Hip and back double-assistance exoskeleton device

Abstract

The utility model provides a hip and back double-assistance exoskeleton device which comprises a hip assistance unit used for lower limb walking assistance and detachably worn on the hip through a hip wearing assembly, a pair of hip assistance mechanisms respectively providing driving force through a joint module, and a pair of hip assistance units detachably worn on the hip through a joint module. A hip assisting plate coaxially connected with the output shaft of the joint module can be driven to drive the lower limbs to swing in the same direction as the lower limbs when the human body moves; the double-arm power assisting unit is used for assisting the double arms and is detachably worn on the waist and the upper body through a waist and back wearing assembly, the pair of upper limb power assisting mechanisms provides driving force through electric push rods, steel wire ropes are pulled through vertical stretching and retracting of the push rods, the pair of steel wire ropes pull the double arms when the arms act, and the double arms are assisted; the hip wearing assembly and the waist and back wearing assembly are detachably connected with the unit connecting pieces respectively and connected into a whole through the unit connecting pieces. According to the utility model, the loading capacity of a user in a small working space can be improved, the muscle endurance of the user is enhanced, and the working efficiency is improved.

Description

Technical Field

[0001] This utility model relates to an assistive device, and more specifically, to a dual-assistive exoskeleton device for the hip and back. Background Technology

[0002] Damage control refers to the measures and actions taken by a vessel to prevent, limit, and eliminate damage in order to maintain or restore its survivability. Common damage scenarios include bulkhead breaches leading to water leakage and equipment malfunctions causing electrical leaks and fires. Damage control processes often face challenges such as limited working space and difficulties in moving heavy equipment. For example, confined space around the faulty area prevents crew members from working in a normal posture, making it difficult to gain leverage. Additionally, the large weight of the faulty component may make lifting tools insufficient or make it difficult to find suitable lifting points for attachments, hindering disassembly and assembly and impacting damage control efficiency.

[0003] Exoskeleton assistive devices are wearable devices that highly integrate with human bodies, primarily used to enhance human strength and endurance. They are currently widely used in medical, material handling, industrial assembly, and rescue fields, offering new solutions to ship damage control problems. Ship damage control operations often involve handling large amounts of heavy materials and operating in complex environments. Exoskeleton assistive devices can help crew members enhance their strength and endurance when repairing damage in confined or hard-to-reach spaces, enabling them to maintain high efficiency in restricted environments and accelerate damage repair. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model proposes a hip and back dual-assist exoskeleton device for ship damage control operations, which enhances the user's load-bearing capacity in small work spaces, strengthens the user's muscle endurance, and improves work efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A dual-assistance exoskeleton device for the hip and back, comprising:

[0007] The hip assist unit is used for lower limb walking assistance. It is detachably worn on the hip via a hip wearable component. The hip frame with a pair of hip assist mechanisms is symmetrically and detachably connected to both sides of the hip wearable component via a pair of hip connectors. The pair of hip assist mechanisms are driven by the joint module, which can drive the hip assist plate coaxially connected to the output shaft of the joint module to swing the lower limb in the same direction as the human body when moving, thereby assisting the lower limb. The pair of hip assist plates extend out of the outside of the thigh, and the free ends are detachably tied to the thigh via straps.

[0008] The double-arm assisting unit is used for double-arm assistance. It can be detachably worn on the waist and upper body through a waist and back wearing component. A back frame with a pair of upper limb assisting mechanisms is detachably connected to the outer side of the back of the waist and back wearing component. The pair of upper limb assisting mechanisms are symmetrically arranged left and right, and respectively provide driving force through electric push rods. The vertical telescoping of the push rods pulls steel wire ropes. The pair of steel wire ropes respectively bypass the shoulders from the back and extend along the outer side of the arm on the corresponding side, and are detachably connected between the push rods and the wristbands detachably sleeved on the forearms. When the arms move, the pair of steel wire ropes pull the double arms to achieve double-arm assistance.

[0009] The unit connecting piece, the hip wearing component and the waist and back wearing component are respectively detachably connected to the unit connecting piece and are connected into a whole through the unit connecting piece. The height position of the waist and back wearing component is adjustable through the unit connecting piece.

