Leg support module and exoskeleton device

Abstract

The application relates to the technical field of leg support, in particular to a leg support module and an exoskeleton device, the leg support module comprising a leg rod and a support module, wherein the support module comprises a base and an adjusting piece, the base is connected with the leg rod, the adjusting piece is connected with the base and can move relative to the base along a first direction, and the adjusting piece is located on the inner side of the leg rod; the first direction intersects with the front-rear direction and the left-right direction of a human body. The application can improve compatibility.

Description

Technical Field

[0001] This application relates to the field of leg support technology, and in particular to leg support modules and exoskeleton devices. Background Technology

[0002] An exoskeleton is a mechanism used to apply driving force to the legs of a human body, which can generally cause the legs of the human body to swing, helping the user to walk.

[0003] In related technologies, exoskeleton devices typically support the legs through leg supports that surround the front or back of the legs. Because different users have different leg shapes, this difference can lead to excessive or insufficient contact between the leg supports and the legs, resulting in either too much or too little pressure. Therefore, exoskeleton devices have poor compatibility. Utility Model Content

[0004] In view of this, this application provides a leg support module and an exoskeleton device to improve their compatibility.

[0005] Specifically, the following technical solutions are included:

[0006] The first aspect of this application provides a leg support module, the leg support module including a leg bar and a support module, wherein...

[0007] The support module includes a base and an adjusting member. The base is connected to the leg rod, and the adjusting member is connected to the base and can move relative to the base in a first direction. The adjusting member is located inside the leg rod.

[0008] The first direction intersects with the front-back direction and the left-right direction of the human body.

[0009] In some possible implementations, the base includes an adjustment groove that extends along the first direction, and the adjustment member is slidably connected to the adjustment groove.

[0010] In some possible implementations, the base includes a locking member, at least a portion of which is extendable into the adjustment groove to exert a force on the adjustment member that impedes movement of the adjustment member relative to the adjustment groove.

[0011] In some possible implementations, the base includes a locking hole whose axis intersects the first direction, the locking member is threadedly connected to the locking hole, and one end of the locking member extends through the locking hole into the adjusting groove and faces the adjusting member.

[0012] In some possible implementations, the base includes a limiting member, one end of which is connected to one side of the adjusting member. The limiting member is capable of abutting against the wall of the adjusting groove as the adjusting member moves along the first direction, thereby restricting further movement of the adjusting member.

[0013] In some possible implementations, the adjustment groove includes a first sub-groove and a second sub-groove, the first sub-groove and the second sub-groove are arranged parallel to each other, the length of the first sub-groove is less than the length of the second sub-groove, one end of the limiting member extends into the second sub-groove and is connected to the adjustment member, and the other end extends into the first sub-groove.

[0014] In some possible implementations, the leg bar includes a support, and the base is connected to the support and is rotatable relative to the support about an axis along the front-rear direction of the human body.

[0015] In some possible implementations, the base includes a first rotating hole;

[0016] The support includes a support member and a second rotation hole;

[0017] The first rotating hole and the second rotating hole are coaxially arranged, and the support member passes through the first rotating hole and the second rotating hole to apply a force that restricts the relative rotation of the first rotating hole and the second rotating hole.

[0018] In some possible implementations, the support includes a rotating shaft and a fastener, one end of the rotating shaft passing through the first rotating hole and the second rotating hole, the fastener being sleeved on the rotating shaft and threadedly connected to the rotating shaft, the fastener changing its engagement position with the rotating shaft so that the end faces of the first rotating hole and the second rotating hole abut and separate.

[0019] In some possible implementations, the base includes a damping portion located at one end of the support along the front-rear direction of the human body and abutting against the support.

[0020] In some embodiments of this application, the first direction intersects with the front-back direction of the human body to form a first angle, and the value of the first angle ranges from 24° to 32°.

[0021] A second aspect of this application provides an exoskeleton device, the exoskeleton device including the leg support module as described in the above technical solution.

