Waist-worn device and exoskeleton apparatus

Abstract

The application relates to the technical field of exoskeletons, and discloses a waist wearing device and an exoskeleton device. The waist wearing device comprises a support, the support comprising a back rod and two waist rods, one end of each waist rod being in sliding connection with one end of the back rod to be telescopic relative to the back rod, and the two waist rods and the back rod cooperating to form a half-enclosing structure; a support body assembly, the support body assembly being installed on the inner side of the support, the support body assembly comprising two telescopic support bodies, each telescopic support body being installed on a waist rod to be driven by the waist rod; a flexible contact assembly, the flexible contact assembly being installed on the inner side of the support body assembly to be attached to the waist of a human body; and the flexible contact assembly comprising two contact pieces, part of each contact piece being fixed to a telescopic support body. The waist wearing device can simplify the adjusting steps and improve the wearing experience by optimizing the structure thereof.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a waist wearable device and an exoskeleton equipment. Background Technology

[0002] Currently, to improve compatibility with user body types, lower limb exoskeleton products often feature extendable rigid support rods positioned on the waist and back. Users can adjust the width to their body size. However, after adjusting the rigid support rods, the length of the soft padding (waistband) also needs to be adjusted for proper and comfortable wear. This process is rather cumbersome and inconvenient for users. Utility Model Content

[0003] This application discloses a waist wearable device and an exoskeleton device. The waist wearable device can simplify the adjustment process and improve the wearing experience by optimizing its own structure.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] In a first aspect, this application provides a waist-wearing device, comprising:

[0006] The support includes a back bar and two waist bars, one end of each waist bar is slidably connected to one end of the back bar to extend and retract relative to the back bar, and the two waist bars cooperate with the back bar to form a semi-enclosed structure;

[0007] A support assembly is installed on the inner side of the bracket. The support assembly includes two telescopic supports, each of which is installed on one of the waist bars to follow the waist bars.

[0008] A flexible contact assembly is installed on the inside of the support assembly to conform to the waist of the human body; the flexible contact assembly includes two contact elements, each of which is partially fixed to the telescopic support.

[0009] In some embodiments, the contact element includes a soft package and a first connecting strip, wherein:

[0010] Along the sliding direction of the waist bar, one end of the soft bag is connected to the telescopic waist support via the first connecting strap, and the other end of the soft bag is fixed relative to the waist bar.

[0011] In some embodiments, the support assembly further includes a main support, which is mounted on the back bar and disposed opposite to the notch of the semi-enclosed structure; two telescopic supports are located on both sides of the main support;

[0012] The telescopic support includes a connecting part and a supporting part. The connecting part is connected to the waist bar. The supporting part is connected to the inner side of the connecting part and extends from the connection position with the connecting part towards the main support.

[0013] In some embodiments, the telescopic support is connected to the waist bar, and at least a portion of the telescopic support is configured to extend to the bottom of the main support.

[0014] In some embodiments, the support assembly further includes two side supports fixedly mounted to the waist bar; two telescopic supports are located between the two side supports; at least a portion of each contact is fixedly connected to the corresponding side support.

[0015] In some embodiments, the side support includes a main body and a fixing part. The main body is fixedly mounted to the waist bar, and the fixing part is connected to the inner side of the main body. The fixing part includes two extension arms, each of which extends from its connection position with the main body to a position parallel to the inner surface of the main body, and the free end of each extension arm is spaced apart from the free end of the other extension arm. A receiving space is formed between the two extension arms and the main body, and the receiving space has an opening in the sliding direction of the waist bar.

[0016] The contact element further includes a second connecting strap, both ends of which are fixed to the outer surface of the soft bag in the sliding direction of the waist bar, and at least a portion of the second connecting strap located between the two ends is located within the receiving space.

[0017] In some embodiments, the portion of each extension arm that is parallel to the main body forms a limiting segment; of the two extension arms, one extension arm is close to the bottom of the main body and the other extension arm is close to the top of the main body, and the length of the limiting segment in the extension arm close to the bottom is greater than the length of the limiting segment in the extension arm close to the top.