[0010] The structural characteristics of the present utility model also lie in:

[0011] The joint module of the hip assisting mechanism is built in the hip frame, and the output shaft faces horizontally inward towards the lower limbs. The outer dimension of the upper part of the hip assisting plate is correspondingly set according to the joint module for coaxial connection with the output shaft of the joint module. The lower part is a strip plate, which is hinged to the upper part through a hinge shaft, and two openings are reserved at the end for the binding straps to pass through. The hinge shaft is horizontally arranged along the front-back direction.

[0012] The hip frame is a detachable cavity shell structure, including a "C"-shaped frame inner plate, a pair of side covers and a rear cover. The inner plate is used for detachable assembly with the hip wearing component and the unit connecting piece. The pair of side covers are detachably encapsulated outside the left and right sides of the inner plate, and respectively form left and right cavities with the inner plate, and the joint modules are respectively built in. The rear cover is detachably encapsulated outside the rear side of the inner plate, and forms a rear cavity with the inner plate, and a hip assisting battery is built in. The inner plate is detachably connected to the left and right sides of the hip wearing component through a pair of V-shaped hip connecting pieces.

[0013] The hip wearing component is a hip belt that can surround the hip for one week and is detachable.

[0014] The maximum swing amplitude of the hip assisting plate is 70° forward or 30° backward.

[0015] A pair of electric push rods of the pair of upper limb assisting mechanisms are built in the back frame. The extending direction of the push rods is vertically upward. One end of the steel wire rope passes through the perforation reserved on the back frame and is detachably connected to the end of the push rod, extends along the waist and back wearing component to the outer side of the corresponding side arm, and the end is detachably connected to the wristband. A spring sheath is arranged on the waist and back wearing component according to the path track of the steel wire rope, and the steel wire rope is arranged in the spring sheath.

[0016] The back frame is a detachable hollow shell structure, including a back plate and a cover. The back plate is used for detachable assembly with the waist and back wearable components and the unit connectors. The cover is detachably encapsulated on the back plate, together forming a cavity, which houses a dual-arm assist battery and a pair of electric push rods for the upper limb assist mechanism.

[0017] The back and waist wearing assembly includes a vest-style vest and a waist belt. The vest-style vest is worn on the upper body and includes a back piece and a pair of shoulder straps extending from the top left and right ends of the back piece. The ends of the pair of shoulder straps are detachably connected to the front left and right ends of the waist belt via buckles. The back of the waist belt is sandwiched between the back plate of the back frame and the unit connector. The waist belt wraps around the waist and is detachable.

[0018] The hip wearable component, the waist and back wearable component, the strap, and the wristband are made of flexible materials, while the hip frame, the hip connector, the hip assist plate, the back frame, and the unit connector are made of rigid materials.

[0019] The unit connector is made of PA66+GF30 nylon fiberglass, the hip frame, hip connector, hip assist plate, and back frame are made of ABS or resin, and the hip wear assembly, waist and back wear assembly, straps, and wristbands are made of nylon fiber reinforced material.

[0020] Compared with existing technologies, the beneficial effects of this utility model are reflected in:

[0021] This invention utilizes a hip assist unit for lower limb mobility and a dual-arm assist unit for arm assistance, forming a wearable dual-assist exoskeleton. The hip and arm assist units are relatively independent and can provide assistance individually or collaboratively. This allows users to bear heavier loads or perform physical labor for longer periods, improving work efficiency and reducing workload. In addition to its use in ship damage control operations, this invention can also be used to provide exercise assistance to patients, assist in patient rehabilitation training, transport wounded during combat emergency care, and load and unload cargo in logistics warehousing. It can be applied in various fields, from civilian to military, from industry to logistics, and from outdoor sports to medical and health care. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0024] Figure 3 This is a schematic diagram of the hip assist unit;

[0025] Figure 4 This is a structural schematic diagram of the hip assist unit from another perspective;

[0026] Figure 5 This is an exploded structural diagram of the hip assist unit;

[0027] Figure 6 This is a structural schematic diagram of the dual-arm assist unit;

[0028] Figure 7 This is an exploded structural diagram of the dual-arm assist unit;

[0029] Figure 8 This is a schematic diagram of the exploded structure of the dual-arm assist unit from another perspective;

[0030] Figure 9 This is a schematic diagram of the circuit system of this utility model;

[0031] Figure 10 This is a schematic diagram of the power supply circuit for the hip assist unit;

[0032] Figure 11 This is a schematic diagram of the power supply and communication circuit of the hip assist unit;

[0033] Figure 12 This is a structural diagram of the main control module of the hip assist unit;

[0034] Figure 13 This is a schematic diagram of the power supply and drive circuit of the dual-arm assist unit.