[0022] The beneficial effects of the technical solution provided in this application embodiment include at least the following: the support module contacts the leg through the base and the adjusting member, maintaining a sufficiently large contact area with the leg. The adjusting member moves relative to the base along a first direction, allowing simultaneous adjustment of the support module's enclosure degree from both the left-right and front-back directions of the human body, enabling the support module to adapt to the wearer's leg shape and thus improving the compatibility of the leg support module. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a structural schematic diagram of a leg support module in one state, provided as an embodiment of this application;

[0025] Figure 2 This is a structural schematic diagram of a leg support module in another state, provided as an embodiment of this application;

[0026] Figure 3 This is an exploded view of the structure of a support module provided in an embodiment of this application;

[0027] Figure 4 This is a full sectional view of a leg support module provided in an embodiment of this application;

[0028] Figure 5 This is an exploded view of the support and base provided in the embodiments of this application;

[0029] Figure 6 This is a full sectional view of a portion of the structure of a leg support module provided in an embodiment of this application.

[0030] The reference numerals in the figure indicate:

[0031] 1. Leg; 11. Support; 1101. Second rotating hole; 111. Support component; 1111. Rotating shaft; 1112. Fastener; 112. Third section; 113. Fourth section;

[0032] 2. Support module; 21. Base; 2101. Adjustment groove; 21011. First sub-groove; 21012. Second sub-groove; 2102. Locking hole; 2103. First rotating hole; 211. First section; 212. Second section; 213. Damping part; 22. Adjusting component; 23. Locking component; 24. Limiting component.

[0033] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In the embodiments of this application, directional terms such as "upper," "lower," and "side" are generally used in the following ways: Figure 1 The relative positions shown are based on the given information, and these directional terms are used only to more clearly describe the relationships between structures, not to describe absolute positions. Positions may change when the product is placed in different orientations; for example, "up" and "down" may be interchanged.

[0036] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0037] To make the technical solutions and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0038] The first aspect of this application provides a leg support module, such as... Figure 1 As shown, the leg support module includes a leg bar 1 and a support module 2, wherein,

[0039] The support module 2 includes a base 21 and an adjusting member 22. The base 21 is connected to the leg 1, and the adjusting member 22 is connected to the base 21 and can move relative to the base 21 in a first direction. The adjusting member 22 is located inside the leg 1.

[0040] The first direction intersects with both the front-back and left-right directions of the human body.

[0041] With the above arrangement, the support module 2 contacts the leg via the base 21 and the adjustment member 22, maintaining a sufficient contact area with the leg. The adjustment member 22 moves relative to the base 21 along the first direction, allowing for simultaneous adjustment of the support module 2's enclosure from both the left-right and front-back directions of the body. This enables the support module 2 to adapt to the wearer's leg shape, thereby improving the compatibility of the leg support module.

[0042] In this embodiment, the outer side of the base 21 is connected to the inner side of the leg bar 1, and the wearer's legs are generally located on the inner side of the leg bar 1. Thus, the base 21 can contact the wearer's legs before the leg bar 1, thereby providing support for the wearer.

[0043] In this embodiment, the adjusting member 22 is located inside the leg bar 1 and can cooperate with the base 21 to surround the wearer's legs, while the leg bar 1 is located outside the surround area, which helps to reduce the interference of the leg bar 1 with the wearer's legs.

[0044] In this embodiment, the adjusting member 22 moves relative to the base 21 along a first direction, thereby adjusting the range enclosed by the support module 2. When the adjusting member 22 moves away from the base 21, the enclosed range increases, which is beneficial for wearers with thicker legs; when the adjusting member 22 moves closer to the base 21, the enclosed range decreases, which is beneficial for wearers with thinner legs.

[0045] In this embodiment, the leg support module can be used to form support by contacting the wearer's calf or the wearer's thigh.

[0046] In this embodiment, the first direction intersects with both the front-back direction and the left-right direction of the human body. Therefore, when the adjusting member 22 moves along the first direction, it can simultaneously adjust the size of the area enclosed by the supporting module 2 along the two directions, which helps to simplify the adjustment process.

[0047] In this embodiment of the application, the anterior-posterior direction of the human body can be the sagittal axis direction, and the lateral direction of the human body can be the coronal axis direction.