[0018] In some embodiments, the side support includes two fixing parts, which are spaced apart along the sliding direction of the waist bar.

[0019] In some embodiments, the waist-wearing device further includes a connecting assembly; along the sliding direction of the waist bar, one end of one of the contacts away from the corresponding telescopic support body and the other end of the contact away from the corresponding telescopic support body are detachably connected via the connecting assembly.

[0020] Secondly, this application also provides an exoskeleton device, including a waist-wearing device as provided in any of the technical solutions in the first aspect above.

[0021] One embodiment of this application described above has at least the following advantages or beneficial effects:

[0022] When the user adjusts the width of the waist support device to suit their body size, the waist bar can slide relative to the back bar to increase or decrease the size of the semi-enclosed structure. During the sliding of the waist bar, since each contact part is fixed to the corresponding telescopic support, the contact part can move with the waist bar to adjust its posture.

[0023] It should be noted that the waist wearable device provided in this application embodiment includes two contact members by setting a flexible contact component, each contact member corresponding to a waist bar, so that the contact member can move synchronously with its corresponding telescopic support body to adjust its posture. That is, the size adjustment of the hard part and the soft part of the waist wearable device can be realized by a single size adjustment, which simplifies the operation steps, improves the convenience of the user's wearing process while maintaining wearing comfort, and enhances the user's wearing experience. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the waist-wearing device provided in the embodiments of this application;

[0025] Figure 2 for Figure 1 The first usage state diagram of the local structure in the middle;

[0026] Figure 3 for Figure 1 The first usage state diagram of the local structure in the middle;

[0027] Figure 4 for Figure 1 A schematic diagram of the structure of a local part of the structure;

[0028] Figure 5 for Figure 4 A schematic diagram of the middle support component installed on the bracket;

[0029] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0030] Figure 7 for Figure 5 Enlarged view of point B in the middle;

[0031] Figure 8 for Figure 1 Another structural diagram of a local structure in the middle;

[0032] Figure 9 for Figure 8 Enlarged view of point C in the middle;

[0033] Figure 10 A schematic diagram of the side support and the second connecting strap in the waist-wearing device provided in the embodiments of this application;

[0034] Reference numerals: 100, bracket; 110, back bar; 120, waist bar; 200, support assembly; 210, main support; 220, telescopic support; 221, connecting part; 222, support part; 2221, groove; 230, side support; 231, main body; 232, fixing part; 2321, extension arm; 300, flexible contact assembly; 310, contact element; 311, soft pack; 312, first connecting strap; 313, second connecting strap; 400, connecting assembly. Detailed Implementation

[0035] 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, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships, for example, A and / or B can represent: A alone, A and B at the same time, and B alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0036] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0037] Firstly, embodiments of this application provide a waist-wearing device. For example... Figure 1As shown, the waist-wearing device includes: a support 100, a support assembly 200, and a flexible contact assembly 300. The support 100 includes a back bar 110 and two waist bars 120. One end of each waist bar 120 is slidably connected to one end of the back bar 110, allowing it to extend and retract relative to the back bar 110. The two waist bars 120 cooperate with the back bar 110 to form a semi-enclosed structure. It should be understood that when the waist-wearing device is worn on the body, the portion near the feet is the bottom, and the portion near the head is the top. This semi-enclosed structure has openings at the top and bottom for the user's body to pass through. Furthermore, the semi-enclosed structure has a notch serving as a wearing opening in the direction of wrapping around the waist. This wearing opening corresponds to the user's abdomen during use.

[0038] like Figure 1 As shown, the support assembly 200 is installed inside the bracket 100 to provide rigid support for the user's lower back. The support assembly 200 includes two telescopic supports 220, each mounted on a lumbar support 120 to follow the movement of the lumbar support 120. The telescopic supports 220 can slide to different positions according to the user's needs to support the user's lower back.

[0039] like Figure 1 As shown, the flexible contact component 300 is installed on the inner side of the support component 200 to conform to the waist of the user, providing flexible support and improving the user experience. The flexible contact component 300 includes two contact members 310, each of which is partially fixed to the telescopic support body 220. That is, each of the two telescopic support bodies 220 is connected to one contact member 310.