[0035] In the picture:

[0036] 1. Hip assist unit; 11. Hip wearable assembly; 12. Hip frame; 121. Inner plate; 122. Side cover; 123. Rear cover; 13. Hip connector; 14. Hip assist mechanism; 141. Joint module; 142. Hip assist plate; 1421. Upper part; 1422. Hinge shaft; 1423. Lower part; 143. Hip assist battery; 144. Hip assist power meter; 145. Hip assist power button; 146. Hip assist aviation connector;

[0037] 2. Dual-arm assist unit; 21. Lumbar and back wear assembly; 211. Rear panel; 212. Shoulder straps; 213. Waist belt; 214. Wrist straps; 215. Disc-shaped connector; 22. Back frame; 221. Back panel; 222. Cover; 23. Upper limb assist mechanism; 231. Electric actuator; 232. Steel wire rope; 233. Spring sleeve; 234. Battery for dual-arm assist; 235. Power meter for dual-arm assist; 236. Switch button for dual-arm assist; 237. Aviation connector for dual-arm assist;

[0038] 3-unit connector. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] Please refer to Figures 1 to 8 The hip and back dual-assist exoskeleton device of this embodiment includes:

[0041] The hip assist unit 1 is used for lower limb walking assistance. It is detachably worn on the hip via the hip wear assembly 11. The hip frame 12 with a pair of hip assist mechanisms 14 is detachably connected to the sides of the hip wear assembly 11 in a symmetrical manner via a pair of hip connectors 13. The pair of hip assist mechanisms 14 are driven by the joint module 141, which can drive the hip assist plate 142 coaxially connected to the output shaft of the joint module 141 to swing the lower limb in the same direction as the lower limb when the human body moves, thereby assisting the lower limb. The pair of hip assist plates 142 are suspended on the outside of the thigh, and the free ends are detachably tied to the thigh via straps.

[0042] The dual-arm assist unit 2 is used for dual-arm assistance. It is detachably worn on the waist and upper body through the waist and back wearing component 21. The back frame 22 with a pair of upper limb assist mechanisms 23 is detachably connected to the back side of the waist and back wearing component 21. The pair of upper limb assist mechanisms 23 are symmetrically arranged on the left and right sides. They are driven by electric push rods 231. The vertical extension and retraction of the push rods pulls the steel wire ropes 232. The pair of steel wire ropes 232 are respectively wrapped around the shoulders from the back and suspended along the outside of the arm on the corresponding side. They are detachably connected between the push rods and the wristbands 214 detachably sleeved on the forearms. The pair of steel wire ropes 232 pull the arms when the arms move to achieve dual-arm assistance.

[0043] Unit connector 3, hip wear component 11 and waist and back wear component 21 are detachably connected to unit connector 3 and connected as a whole through unit connector 3. The height position of waist and back wear component 21 is adjustable through unit connector 3.

[0044] The hip assist unit 1 and the double arm assist unit 2 in the device are relatively independent. They can provide assistance individually or in tandem, and can be used to assist users when completing handling tasks.

[0045] In practice, the corresponding structural design of the exoskeleton device also includes:

[0046] The joint module 141 of the hip assist mechanism 14 is built into the hip frame 12. The output shaft faces the lower limb horizontally inward. The upper part 1421 of the hip assist plate 142 is set in accordance with the dimensions of the joint module 141 to be coaxially connected with the output shaft of the joint module 141. The lower part 1423 is a strip plate that is hinged to the upper part 1421 through the hinge shaft 1422. Two openings are reserved at the end for the strap to pass through. The hinge shaft 1422 is set horizontally in the front-back direction.

[0047] Specifically, the upper part 1421 of the hip assist plate 142 is a circular metal ring. An angle sensor is installed on this metal ring to detect the rotation angle of the metal ring. When the user squats or stands up, the angle sensor detects a change in the angle of the metal ring, and then the joint module 141 is activated, driving the hip assist plate 142 to swing the lower limb in the same direction as the lower limb, thereby assisting the lower limb. It can also be further configured that when the angle change detected by the angle sensor is within 10°, the joint module 141 does not move; when the angle change detected by the angle sensor is greater than 10°, the joint module 141 moves.

