Exoskeleton device

Abstract

The utility model relates to the technical field of human exoskeletons, in particular to an exoskeleton device.The exoskeleton device comprises a waist fixing mechanism and two leg fixing mechanisms, each leg fixing mechanism comprises a first leg assembly, a second leg assembly and a third leg assembly, and each first leg assembly comprises a first connecting rod assembly, a first supporting rod and a first leg support; the first supporting rod is connected with the first leg support and the first connecting rod assembly, and the first supporting rod can move relative to the first connecting rod assembly along the axis of the first supporting rod; the value range of an included angle formed by intersection of the axis of the first supporting rod and the sagittal plane of the human body is 10-90 degrees. According to the application, the extrusion on the legs of the user can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of human exoskeleton, and in particular to an exoskeleton device. Background Art

[0002] An exoskeleton device is a power-assisting product that can exert force on the human thighs and calves to help the user walk.

[0003] An exoskeleton device generally includes connecting rods and leg supports. The connecting rods can be driven to simulate the movement of human legs, and the leg supports can contact the user's legs, thereby exerting force on them and driving the user's legs to provide assistance.

[0004] In the related art, when a user of an exoskeleton device walks, the leg supports of the exoskeleton device may cause unnecessary compression on the user's legs, thereby reducing the comfort of use of the exoskeleton device. Utility Model Content

[0005] In view of this, the present application provides an exoskeleton device to reduce the pressure on the user's legs.

[0006] Specifically, the following technical solutions are included:

[0007] The present application provides an exoskeleton device, comprising a waist fixing mechanism and two leg fixing mechanisms, wherein the waist fixing mechanism is worn and fixed to the human waist, and the two leg fixing mechanisms respectively comprise a first joint driver and a first leg assembly arranged in series, wherein the first joint driver is located on the axis of the human hip joint and is respectively connected to the two ends of the waist fixing mechanism, and the first leg assembly comprises a first connecting rod assembly, a first support rod and a first leg support, wherein the first support rod connects the first leg support and the first connecting rod assembly, and the first support rod is capable of moving relative to the first connecting rod assembly along the axis of the first support rod; the angle formed by the intersection of the axis of the first support rod and the sagittal plane of the human body ranges from 10 to 90°.

[0008] Optionally, the angle formed by the intersection of the axis of the first support rod and the sagittal plane of the human body ranges from 30 to 60°.

[0009] Optionally, the first support rod has a first sliding groove extending along its axis, and a portion of the first connecting rod assembly extends into the first sliding groove for connecting with the first sliding groove to limit the movement of the first support rod relative to the first connecting rod assembly.

[0010] Optionally, the leg fixing mechanism includes a second leg assembly and a second joint driver, the second joint driver is located on the axis of the human knee joint, the second leg assembly includes a second connecting rod assembly, a second leg support and a second support rod, the second connecting rod assembly is transmission-connected to the second joint driver, the second connecting rod assembly is connected to the first connecting rod assembly and can rotate around a third axis relative to the first connecting rod assembly, the second support rod connects the second leg support and the second connecting rod assembly, the axis of the second support rod intersects with the sagittal plane of the human body, and the angle formed is in the range of 10 to 90°.

[0011] Optionally, the first leg assembly includes a first annular belt connected to opposite sides of the first leg support, and / or the second leg assembly includes a second annular belt connected to opposite sides of the second leg support.

[0012] Optionally, the first leg support faces the front of the human thigh, and the first annular belt is used to surround the back of the human thigh to fix the first leg support to the human thigh, and / or the second leg support faces the back of the human calf, and the second annular belt is used to surround the front of the human thigh to fix the first leg support to the human calf.

[0013] Optionally, the second support rod has a second sliding groove extending along its axis, and a portion of the second connecting rod assembly extends into the second sliding groove for connecting to the second sliding groove to limit the movement of the second support rod relative to the second connecting rod assembly.

[0014] Optionally, one end of the second support rod has a second mounting rod, the axis of the second mounting rod is perpendicular to the sagittal plane of the human body, and the second leg support is mounted on the second mounting rod.