[0048] In some embodiments of this application, such as Figure 2 and Figure 3 As shown, the base 21 includes an adjustment groove 2101, which extends along a first direction, and the adjustment member 22 is slidably connected to the adjustment groove 2101.

[0049] With the above arrangement, the adjusting member 22, through its slidable connection with the adjusting groove 2101, can move along the first direction, thereby adjusting the enclosure range of the support module. Specifically, after the adjusting member 22 slides, the larger the distance between the two ends furthest from it and the adjusting groove 2101, the larger the enclosure range of the support module 2; conversely, the smaller the distance between the two ends furthest from it and the adjusting groove 2101, the smaller the enclosure range of the support module 2.

[0050] In some embodiments of this application, such as Figure 3 and Figure 4As shown, the base 21 includes a locking member 23, at least a portion of which can extend into the adjustment groove 2101 to generate a force on the adjustment member 22 that hinders the movement of the adjustment member 22 relative to the adjustment groove 2101.

[0051] In this embodiment, when the locking member 23 exerts the aforementioned force on the adjusting member 22, the support module 2 can resist the reaction force generated by the wearer's leg when it is supported. That is, when subjected to the reaction force, the adjusting member 22 and the base 21 can remain relatively stationary, which is beneficial for the leg support module to drive the user's leg to swing.

[0052] When the locking member 23 does not exert the aforementioned force on the adjusting member 22, the adjusting member 22 can move relative to the base 21. When it is close to the base 21, the overall size of the support module 2 increases and the surrounding area also increases. When it is far away from the base 21, the overall size of the support module 2 decreases and the surrounding area also decreases.

[0053] In this embodiment, the force can be formed by clamping the locking member 23 onto the adjusting groove 2101. The greater the force applied when clamping, the greater the maximum frictional force that hinders the movement of the adjusting member 22, and vice versa.

[0054] In this embodiment, the locking member 23 may include an elastic part. When the elastic part is compressed, it abuts against the adjusting groove 2101, thereby generating pressure and forming a frictional force that hinders movement. The frictional force is the force that hinders the movement of the adjusting member 22.

[0055] In this embodiment, the locking member 23 can extend into the adjusting groove 2101 and engage with it. Thus, when the adjusting member 22 moves relative to the adjusting groove 2101, the interference of the locking member 23 generates a force that hinders its movement. In some embodiments of this application, such as... Figure 3 and Figure 4 As shown, the base 21 includes a locking hole 2102, the axial direction of the locking hole 2102 intersects with the first direction, the locking member 23 is threadedly connected to the locking hole 2102, and one end of the locking member 23 extends into the adjusting groove 2101 through the locking hole 2102 and faces the adjusting member 22.

[0056] In this embodiment, the locking member 23 can abut and separate from the adjusting member 22 by changing its engagement position with the locking hole 2102. Specifically, when the engagement position is close to the end of the locking member 23 that extends into the locking groove 2101, the length of the locking member 23 extending into the adjusting groove 2101 is relatively short. At this time, the end of the locking member 23 is separated from the adjusting member 22, or although there is pressure, it is not enough to hinder the movement of the adjusting member 22. The wearer can adjust the insertion length to a suitable position. When the engagement position is far from the end of the locking member 23 that extends into the locking groove 2101, the length of the locking member 23 extending into the adjusting groove 2101 is relatively long. It will abut against the adjusting member 22 and generate pressure, thereby increasing the friction between the locking member 23 and the adjusting member 22. The friction can hinder the movement of the adjusting member 22 relative to the adjusting groove 2101. At this time, the insertion length is difficult to adjust, while the wearer can use the leg support module to achieve support for their legs.

[0057] Specifically, when the friction is sufficiently small, it is either sliding friction or zero. Therefore, the adjusting member 22 can adjust the length of the insertion according to the wearer's needs. After adjusting to the appropriate length, the wearer can increase the friction of the adjusting member 22 through the locking member 23. At this time, the friction is mainly static friction. That is, when subjected to the reaction force of the user's leg, although there is a tendency for relative movement between the locking member 23 and the adjusting member 22, it is hindered by the friction. At this time, the support module 2 can provide support for the wearer.