[0048] As an optional approach: a host computer can be configured to receive detection signals from the angle sensor and control the movement of the joint module 141 based on these signals. In standing mode, the hip assist unit 1 provides no assistance; in walking mode, it provides friction compensation to compensate for the friction generated by the motor of the joint module 141 during operation; it provides reverse assistance when squatting to prevent the body from squatting too quickly; and it provides upward assistance when standing up to help the body complete the lifting motion.

[0049] The joint module 141 includes a motor, a reducer, and a driver. It adopts an electromechanical integrated design, integrating an encoder and a driver. It has advantages such as being lightweight and flat, having a compact structure, strong overload capacity, low rotational inertia, and high control precision. The joint module 141 used in this embodiment is the JA110 joint module 141 from Hangzhou Chengtian Technology Development Co., Ltd.

[0050] The hip frame 12 is a detachable cavity housing structure, including a "C"-shaped frame inner plate 121, a pair of side covers 222122, and a rear cover 222123. The inner plate 121 is used for detachable assembly with the hip wearing component 11 and the unit connector 3. The pair of side covers 222122 are detachably encapsulated outside the left and right sides of the inner plate 121, respectively forming left and right cavities with the inner plate 121, and the joint modules 141 are respectively built in. The rear cover 222123 is detachably encapsulated outside the rear side of the inner plate 121, forming a rear cavity with the inner plate 121, and a hip assistance battery 143 is built in. The inner plate 121 is detachably connected to the left and right sides of the hip wearing component 11 through a pair of V-shaped hip connectors 13. At the rear cover 222123 of the hip frame 12, a hip assistance power consumption meter 144 can be provided for displaying the battery power, and a function interface for product testing, a network transfer interface, a hip assistance power-on button 145, a hip assistance aviation plug 146 for charging, etc. can also be provided.

[0051] The hip wearing component 11 is a hip belt that can surround the hip for one week and is detachable.

[0052] The maximum swing amplitude of the hip assistance plate 142 is 70° forward or 30° backward.

[0053] A pair of electric push rods 231 of a pair of upper limb assistance mechanisms 23 are built in the back frame 22. The extending direction of the push rods is vertically upward. One end of a steel wire rope 232 passes through a reserved perforation on the back frame 22 and is detachably connected to the end of the push rod, extends along the waist and back wearing component 21 to be suspended outside the arm on the corresponding side, and the end is detachably connected to the wristband 214. A spring sheath 233 is provided on the waist and back wearing component 21 along the path track of the steel wire rope 232, and the steel wire rope 232 is arranged in the spring sheath 233.

[0054] When used for handling operations, the actions of the arms include lifting, lowering, and remaining stationary. When the double-arm assistance unit 2 is implemented, an external remote controller can be configured to control the left and right electric push rods 231 to rotate forward simultaneously, rotate backward simultaneously, or stop operating simultaneously. When rotating forward, the stroke of the electric push rod 231 increases, providing a lifting assistance for the double arms by pulling the steel wire rope 232. When rotating backward, the stroke of the electric push rod 231 decreases, providing a lowering assistance for the double arms. When stopping operating, the stroke of the electric push rod 231 remains unchanged, providing a stationary assistance for the double arms.

[0055] The back frame 22 is a detachable hollow shell structure, including a back plate 221 and a cover 222. The back plate 221 is used for detachable assembly with the waist and back wearable component 21 and the unit connector 3. The cover 222 is detachably encapsulated on the back plate 221, together forming a cavity, which houses a dual-arm assist battery 234 and a pair of electric push rods 231 for the upper limb assist mechanism 23. The back frame 22 may be equipped with a dual-arm assist power meter 235 at the cover 222 to display the battery power, and may also be equipped with a dual-arm assist switch button 236 and a dual-arm assist aviation plug 237, etc.

[0056] The back and waist wearing component 21 includes a vest-style vest and a waist belt 213. The vest-style vest is worn on the upper body and includes a back panel 211 and a pair of shoulder straps 212 extending from the top left and right ends of the back panel 211. The ends of the shoulder straps 212 are detachably connected to the front left and right ends of the waist belt 213 via buckles. The waist belt 213 is sandwiched between the back plate 221 of the back frame 22 and the unit connector 3 at the back. The waist belt 213 wraps around the waist and is detachable. The vest-style vest has several disc-shaped connectors 215, which are detachably connected to the back plate 221 of the back frame 22 via each disc-shaped connector 215.

