arranged on the fixed plate (41); the left slide plate (42a) and the right slide plate (42b) are respectively threadedly connected to both ends of the positive and negative lead screw (431).

7. A tilting prevention hanging bracket for a power-assisted exoskeleton according to any one of claims 4 to 6, characterized in that, There are two vertical guide rail frames (2), and the two vertical guide rail frames (2) are arranged at intervals in the left-right direction; a movable seat (3) is slidably arranged on each vertical guide rail frame (2), and the left slide plate (42a) and the right slide plate (42b) are respectively connected to the two movable seats (3).

8. A tilting prevention hanger for a powered exoskeleton according to claim 1 or 2 or 4 or 5 or 6, characterized in that A caster (1a) with a brake is provided at the bottom of the chassis (1).

9. The anti-tipping hanger for a power-assisted exoskeleton according to claim 8, characterized in that, One end of the footrest mechanism (5) is hinged to the chassis (1), and the other end of the footrest mechanism (5) is placed on the chassis (1).

10. The anti-tipping hanger for a powered exoskeleton according to claim 9, characterized in that, The footrest mechanism (5) is a pedal or a circular tube or a square tube.

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