[0015] Optionally, the axis of the second support rod intersects with the sagittal plane of the human body, and the angle formed is in the range of 30 to 60°.

[0016] Optionally, one end of the first support rod has a first mounting rod, the axis of the first mounting rod is perpendicular to the sagittal plane of the human body, and the first leg support is mounted on the first mounting rod.

[0017] The beneficial effects of the technical solution provided by the embodiments of the present application include at least the following: the first joint driver can simulate the movement of the human leg by driving the first leg assembly, and drive the user's leg through the first leg support on the first support rod. The axis of the first support rod intersects with the sagittal plane of the human body to form an angle, which helps the first leg support exert a propulsion force on the user that is consistent with the walking direction, thereby reducing the compression of the user's legs. The first support rod can move relative to the first connecting rod assembly along the axis of the first support rod, and the position of the first support rod can be adjusted according to the user's body shape, thereby also reducing the compression of the user's legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] Figure 1 A schematic structural diagram of an exoskeleton device provided in an embodiment of the present application;

[0020] Figure 2 A schematic top view of an exoskeleton device provided in an embodiment of the present application;

[0021] Figure 3 This is a bottom-up schematic diagram of an exoskeleton device provided in an embodiment of the present application.

[0022] The reference numerals in the figures represent:

[0023] 10. Fixing mechanism;

[0024] 20. Leg fixing mechanism;

[0025] 1. First joint driver;

[0026] 2. First leg assembly; 21. First connecting rod assembly; 211. First connecting rod; 212. Second connecting rod; 22. First support rod; 221. First mounting rod; 2201. First chute; 23. First leg support; 2301. First curved surface; 24. First annular belt;

[0027] 3. Second leg assembly; 31. Second connecting rod assembly; 32. Second leg support; 3201. Second curved surface; 33. Second support rod; 331. Second mounting rod; 3301. Second slide groove; 34. Second annular belt.

[0028] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] The directional nouns involved in the embodiments of this application, such as "upper", "lower", "side", etc., are generally expressed in the form of Figure 1 The relative relationships shown in the figure are used as a reference, and these directional terms are used only to more clearly describe the relationship between structures, not to describe absolute directions. When the product is placed in different postures, the direction may change, for example, "up" and "down" may be interchangeable.

[0031] Unless otherwise defined, all technical terms used in the embodiments of the present application have the same meanings as commonly understood by those skilled in the art.

[0032] In order to make the technical solutions and advantages of the present application clearer, the implementation methods of the present application will be described in further detail below with reference to the accompanying drawings.

[0033] The present application provides an exoskeleton device, such as Figure 1 and Figure 2 As shown, it includes a waist fixing mechanism 10 and two leg fixing mechanisms 20. The waist fixing mechanism 10 is worn and fixed on the human waist. The two leg fixing mechanisms 20 respectively include a first joint driver 1 and a first leg component 2 arranged in series. The first joint driver 1 is located on the axis of the human hip joint and is respectively connected to the two ends of the waist fixing mechanism 10. The first leg component 2 includes a first connecting rod assembly 21, a first support rod 22 and a first leg support 23. The first support rod 22 connects the first leg support 23 and the first connecting rod assembly 21. The first support rod 22 can move relative to the first connecting rod assembly 21 along the axis of the first support rod 22; the angle formed by the intersection of the axis of the first support rod 22 and the sagittal plane of the human body ranges from 10 to 90°.

[0034] In the embodiment of the present application, when the first connecting rod assembly 21 rotates around the first axis, it can simulate the flexion and extension movement of the human leg, and the first axis is perpendicular to the sagittal plane of the human body.

[0035] The inventors discovered that the cross-section of the user's legs is approximately an ellipse. When the force point on the user's legs falls on the perpendicular bisector of the line connecting the two foci of the ellipse, the user's legs are evenly stressed and less squeezed. Otherwise, the force is uneven and more squeezed. In an embodiment of the present application, when the exoskeleton device is installed on the user, the first joint driver 1 is located on the axis of the human hip joint. At this time, by adjusting the relative positions of the first support rod 22 and the first connecting rod assembly 21, the force point applied by the first leg support 23 to the user's legs can be made close to the perpendicular bisector of the line connecting the two foci of the cross-section of the user's legs, thereby reducing the squeezing of the user's legs.