[0057] The circuit systems of hip assist unit 1 and dual arm assist unit 2 are also relatively independent. Specifically:

[0058] The circuit system of the dual-arm assist unit 2 consists of two electric actuators 231 (left and right), a dual-arm assist battery 234, a remote control receiver module, and a dual-arm assist fuel meter 235. The dual-arm assist battery 234 provides power to the motors of the electric actuators 231, the remote control receiver module, and the dual-arm assist fuel meter 235. An external remote control sends up / down / stop commands to the electric actuators 231. The remote control receiver module controls the movement and stroke of the electric actuators 231 according to the received commands. The dual-arm assist fuel meter 235 displays the remaining power and current voltage value when the unit is powered on. In addition, a control switch can be provided to control the battery power supply, and an external charging interface can be provided for charging the dual-arm assist battery 234.

[0059] The circuit system of the hip assist unit 1 consists of two joint modules 141 motors, a hip assist battery 143, a main control module (DSP28335 control board), a host computer (peripheral), and a hip assist fuel gauge 144. The hip assist battery 143 provides power to the joint module 141 motors, the main control module, and the fuel gauge. The host computer sends control commands and parameters through a 232 interface. After receiving the commands and setting the parameters, the main control module enters different working modes. The hip assist fuel gauge 144 displays the remaining power and current voltage value when the unit is powered on. Similarly, a control switch can be set to control the battery power supply, and an external charging interface can be provided for charging the hip assist battery 143.

[0060] Figures 9-13 Part of the circuit system of hip assist unit 1 and arm assist unit 2 is shown.

[0061] The hip wearable component 11, the waist and back wearable component 21, the straps and wristbands 214 are made of flexible materials, while the hip frame 12, the hip connector 13, the hip assist plate 142, the back frame 22 and the unit connector 3 are made of rigid materials.

[0062] Specifically, the unit connector 3 is made of PA66+GF30 nylon fiberglass, the hip frame 12, hip connector 13, hip assist plate 142, and back frame 22 are made of ABS or resin, and the hip wear component 11, waist and back wear component 21, straps, and wristbands 214 are made of nylon fiber reinforced material.

[0063] The detachable connection between the rigid components such as the hip frame 12, hip connector 13, hip assist plate 142, back frame 22, and unit connector 3 can be bolt assembly. The detachable connection between the hip frame 12, hip connector 13, and unit connector 3 and the hip wearable component 11, as well as between the back frame 22, unit connector 3, and the waist and back wearable component 21, can also be bolt assembly. In the waist and back wearable component 21, the detachable connection between the pair of shoulder straps 212 of the vest-style vest and the waist belt 213, and the waist belt 213 itself, can be one of the common methods such as buckles, Velcro, or binding. The hip wearable component 11 can also be detachable in this way. The two ends of the wire rope are equipped with locking devices, and the end of the electric push rod is provided with a rope hole for the wire rope to pass through and knot. The wristband has a D-ring, and the end of the wire rope used for assembly with the wristband has a safety buckle that is hooked onto the D-ring.

[0064] The height of the back support component 21 is adjustable via the unit connector 3, with an adjustment range of 20-60cm. This is achieved by setting multiple sets of screw holes on the unit connector 3 for assembly with the back plate 221 of the back support component 21. These screw holes are distributed vertically at intervals. After the back support component 21 is adjusted to the desired height, it is assembled with the corresponding screw holes on the unit connector 3 using bolts.

[0065] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A hip and back dual assist exoskeleton device, characterized by Comprising: A hip assistance unit for lower limb walking assistance, which is detachably worn on the hip through a hip wearing component. A hip frame provided with a pair of hip assistance mechanisms is symmetrically and detachably connected to the outer sides of both sides of the hip wearing component through a pair of hip connectors. Each of the pair of hip assistance mechanisms provides driving force through a joint module, and can drive a hip assistance plate coaxially connected to the output shaft of the joint module to swing the lower limb in the same direction as the lower limb during human movement, so as to realize assisting the lower limb for walking. The pair of hip assistance plates extend outside the thigh, and the free ends are detachably strapped to the thigh through straps; A pair of arm assistance units for arm assistance, which are detachably worn on the waist and upper body through a waist and back wearing component. A back frame provided with a pair of upper limb assistance mechanisms is detachably connected to the outer side of the back of the waist and back wearing component. The pair of upper limb assistance mechanisms are symmetrically arranged on the left and right, and respectively provide driving force through electric push rods. The vertical telescoping of the push rods pulls the steel wire ropes. The pair of steel wire ropes respectively bypass the shoulders from the back and extend outside the arm along the arm on the corresponding side, and are detachably connected between the push rods and the wristbands detachably sleeved on the forearms. The pair of steel wire ropes pull the arms during arm movement to realize assisting the arms; Unit connectors, the hip wearing component and the waist and back wearing component are respectively detachably connected to the unit connectors and are connected into a whole through the unit connectors. The height position of the waist and back wearing component is adjustable through the unit connectors.