[0040] Please combine Figure 1 refer to Figure 2 and Figure 3 As shown in the structure, when the user adjusts the width of the waist-wearing device according to their own body size, the waist bar 120 can slide relative to the back bar 110 to increase or decrease the size of the semi-enclosed structure. During the sliding of the waist bar 120, since each contact member 310 is partially fixed to the corresponding telescopic support 220, the contact member 310 can move with the waist bar 120 to adjust the posture of the contact member 310.

[0041] Specifically, users can slide the waist bars 120 on either side of the back bar 110 as needed to adjust the size of the rigid components within the waist wear device. For example, when the waist bars 120 slide away from the back bar 110, the size of the semi-enclosed structure within the waist wear device increases; conversely, when the waist bars 120 slide closer to the back bar 110, the size of the semi-enclosed structure within the waist wear device decreases.

[0042] During the movement of the waist bar 120, the contact member 310 connected to the waist bar 120 can move synchronously to adjust the size of the soft part inside the waist wearable device. For example, when the waist bar 120 slides away from the back bar 110, the size of the area enclosed by the two contact members 310 increases; when the waist bar 120 slides closer to the back bar 110, the size of the area enclosed by the two contact members 310 decreases.

[0043] It should be noted that the waist wearable device provided in this application embodiment includes two contact members 310 by setting a flexible contact component 300, each contact member 310 corresponding to a waist bar 120, so that the contact member 310 can be adjusted in posture synchronously with its corresponding telescopic support 220. That is, the size adjustment of the hard part and the soft part of the waist wearable device can be realized by a single size adjustment, simplifying the operation steps, improving the convenience of the user's wearing process while maintaining wearing comfort, and enhancing the user's wearing experience.

[0044] like Figure 1 As shown, in one embodiment, the contact member 310 includes a soft pouch 311 and a first connecting strap 312, wherein: along the sliding direction of the waist bar 120, one end of the soft pouch 311 is connected to the telescopic waist support 220 via the first connecting strap 312, and the other end of the soft pouch 311 is fixed relative to the waist bar 120.

[0045] In this embodiment, the soft padding 311 provides flexible support and enhances the user experience; the first connecting strap 312 serves a connecting function. As the telescopic support 220 moves with the waist bar 120, the contact element 310 formed by the soft padding 311 and the first connecting strap 312 remains stationary relative to the waist bar 120, allowing for dimensional adjustments in accordance with the waist bar 120.

[0046] In some embodiments, such as Figures 1 to 3 As shown, the support assembly 200 also includes a main support 210, which is mounted on the back bar 110 and is positioned opposite to the notch of the semi-enclosed structure; two telescopic supports 220 are located on both sides of the main support 210, and each telescopic support 220 follows the waist bar 120, moving away from or closer to the main support 210.

[0047] It should be understood that the main support body 210 can provide primary support for the user's lower back; the telescopic support body 220 can slide to different parts according to the user's needs to cooperate with the main support body 210 to support the user's lower back.

[0048] Please refer to Figure 3 and Figure 4The structure shown includes a telescopic support 220 with a connecting part 221 and a support part 222. The connecting part 221 is connected to the waist bar 120. The support part 222 is connected to the inner side of the connecting part 221 and extends from the connection position with the connecting part 221 toward the main support 210, so as to form a flat and continuous support surface covering the lower back of the human body by splicing with the main support 210.

[0049] In this embodiment, the telescopic support 220 moves relative to the main support 210 via the waist bar 120, providing a basis for the telescopic adjustment of the waist-wearing device. Simultaneously, the support portion 222 extends from its connection point with the connecting portion 221 towards the main support 210, allowing it to be joined with the main support 210. Through a three-piece rigid support combined with a pull-type contact member 310, a support surface covering the lower back area is formed as much as possible, ensuring a close fit to the lower back and effectively distributing the pressure on the lower back, avoiding excessive localized stress. This provides stable, comfortable, and comprehensive support and protection for the lower back, improving support effectiveness and comfort during use.

[0050] Among them, such as Figure 4 and Figure 6 As shown, the support part 222 has a groove 2221 near the human spine to fix the first connecting strap 312, and the control contact part 310 has a sufficient contact area with the user to improve the user's wearing experience.