[0036] In an embodiment of the present application, the first support rod 22 can move relative to the first connecting rod assembly 21 along the axis of the first support rod 22. After the movement, the relative movement of the first support rod 22 and the first connecting rod assembly 21 can be limited by using end screw locking, pin / top screw fixing, snap limit fixing, magnetic fixing or glue / welding fixing, etc., which is conducive to the first leg support 23 applying force to the user's legs.

[0037] In an embodiment of the present application, the first support rod 22 of the present application can be installed on the user's thigh to provide a pushing force to the user's thigh, or it can be installed on the user's calf to provide a pushing force to the user's calf.

[0038] In an embodiment of the present application, the angle formed by the intersection of the axis of the first support rod 22 and the sagittal plane of the human body can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85° or 90°, or other values ​​between 10 and 90°.

[0039] In the embodiment of the present application, the first leg support 23 has a first curved surface 2301, which is oriented parallel to the sagittal plane of the human body. The first curved surface 2301 can improve the fit between the first leg support 23 and the user's legs, which helps the first leg support 23 apply a pushing force to the user's legs. The orientation of the first curved surface 2301 is parallel to the sagittal plane of the human body, which helps the first curved surface 2301 face the front of the user's legs after being installed on the user, thereby improving the uniformity of force applied to the user's legs.

[0040] In the embodiment of the present application, the first joint driver 1 can be a motor, which can drive the first connecting rod assembly 21 to swing to simulate the movement of the human thigh. The first joint driver 1 can be connected to the first connecting rod assembly 21 through a key connection, welding, etc. to achieve transmission connection.

[0041] In some of the embodiments of this application, Figure 2As shown, the angle formed by the axis of the first support rod 22 and the sagittal plane of the human body ranges from 30 to 60 degrees.

[0042] It can be understood that within the above value range, the first leg support 23 is conducive to exerting force on users of different body types and making the user's legs evenly stressed, thereby reducing the squeezing of the user's legs.

[0043] In an embodiment of the present application, the angle formed by the intersection of the first axis and the axis of the first support rod 22 can be 30°, 33°, 36°, 39°, 42°, 45°, 48°, 51°, 54°, 57° or 60°, or other values ​​between 30 and 60°.

[0044] In some of the embodiments of this application, Figure 2 As shown, the first support rod 22 has a first slide groove 2201 extending along its axis, and a portion of the first connecting rod assembly 21 extends into the first slide groove 2201 for connecting with the first slide groove 2201 to limit the movement of the first support rod 22 relative to the first connecting rod assembly 21.

[0045] It can be understood that the part of the first connecting rod assembly 21 extending into the first slide groove 2201 can limit the movement of the first support rod 22 in the direction extending along its axis. Its position in the first slide groove 2201 is different, which can realize the change of the position of the first support rod 22, thereby realizing the movement of the first support rod 22 relative to the first connecting rod assembly 21.

[0046] In an embodiment of the present application, the portion of the first connecting rod assembly 21 extending into the first slide groove 2201 can be two bolts or protrusions, which are connected to the first support rod 22 by end screw locking, pin / top screw fixing, snap limit fixing, magnetic fixing or glue / welding fixing, thereby limiting the movement of the first support rod 22 relative to the first connecting rod assembly 21.

[0047] In the embodiment of the present application, the number of the first sliding grooves 2201 can be 1, 2, or 3, or any other number. The multiple first sliding grooves 2201 can be arranged at intervals along the axial extension direction of the first support rod 22.

[0048] In some of the embodiments of this application, Figure 3As shown, the leg fixing mechanism 20 includes a second leg component 3 and a second joint driver, the second joint driver is located on the axis of the human knee joint, the second leg component 3 includes a second connecting rod component 31, a second leg support 32 and a second support rod 33, the second connecting rod component 31 is transmission-connected to the second joint driver, the second connecting rod component 31 is connected to the first connecting rod component 21, and can rotate around a third axis relative to the first connecting rod component 21, the second support rod 33 connects the second leg support 32 and the second connecting rod component 31, the axis of the second support rod 33 intersects with the sagittal plane of the human body, and the angle formed is in the range of 10 to 90°.