2. The dual hip and back assisted exoskeleton device of claim 1, wherein: The joint module of the hip assistance mechanism is built in the hip frame, and the output shaft faces the lower limb horizontally inward. The outer dimension of the upper part of the hip assistance plate is correspondingly set according to the joint module for coaxial connection with the output shaft of the joint module. The lower part is a strip plate, which is hinged to the upper part through a hinge shaft. Two openings are reserved at the end for the straps to pass through, and the hinge shaft is horizontally arranged along the front-back direction.

3. The dual hip and back assisted exoskeleton device of claim 1, wherein: The hip frame is a detachable cavity shell structure, including a "C"-shaped frame inner plate, a pair of side covers, and a rear cover. The inner plate is used for detachable assembly with the hip wearing component and the unit connectors. The pair of side covers are detachably encapsulated outside the left and right sides of the inner plate, and respectively form left and right cavities with the inner plate, and the joint modules are respectively built in. The rear cover is detachably encapsulated outside the rear side of the inner plate, and forms a rear cavity with the inner plate, and a storage battery for hip assistance is built in. The inner plate is detachably connected to the left and right sides of the hip wearing component through a pair of V-shaped hip connectors.

4. The dual hip and back assisted exoskeleton device of claim 1, wherein: The hip wearing component is a hip belt that can surround the hip once and is detachable.

5. The dual hip and back assisted exoskeleton device of claim 1, wherein: The maximum swing amplitude of the hip assistance plate is 70° forward or 30° backward.

6. The dual hip and back assisted exoskeleton device of claim 1, wherein: A pair of electric push rods of the pair of upper limb assistance mechanisms are built in the back frame. The extending direction of the push rods is vertically upward. One end of the steel wire rope passes through a reserved through hole on the back frame and is detachably connected to the end of the push rod, extends along the waist and back wearing component to extend outside the arm on the corresponding side, and the end is detachably connected to the wristband. A spring sheath is arranged on the waist and back wearing component along the path track of the steel wire rope, and the steel wire rope is穿设在弹簧护套中. It should be noted that there is an error in the original text of item . The correct expression should be "穿设在弹簧护套中" translated as "is arranged in the spring sheath". I have corrected it in the translation.

7. The dual hip and back assisted exoskeleton device of claim 1, wherein: The back frame is a detachable hollow shell structure, including a back plate and a cover. The back plate is used for detachable assembly with the waist and back wearable components and the unit connectors. The cover is detachably encapsulated on the back plate, together forming a cavity, which houses a dual-arm assist battery and a pair of electric push rods for the upper limb assist mechanism.

8. The dual hip and back assisted exoskeleton device of claim 7, wherein: The back and waist wearing assembly includes a vest-style vest and a waist belt. The vest-style vest is worn on the upper body and includes a back piece and a pair of shoulder straps extending from the top left and right ends of the back piece. The ends of the pair of shoulder straps are detachably connected to the front left and right ends of the waist belt via buckles. The back of the waist belt is sandwiched between the back plate of the back frame and the unit connector. The waist belt wraps around the waist and is detachable.

9. The dual hip and back assisted exoskeleton device of claim 1, wherein: The hip wearable component, the waist and back wearable component, the strap, and the wristband are made of flexible materials, while the hip frame, the hip connector, the hip assist plate, the back frame, and the unit connector are made of rigid materials.

10. The dual hip and back assisted exoskeleton device of claim 1 or 9, wherein: The unit connector is made of PA66+GF30 nylon fiberglass, the hip frame, hip connector, hip assist plate, and back frame are made of ABS or resin, and the hip wear assembly, waist and back wear assembly, straps, and wristbands are made of nylon fiber reinforced material.

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