[0058] In this embodiment, the locking member 23 exerts an axial force on the adjusting member 22 along the locking hole 2102. Since the axial direction of the locking hole 2102 intersects the first direction, there is a component of the force perpendicular to the first direction, which manifests as pressure. Therefore, when moving relative to the locking member 23, frictional force is generated by the pressure, which hinders the movement of the adjusting member 22.

[0059] In this embodiment, the axial direction of the locking hole 2102 is perpendicular to the first direction, and the force can be used entirely as pressure on the adjusting member 22.

[0060] In this embodiment, there can be two locking members 23. The two locking members 23 abut against the adjusting member 22 through a locking hole 2102, which can increase the pressure on the adjusting member 22.

[0061] In some embodiments of this application, such as Figure 3 and Figure 4 As shown, the base 21 includes a limiting member 24. One end of the limiting member 24 is connected to one side of the adjusting member 22. The limiting member 24 can abut against the wall of the adjusting groove 2101 as the adjusting member 22 moves along the first direction, so as to limit the adjusting member 22 from continuing to move.

[0062] With the above arrangement, the limiting member 24 restricts the continued movement of the adjusting member 22, which helps to reduce the possibility of the adjusting member 22 falling out of the adjusting groove 2101. Specifically, when the limiting member 24 abuts against the wall of the adjusting groove 2101, the abutting force comes from the force exerted on the adjusting member 22 when it moves. This force is generally generated by the user dragging the adjusting member 22 and will balance the reaction force generated when it abuts, thus preventing the adjusting member 22 from moving further.

[0063] In some embodiments of this application, such as Figure 3 and Figure 4 As shown, the adjustment groove 2101 includes a first sub-groove 21011 and a second sub-groove 21012. The first sub-groove 21011 and the second sub-groove 21012 are arranged in parallel. The length of the first sub-groove 21011 is less than the length of the second sub-groove 21012. One end of the limiting member 24 extends into the second sub-groove 21012 and is connected to the adjusting member 22, while the other end extends into the first sub-groove 21011.

[0064] With the above arrangement, the first sub-slot 21011 and the second sub-slot 21012 can accommodate the movement of the limiting member 24 and the adjusting member 22. Simultaneously, the length of the first sub-slot 21011 is less than the length of the second sub-slot 21012. When the limiting member 24 moves to the side wall of the first sub-slot 21011, it will abut against the side wall. The reaction force generated by this abutment will restrict the limiting member 24 from continuing to move. This restrictive effect will also act on the adjusting member 22, thus limiting the tendency of the adjusting member 22 to continue moving, preventing it from moving further and thus disengaging from the second sub-slot 21012.

[0065] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the leg bar 1 includes a support 11, and a base 21 is connected to the support 11 and is able to rotate relative to the support 11 about an axis along the front-back direction of the human body.

[0066] Leg support 1 typically extends vertically along the body, while support module 2 extends horizontally and forward / backward. Since their orientations are inconsistent, the leg support module occupies a significant amount of space. By arranging base 21, which allows movement relative to support 11, support module 2 can change its orientation, aligning with the extension direction of leg support 1. This allows the leg support module to achieve a slender shape, facilitating its storage.

[0067] In this embodiment of the application, the vertical direction of the human body can be the vertical axis direction of the human body.

[0068] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the base 21 includes a first rotating hole 2103;

[0069] The support 11 includes a support member 111 and a second rotation hole 1101;

[0070] The first rotating hole 2103 and the second rotating hole 1101 are coaxially arranged, and the support member 111 passes through the first rotating hole 2103 and the second rotating hole 1101 to apply a force that restricts the relative rotation of the first rotating hole 2103 and the second rotating hole 1101.