[0049] It is understood that the second joint actuator can drive the second leg assembly 3 to swing, simulating the movement of the human calf, and generate a propulsive force on the user's calf through the second support rod 33 and the second leg support 32, thereby assisting the user in walking. Through the cooperation of the second leg assembly 3 and the second link assembly 31, the exoskeleton device of the present application can simultaneously drive the user's thigh and calf to move, thereby assisting the user in walking.

[0050] In an embodiment of the present application, the angle formed by the intersection of the first axis and the axis of the second support rod 33 can be 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85° or 90°, or other values ​​between 10 and 90°.

[0051] In the embodiment of the present application, the second joint driver can be a motor, which can drive the second connecting rod assembly 31 to swing to simulate the movement of the human thigh. The second joint driver can be connected to the second connecting rod assembly 31 through a key connection, welding, etc. to achieve transmission connection.

[0052] In the embodiment of the present application, the second leg support 32 has a second curved surface 3201, and the first curved support surface 2301 is oriented parallel to the sagittal plane of the human body. The second curved surface 3201 can improve the fit between the second leg support 32 and the user's legs, which helps the second leg support 32 apply a pushing force to the user's legs. The orientation of the second curved surface 3201 is parallel to the sagittal plane of the human body, which helps the second curved surface 3201 face the front of the user's legs after installation, thereby improving the uniformity of force applied to the user's legs.

[0053] In the embodiment of the present application, the third axis is parallel to the sagittal plane of the human body.

[0054] In some of the embodiments of this application, Figure 2 and Figure 3As shown, the first leg assembly 2 includes a first annular belt 24 connected to opposite sides of the first leg support 23 , and the second leg assembly 3 includes a second annular belt 34 connected to opposite sides of the second leg support 32 .

[0055] It can be understood that the tightness of the first annular belt 24 and the second annular belt 34 can be adjusted to adapt to the leg shape of the user and provide a pushing force to the user.

[0056] In the embodiment of the present application, the first leg support 23 faces the front side of the human thigh, and the first annular belt 24 is used to surround the human thigh.

[0057] In the embodiment of the present application, the second leg support 32 faces the back side of the human calf, and the second annular belt 34 is used to surround the human calf.

[0058] In some embodiments of the present application, the first leg support 23 faces the front of the human thigh, the first annular belt 24 is used to surround the back of the human thigh to fix the first leg support 23 to the human thigh, and the second leg support 32 faces the back of the human calf, the second annular belt 34 is used to surround the front of the human thigh to fix the first leg support 32 to the human calf.

[0059] In the embodiment of the present application, the back of the calf is wrapped by relatively thick soft tissues such as the gastrocnemius muscle and Achilles tendon, while the front of the calf is covered by a thin layer of subcutaneous tissue covering the tibia, and the bony structure is obvious and prominent, showing a relatively sharp triangular shape, and has a lower pain threshold. The middle and lower part of the back of the calf is composed of a thick Achilles tendon. The relatively flat triangular plane and the physiological characteristics of the tendon without nerves make the back of the calf have a very high pain threshold. Therefore, the first leg support 23 and the second leg support 32 are respectively located on opposite sides of the first connecting rod assembly 21, which can simultaneously provide assistance to the back of the thigh and the front of the calf, thereby helping the user to walk.

[0060] In the embodiment of the present application, compared with the back of the thigh, the front side of the thigh has a strong quadriceps muscle group and fewer blood vessels, which makes it have a higher pain threshold and a more regular contact surface. The use of a hard first leg support 23 placed on the front of the thigh can better accommodate the thigh and leg shapes of different people. At the same time, the back of the thigh is rich in blood vessels and nerve receptors, which are sensitive to pressure perception and have a low pain threshold. During the power-assisting process, the back of the thigh will be more affected. Therefore, the placement of the first annular belt 24 on the back of the thigh can not only output power well, but also avoid stress concentration between the exoskeleton and the thigh while ensuring comfort.