[0051] Furthermore, it is worth noting that, such as Figure 4 As shown, it is possible to configure two waist bars 120 symmetrically relative to the back bar 110. Also, it is possible to configure two telescopic supports 220 with identical designs, so that when the telescopic supports 220 move to the same position relative to the waist bars 120, the telescopic supports 220 are also symmetrically positioned relative to the main support 210.

[0052] In some embodiments, such as Figure 4 As shown, the telescopic support 220 is connected to the waist bar 120, and at least a portion of the telescopic support 220 is configured to extend to the bottom of the main support 210.

[0053] In the application of the waist-wearing device provided in this embodiment, the telescopic support 220 can move closer to or further away from the main support 210 as needed, along with the waist bar 120. When at least a portion of the telescopic support 220 moves to the bottom of the main support 210, the telescopic support 220 cooperates with the main support 210 to increase the size of the support surface in the vertical direction (i.e., the arrangement direction of the top and bottom), forming a support surface that covers the lower back as much as possible, ensuring a close fit to the lower back, evenly distributing the pressure on the lower back, avoiding excessive local stress, thereby providing stable, comfortable and comprehensive support and protection for the lower back, and improving the support effect and comfort during use.

[0054] Meanwhile, when the telescopic support 220 is moved away from the main support 210, the telescopic support 220 can form a support surface for the user's side waist or the area between the side waist and the back waist, thereby increasing the lateral size of the waist-wearing device, dispersing the pressure on the waist, avoiding excessive local stress, and thus providing stable, comfortable and comprehensive support and protection for the human waist, improving the support effect and comfort during use.

[0055] Accordingly, the telescopic support 220 in the waist wear device provided in this embodiment can be moved to the desired position relative to the main support 210 according to the user's needs, thereby improving the user's experience.

[0056] In some embodiments, please combine Figures 1 to 4 refer to Figure 5 , Figure 7 and Figure 8 As shown, the support assembly 200 also includes two side supports 230, which are fixedly mounted on the waist bar 120; two telescopic supports 220 are located between the two side supports 230; and at least a portion of each contact 310 is fixedly connected to the corresponding side support 230.

[0057] It should be noted that, in this embodiment, the waist support device also includes two side supports 230, both of which are fixedly installed on the waist bar 120 to provide a stable lateral support foundation for the entire waist support device, improve the stability of the overall structure, and prevent swaying or deformation due to uneven force during use. Meanwhile, the layout design of the two telescopic supports 220 located between the two side supports 230 not only meets the support needs of the lower back core area through the telescopic supports 220, but also provides limiting and auxiliary support to both sides of the waist with the side supports 230, thus expanding the support coverage and making the force on the waist more balanced.

[0058] In addition, at least a portion of each contact 310 is fixed to the corresponding side support 230 so as to fix it relative to the waist bar 120 through the side support 230, ensuring that the contact 310 is not easy to loosen when in contact with the user's body or when transmitting support force.

[0059] The methods of fixing the telescopic support 220 and the side support 230 to the waist bar 120 are not limited to bolts, rivets, adhesive, or pipe clamps. The two side supports 230 can be symmetrically arranged relative to the main support 210, and each side support 230 can be installed at the end of the waist bar 120 away from the back bar 110.

[0060] In some embodiments, please combine Figure 8 refer to Figure 9The structure shown includes a side support 230 comprising a main body 231 and a fixing part 232. The main body 231 is fixedly mounted to the waist bar 120, and the fixing part 232 is connected to the inner side of the main body 231. The fixing part 232 includes two extension arms 2321, each extending from its connection position with the main body 231 to a position parallel to the inner surface of the main body 231, with the free ends of each extension arm 2321 spaced apart from the free ends of the other extension arm 2321. A receiving space is formed between the two extension arms 2321 and the main body 231, and the receiving space has an opening in the sliding direction of the waist bar 120. It should be understood that the parallelism between the extension arms 2321 and the main body 231 can be approximately parallel, or the two can be arranged at an acute angle.