[0071] With the above arrangement, the support member 111 passes through the first rotating hole 2103 and the second rotating hole 1101, which can provide support for the relative rotation of the support 11 and the base 21. Both can rotate around the axis of the support member 111 at the same time, which is conducive to the support module 2 rotating into a state that extends along the left and right and front and back directions of the human body to provide drive for the wearer, while also rotating into a state that tends to be consistent with the extension direction of the leg bar 1, which is conducive to storage.

[0072] In this embodiment, the number of the first rotating hole 2103 and the second rotating hole 1101 can be one or more. When there are multiple first rotating holes 2103 and second rotating holes 1101, the second rotating hole 1101 is arranged between two first rotating holes 2103, which helps the support member 111 to provide a sufficiently large supporting force for the support 11 and the base 21.

[0073] In the embodiments of this application, such as Figure 2 As shown, the base 21 includes a first segment 211 and a second segment 212. The first segment 211 extends along a first direction, and the second segment 212 extends along the left-right direction of the human body. One end of the first segment 211 is connected to one end of the second segment 212. The support member 111 includes a third segment 112 and a fourth segment 113. The third segment 112 extends along a first direction, and the fourth segment 113 extends along the front-back direction of the human body. One end of the third segment 112 is connected to one end of the fourth segment 113. The first segment 211 is connected to the third segment 112.

[0074] With the above arrangement, the fourth segment 113, the third segment 112 and the first segment 211 can form an approximately arc-shaped enclosure. This enclosure is similar to the shape of the wearer's leg, which helps the support module 2 to maintain a sufficient contact area with the wearer's leg, thereby reducing the pressure on the leg when the leg support module applies pressure to the wearer's leg, and thus reducing the discomfort felt by the wearer.

[0075] In some embodiments of this application, such as Figure 5 and Figure 6As shown, the support member 111 includes a rotating shaft 1111 and a fastener 1112. One end of the rotating shaft 1111 passes through the first rotating hole 2103 and the second rotating hole 1101. The fastener 1112 is sleeved on the rotating shaft 1111 and threadedly connected to the rotating shaft 1111. By changing the engagement position with the rotating shaft 1111, the end face of the first rotating hole 2103 and the end face of the second rotating hole 1101 abut and separate.

[0076] With the above arrangement, when the fastener 1112 abuts the end face of the first rotating hole 2103 against the end face of the second rotating hole 1101, the relative rotation of the support 11 and the base 21 will be subject to the frictional force generated by the abutment. This frictional force can maintain the relative angular position between the support 11 and the base 21, which is beneficial for the support module 2 to be kept in a stored state or in a state that applies driving force to the wearer's legs.

[0077] In this embodiment, the end of the first rotating hole 2103 away from the second rotating hole 1101 can be formed as a countersunk hole, and the fastener 1112 is arranged in the countersunk hole, which helps to reduce the situation where the fastener 1112 protrudes and contacts other components.

[0078] In some embodiments of this application, such as Figure 5 and Figure 6 As shown, the base 21 includes a damping part 213, which is located at one end of the support 11 along the front-back direction of the human body and abuts against the support 11.

[0079] With the above arrangement, the damping part 213 can generate a certain frictional force between the support 11 and the base 21 when the support 11 rotates relative to the base 21. This frictional force can bring a certain damping feeling to the user. At the same time, when no additional force is applied, the support 11 and the base 21 can remain relatively stationary. This is also conducive to the wearer fixing the base 21 and the support 11, so that the two can temporarily maintain the angle relationship expected by the wearer. This situation is also conducive to the wearer further fixing the base 21 and the support 11, so as to facilitate the wearer's storage or wearing.

[0080] In this embodiment, the damping part 213 can be located at the front end of the support 11 or at the rear end of the support 11.

[0081] In some embodiments of this application, such as Figure 2 As shown, the first direction intersects with the front-back direction of the human body to form a first angle, and the value of the first angle ranges from 24° to 32°.

[0082] With the above arrangement, within the above range, the surrounding area formed by the support module 2 after adjusting the positional relationship between the adjustment member 22 and the adjustment groove 2101 is more in line with the leg shape of most users, which helps to reduce the discomfort of users when wearing it.