[0061] In some of the embodiments of this application, Figure 3As shown, the second support rod 33 has a second slide groove 3301 extending along its axis, and a portion of the second connecting rod assembly 31 extends into the second slide groove 3301 for connecting with the second slide groove 3301 to limit the movement of the second support rod 33 relative to the second connecting rod assembly 31.

[0062] It can be understood that the part of the second leg assembly 3 extending into the second slide groove 3301 can limit the movement of the second support rod 33 along the direction of extension of its axis. Its position in the second slide groove 3301 is different, which can realize the change of the position of the second support rod 33, thereby realizing the movement of the second support rod 33 relative to the second leg assembly 3.

[0063] In an embodiment of the present application, the part of the second leg assembly 3 extending into the second slide groove 3301 can be two bolts or protrusions, which are connected to the second support rod 33 by end screw locking, pin / top screw fixing, snap limit fixing, magnetic fixing or glue / welding fixing, thereby limiting the movement of the second support rod 33 relative to the second leg assembly 3.

[0064] In the embodiment of the present application, the number of the second sliding grooves 3301 can be 1, 2 or 3, or other numbers. The multiple second sliding grooves 3301 can be arranged at intervals along the axial extension direction of the second support rod 33.

[0065] In some of the embodiments of this application, Figure 3 As shown, one end of the second support rod 33 has a second mounting rod 331 , the axis of the second mounting rod 331 is perpendicular to the sagittal plane of the human body, and the second leg support 32 is mounted on the second mounting rod 331 .

[0066] It can be understood that the second mounting rod 331 provides support conditions for the second leg rest 32. The axis of the second mounting rod 331 is parallel to the first axis, which is conducive to the second leg rest 32 being installed on the second mounting rod 331, facing the user's thigh and generating a pushing force on it.

[0067] In the embodiment of the present application, the second mounting rod 331 and the second leg support 32 can be installed by means of threaded connection, welding, clamping or bonding.

[0068] In some of the embodiments of this application, Figure 3 As shown, the axis of the second support rod 33 intersects with the sagittal plane of the human body, and the angle formed is in the range of 30 to 60 degrees.

[0069] It can be understood that within the above value range, the first leg support 23 is conducive to exerting force on users of different body types and making the user's legs evenly stressed, thereby reducing the squeezing of the user's legs.

[0070] In an embodiment of the present application, the angle formed by the intersection of the first axis and the axis of the first support rod 22 can be 30°, 33°, 36°, 39°, 42°, 45°, 48°, 51°, 54°, 57° or 60°, or other values ​​between 30 and 60°.

[0071] In some of the embodiments of this application, Figure 2 As shown, one end of the first support rod 22 has a first mounting rod 221 , the axis of the first mounting rod 221 is perpendicular to the sagittal plane of the human body, and the first leg support 23 is mounted on the first mounting rod 221 .

[0072] It can be understood that the first mounting rod 221 provides support conditions for the first leg rest 23. The axis of the first mounting rod 221 is parallel to the first axis, which is conducive to the first leg rest 23 being installed on the first mounting rod 221, facing the user's thigh and generating a pushing force on it.

[0073] In the embodiment of the present application, the first mounting rod 221 and the first leg support 23 can be installed by means of threaded connection, welding, clamping or bonding.

[0074] In some of the embodiments of this application, Figure 1 As shown, the first link assembly 21 includes a first link 211 and a second link 212. The first link 211 can be driven by the first joint driver 1 to rotate around the first axis. One end of the first link 211 is hinged to one end of the second link 212 and can rotate around the second axis. The first support rod 22 is connected to the second link 212, and the first axis is perpendicular to the second axis in different planes.

[0075] It is understood that when the first connecting rod 211 rotates about the first axis, it can drive the second connecting rod 212, thereby applying a propulsive force to the user's thigh through the first leg support 23, thereby helping the user walk. When the second connecting rod 212 rotates about the second axis relative to the first connecting rod 211, it helps the connecting rod assembly adapt to the user's abduction and adduction, thereby reducing interference with the user, thereby reducing pressure on the user.