[0061] Please combine Figure 1 refer to Figure 9 and Figure 10 As shown in the structure, the contact member 310 further includes a second connecting strap 313, both ends of which are fixed to the outer surface of the soft pack 311 in the sliding direction of the waist bar 120, and at least a portion of the second connecting strap 313 located between the two ends is located within the receiving space. The second connecting strap 313 can be a webbing.

[0062] It should be noted that the main body 231 is fixed to the waist bar 120, providing a stable foundation for the side support 230 as a whole; the two extension arms 2321 of the fixing part 232 extend in parallel and their free ends are spaced apart and opposite to each other, forming an open receiving space together with the main body 231 to reserve an installation channel adapted to the sliding direction of the waist bar 120. The extension arms 2321 limit the second connecting strap 313 placed in the receiving space, ensuring that the soft bag 311 always remains relatively fixed to the side support 230, avoiding the soft bag 311 from loosening and affecting the comfort of use.

[0063] In some embodiments, such as Figure 9 and Figure 10 As shown, each extension arm 2321 has a portion parallel to the main body 231 forming a limiting segment; of the two extension arms 2321, one extension arm 2321 is near the bottom of the main body 231, and the other extension arm 2321 is near the top of the main body 231. Figure 10 As shown, the length L1 of the inner limiting segment of the extension arm 2321 near the bottom is greater than the length L2 of the inner limiting segment of the extension arm 2321 near the top.

[0064] For example, such as Figure 9 and Figure 10As shown, the two extension arms 2321 generally form an “H”-shaped structure. The two extension arms 2321 are of different lengths. During assembly, one side of the second connecting strap 313 can be inserted into the longer extension arm 2321 first, and then the other side of the second connecting strap 313 can be inserted into the shorter extension arm 2321.

[0065] It should be noted that, compared to a design where both extension arms 2321 are of equal length, in this embodiment, the second connecting strap 313 can be inserted into a width greater than 1 / 2 when in an unlimited position (the operation difficulty is the same as inserting it into a width exactly 1 / 2). Then, with one side of the second connecting strap 313 restricted, it is only necessary to fold the other side of the second connecting strap 313, that is, insert it into a width less than 1 / 2 again (the operation difficulty is less than inserting it into a width exactly 1 / 2). Therefore, the overall assembly and disassembly of the waist-wearing device provided in this embodiment is more effortless and convenient, facilitating user replacement and cleaning.

[0066] Furthermore, the main body 231 has a recess at the position corresponding to the extension arm 2321 to facilitate the assembly of the second connecting strap 313 into the receiving space.

[0067] In some embodiments, such as Figure 9 and Figure 10 As shown, the side support 230 includes two fixing parts 232, which are spaced apart along the sliding direction of the waist bar 120.

[0068] In this embodiment, the two fixing parts 232 are spaced apart along the sliding direction of the waist bar 120, which can provide multi-point stable support for the connection between the side support 230 and the contact member 310. Compared with single-point fixing, the spaced fixing parts 232 can enhance the stability of the connection between the side support 230 and the contact member 310, and prevent the soft bag 311 from shifting excessively when the waist bar 120 slides, thus affecting the user's experience.

[0069] Moreover, this spacing provides a more reasonable spatial layout for the installation of the contact element 310 (such as the second connecting strip 313). The soft package 311 can be limited or fixed at different positions by the two fixing parts 232 respectively, so as to ensure that the part of the soft package 311 between the two fixing parts 232 cannot move and provides stable support.

[0070] In some embodiments, such as Figure 1 As shown, the waist-wearing device provided in this embodiment of the application further includes a connecting component 400; along the sliding direction of the waist bar 120, one end of one contact member 310 away from the corresponding telescopic support 220 and the other end of another contact member 310 away from the corresponding telescopic support 220 are detachably connected via the connecting component 400. This detachably connected connecting component 400 facilitates the user in putting on and taking off the waist-wearing device, thereby improving the wearing experience.

[0071] The connecting component 400 may include two connecting straps that can be fastened or unfastened; or the connecting component 400 may include a buckle or other structure, which can be set according to the requirements, and will not be described in detail here.