[0083] In the embodiments of this application, the value of the first included angle can be 24°, 25°, 26°, 27°, 28°, 29°, 30°, 31° and 32°, or other values ​​between 24° and 32°.

[0084] A second aspect of this application provides an exoskeleton device, the exoskeleton device including the leg support module as described in the above technical solution.

[0085] Since the leg support module of the above embodiment is used, the exoskeleton device of this application has the same technical effect as the above embodiment, which will not be repeated here.

[0086] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The term "multiple" refers to two or more unless otherwise expressly defined.

[0087] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only.

[0088] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A leg support module, characterized in that, The leg support module includes a leg bar (1) and a support module (2), wherein, The support module (2) includes a base (21) and an adjusting member (22). The base (21) is connected to the leg (1), and the adjusting member (22) is connected to the base (21) and can move relative to the base (21) in a first direction. The adjusting member (22) is located inside the leg (1). The first direction intersects with the front-back direction and the left-right direction of the human body.

2. The leg support module according to claim 1, characterized in that, The base (21) includes an adjustment groove (2101) that extends along the first direction, and the adjustment member (22) is slidably connected to the adjustment groove (2101).

3. The leg support module according to claim 2, characterized in that, The base (21) includes a locking member (23), at least a portion of which is capable of extending into the adjustment groove (2101) to exert a force on the adjustment member (22) that impedes the movement of the adjustment member (22) relative to the adjustment groove (2101).

4. The leg support module according to claim 3, characterized in that, The base (21) includes a locking hole (2102), the axial direction of which intersects with the first direction. The locking member (23) is threadedly connected to the locking hole (2102), and one end of the locking member (23) extends into the adjusting groove (2101) through the locking hole (2102) and faces the adjusting member (22).

5. The leg support module according to claim 2, characterized in that, The base (21) includes a limiting member (24), one end of which is connected to one side of the adjusting member (22). The limiting member (24) can abut against the wall of the adjusting groove (2101) as the adjusting member (22) moves along the first direction, thereby restricting the adjusting member (22) from continuing to move.

6. The leg support module according to claim 5, characterized in that, The adjusting groove (2101) includes a first sub-groove (21011) and a second sub-groove (21012). The first sub-groove (21011) and the second sub-groove (21012) are arranged in parallel. The length of the first sub-groove (21011) is less than the length of the second sub-groove (21012). One end of the limiting member (24) extends into the second sub-groove (21012) and is connected to the adjusting member (22). The other end extends into the first sub-groove (21011).

7. The leg support module according to claim 1, characterized in that, The leg (1) includes a support (11), and the base (21) is connected to the support (11) and is rotatable relative to the support (11) about an axis along the front-back direction of the human body.

8. The leg support module according to claim 7, characterized in that, The base (21) includes a first rotating hole (2103); The support (11) includes a support member (111) and a second rotating hole (1101); The first rotating hole (2103) and the second rotating hole (1101) are coaxially arranged, and the support member (111) passes through the first rotating hole (2103) and the second rotating hole (1101) to apply a force to restrict the relative rotation of the first rotating hole (2103) and the second rotating hole (1101).

9. The leg support module according to claim 8, characterized in that, The support member (111) includes a rotating shaft (1111) and a fastener (1112). One end of the rotating shaft (1111) passes through the first rotating hole (2103) and the second rotating hole (1101). The fastener (1112) is sleeved on the rotating shaft (1111) and threadedly connected to the rotating shaft (1111). The fastener (1112) changes its engagement position with the rotating shaft (1111) so that the end face of the first rotating hole (2103) and the end face of the second rotating hole (1101) abut and separate.

10. The leg support module according to any one of claims 7 to 9, characterized in that, The base (21) includes a damping part (213), which is located at one end of the support (11) along the front-back direction of the human body and abuts against the support (11).

11. The leg support module according to any one of claims 1 to 9, characterized in that, The first direction intersects with the front-back direction of the human body to form a first angle, and the value of the first angle ranges from 24° to 32°.

12. An exoskeleton device, characterized in that, The exoskeleton device includes the leg support module as described in any one of claims 1 to 11.

Images