[0076] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The term "plurality" refers to two or more than two, unless expressly limited otherwise.

[0077] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the present invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only.

[0078] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An exoskeleton device, comprising a waist fixing mechanism (10) and two leg fixing mechanisms (20), wherein the waist fixing mechanism (10) is worn and fixed to the waist of a human body, and the two leg fixing mechanisms (20) respectively comprise a first joint driver (1) and a first leg assembly (2) arranged in series, wherein the first joint driver (1) is located on the axis of the human hip joint and is respectively connected to the two ends of the waist fixing mechanism (10), and the first leg assembly (2) comprises a first connecting rod assembly (21), a first support rod (22) and a first leg support (23), characterized in that: The first support rod (22) connects the first leg support (23) and the first connecting rod assembly (21), and the first support rod (22) is movable relative to the first connecting rod assembly (21) along the axis of the first support rod (22); The angle formed by the intersection of the axis of the first support rod (22) and the sagittal plane of the human body ranges from 10 to 90 degrees.

2. The exoskeleton device according to claim 1, wherein: The angle formed by the intersection of the axis of the first support rod (22) and the sagittal plane of the human body ranges from 30 to 60 degrees.

3. The exoskeleton device according to claim 1, wherein: The first support rod (22) has a first slide groove (2201) extending along its axis, and a portion of the first connecting rod assembly (21) extends into the first slide groove (2201) and is used to be connected to the first slide groove (2201) to limit the movement of the first support rod (22) relative to the first connecting rod assembly (21).

4. The exoskeleton device according to claim 1, wherein: The leg fixing mechanism (20) includes a second leg assembly (3) and a second joint driver, the second joint driver is located on the axis of the human knee joint, the second leg assembly (3) includes a second connecting rod assembly (31), a second leg support (32) and a second support rod (33), the second connecting rod assembly (31) is connected to the second joint driver by transmission, the second connecting rod assembly (31) is connected to the first connecting rod assembly (21), and can rotate around a third axis relative to the first connecting rod assembly (21), the second support rod (33) connects the second leg support (32) and the second connecting rod assembly (31), the axis of the second support rod (33) intersects with the sagittal plane of the human body, and the angle formed is in the range of 10 to 90°.

5. The exoskeleton device according to claim 4, characterized in that: The first leg assembly (2) includes a first annular belt (24) connected to opposite sides of the first leg support (23). and / or, The second leg assembly (3) includes a second annular belt (34) connected to opposite sides of the second leg support (32).

6. The exoskeleton device according to claim 5, characterized in that: The first leg support (23) faces the front side of the human thigh, and the first annular belt (24) is used to surround the back side of the human thigh to fix the first leg support (23) to the human thigh; and / or, The second leg support (32) faces the rear side of the human calf, and the second annular belt (34) is used to surround the front side of the human calf to fix the second leg support (32) to the human calf.

7. The exoskeleton device according to claim 4, wherein: The second support rod (33) has a second slide groove (3301) extending along its axis, and a portion of the second connecting rod assembly (31) extends into the second slide groove (3301) and is used to be connected to the second slide groove (3301) to limit the movement of the second support rod (33) relative to the second connecting rod assembly (31).

8. The exoskeleton device according to claim 4, wherein: One end of the second support rod (33) has a second mounting rod (331), the axis of the second mounting rod (331) is perpendicular to the sagittal plane of the human body, and the second leg support (32) is mounted on the second mounting rod (331).

9. The exoskeleton device according to claim 4, wherein: The axis of the second support rod (33) intersects with the sagittal plane of the human body, and the angle formed is in the range of 30 to 60 degrees.

10. The exoskeleton device according to claim 1, wherein: One end of the first support rod (22) has a first mounting rod (221), the axis of the first mounting rod (221) is perpendicular to the sagittal plane of the human body, and the first leg support (23) is mounted on the first mounting rod (221).

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