[0072] Secondly, embodiments of this application also provide an exoskeleton device. This exoskeleton device includes a waist-wearing device as provided in any of the technical solutions in the first aspect described above.

[0073] It should be noted that in the exoskeleton device provided in this application embodiment, the waist wear device includes two contact members 310 by setting a flexible contact component 300, each contact member 310 corresponding to a waist bar 120, so that the contact member 310 can be adjusted in posture synchronously with its corresponding telescopic support 220. That is, the size adjustment of the hard part and the soft part of the waist wear device can be realized by a single size adjustment, simplifying the operation steps, improving the convenience of the user's wearing process while maintaining wearing comfort, and enhancing the user's wearing experience.

[0074] Furthermore, it is worth noting that the exoskeleton device provided in this application embodiment may also include other parts, for example, it may include a leg bar connected to a waist wearing device, and a leg bracket fixed to the leg bar, etc.

[0075] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A waist-wearing device, characterized in that, include: The support includes a back bar and two waist bars, one end of each waist bar is slidably connected to one end of the back bar to extend and retract relative to the back bar, and the two waist bars cooperate with the back bar to form a semi-enclosed structure; A support assembly is installed on the inner side of the bracket. The support assembly includes two telescopic supports, each of which is installed on one of the waist bars to follow the waist bars. A flexible contact assembly is installed on the inside of the support assembly to conform to the waist of the human body; the flexible contact assembly includes two contact elements, each of which is partially fixed to the telescopic support assembly.

2. The waist-wearing device according to claim 1, characterized in that, The contact element includes a soft package and a first connecting strip, wherein: Along the sliding direction of the waist bar, one end of the soft bag is connected to the telescopic waist support via the first connecting strap, and the other end of the soft bag is fixed relative to the waist bar.

3. The waist-wearing device according to claim 2, characterized in that, The support assembly also includes a main support, which is mounted on the back bar and positioned opposite the notch of the semi-enclosed structure; two telescopic supports are located on both sides of the main support. The telescopic support includes a connecting part and a supporting part. The connecting part is connected to the waist bar. The supporting part is connected to the inner side of the connecting part and extends from the connection position with the connecting part towards the main support.

4. The waist-wearing device according to claim 3, characterized in that, The telescopic support is connected to the waist bar, and at least a portion of the telescopic support is configured to extend to the bottom of the main support.

5. The waist-wearing device according to any one of claims 2-4, characterized in that, The support assembly further includes two side supports, which are fixedly installed on the waist bar; two telescopic supports are located between the two side supports; at least a portion of each contact member is fixedly connected to the corresponding side support.

6. The waist-wearing device according to claim 5, characterized in that, The side support includes a main body and a fixing part. The main body is fixedly installed on the waist bar, and the fixing part is connected to the inner side of the main body. The fixing part includes two extension arms, each of which extends from its connection position with the main body to a position parallel to the inner surface of the main body, and the free end of each extension arm is spaced apart from the free end of the other extension arm. A receiving space is formed between the two extension arms and the main body, and the receiving space has an opening in the sliding direction of the waist bar. The contact element further includes a second connecting strap, both ends of which are fixed to the outer surface of the soft bag in the sliding direction of the waist bar, and at least a portion of the second connecting strap located between the two ends is located within the receiving space.

7. The waist-wearing device according to claim 6, characterized in that, Each of the extension arms is arranged parallel to the main body to form a limiting segment; of the two extension arms, one extension arm is close to the bottom of the main body and the other extension arm is close to the top of the main body, and the length of the limiting segment in the extension arm close to the bottom is greater than the length of the limiting segment in the extension arm close to the top.

8. The waist-wearing device according to claim 7, characterized in that, The side support includes two fixing parts, which are spaced apart along the sliding direction of the waist bar.

9. The waist-wearing device according to any one of claims 1-4 and 6-8, characterized in that, The waist-wearing device further includes a connecting assembly; along the sliding direction of the waist bar, one end of one of the contacts away from the corresponding telescopic support body and the other end of the contact away from the corresponding telescopic support body are detachably connected via the connecting assembly.

10. An exoskeleton device, characterized in that, Includes the waist-wearing device as described in any one of claims 1-9.

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