Wearable assistive exoskeleton

Abstract

The utility model discloses a wearable auxiliary exoskeleton (100), wherein the upper wearing part (10) is arranged on one end of the carbon fiber backplate (40) close to the head of the user, the other end of the carbon fiber backplate (40) close to the waist of the user is provided with a connecting channel (41), one end of the middle wearing part (20) is connected to the carbon fiber backplate (40) through the connecting channel (41) and is detachably connected to the other end; one end of the elastic band (50) is provided with a plurality of elastic parts, the plurality of elastic parts include the first elastic part (51) connected to the middle wearing part (20) and the second elastic part (52) connected to the carbon fiber backplate (40), the other end of the elastic band (50) is connected to the lower wearing part (30), forming an integrated wearing structure; the carbon fiber backplate (40) extends along the spine of the human body to provide support and tension to the back; the elastic band (50) is arranged on the rear side of the leg to provide tension to the leg, and the utility model realizes the technical implementation of assisting the human body to carry, reducing the weight and being easy to carry and wear.

Description

Technical Field

[0001] This utility model relates to the field of assistive devices, and in particular to a wearable assistive exoskeleton. Background Technology

[0002] There are numerous situations in both daily life and work where heavy objects are moved manually, such as logistics warehousing, construction, agricultural production, and home moving. In particular, moving heavy objects requires the coordination of various parts of the body, and long-term or improper handling can easily lead to worker injuries, especially acute and chronic injuries to the lower back, waist, and knee joints, such as lumbar muscle strain and herniated discs. This not only brings huge pain and medical costs, but also seriously affects labor productivity and quality of life.

[0003] Traditional solutions such as waist belts or knee braces can only provide limited support and cannot actively share the load. Some devices provide assistance by incorporating elastic elements (such as springs or torsion springs) into the support structure. However, these devices suffer from severe wear and tear and their performance deteriorates significantly with long-term use. Furthermore, due to the numerous auxiliary components in some devices, the overall structure is often bulky and cumbersome to put on and take off, making them unsuitable for quick use in scenarios requiring frequent movement or short-term work. This limits their application range, makes it difficult to perfectly adapt to users of different heights and body types, affects the assistive effect and wearing comfort, and makes them difficult to carry and adapt to various occasions.

[0004] Therefore, the market urgently needs a portable assistive device that is highly adaptable, can directly assist the human body, reduce the load on major weight-bearing joints and muscles, and is easy to wear and use. Utility Model Content

[0005] The main purpose of this invention is to propose a wearable assistive exoskeleton, which aims to solve the problems of easy injury to the human body when carrying heavy objects and the inconvenience of wearing existing assistive tools.

[0006] To achieve the above objectives, this utility model proposes a wearable auxiliary exoskeleton, which includes an upper wearable part for wearing on the shoulders of a human body, a middle wearable part for wearing on the waist of a human body, and a lower wearable part for wearing on the legs of a human body. It also includes a carbon fiber backplate and an elastic band. The upper wearable component is located at one end of the carbon fiber backplate near the user's head, and the other end of the carbon fiber backplate near the user's waist is provided with a connecting channel. One end of the middle wearable component passes through the connecting channel and is connected to the carbon fiber backplate, and is detachably connected to the other end. One end of the elastic band has multiple elastic parts, including a first elastic part connected to the middle wearable part and a second elastic part connected to the carbon fiber back plate. The other end of the elastic band is connected to the lower wearable part, forming an integrated wearable structure. The carbon fiber backplate extends along the spine to provide support and tension to the back; the elastic band is located on the back of the legs to provide tension to the legs.

[0007] Optionally, the carbon fiber backplate has two upper supports and fasteners near the user's head. The fasteners are located on the upper supports. The upper wearable device also includes a load-bearing rod, a grip, and an extension strap. One end of the load-bearing rod is located on the fastener, and the other end is connected to the extension strap. The end of the extension strap is connected to the grip for holding.

[0008] Optionally, the fastener is made of metal, the load-bearing rod is made of carbon fiber, the load-bearing rod extends obliquely into the fastener and extends away from the fastener, so that the extension strap and the gripper are located in the front direction facing the user.

[0009] Optionally, the end of the load-bearing rod away from the fixing member is provided with a connecting hole, and the extension strap can be detached and passed through the connecting hole.

[0010] Optionally, the gripper may be a double-arc gripper, a single-arc gripper, a glove, or a right-angle anti-slip gripper.

[0011] Optionally, the upper wearable component consists of two shoulder straps, and the carbon fiber back plate has two upper and lower supports in a "Y" shape. One end of each of the two shoulder straps is connected to the upper support, and the other end is connected to the lower support, forming a structure through which the human upper limb can pass. The two shoulder straps are detachably connected in the direction the user is facing.

[0012] Optionally, the upper wearable component includes a middle component and a shoulder strap. The middle component is located at one end of the carbon fiber back plate near the user's head, and one end of the shoulder strap is connected to the middle component and the other end is connected to the end of the carbon fiber back plate near the user's waist, forming a structure through which the human upper limbs can pass.

[0013] Optionally, the carbon fiber back panel has a left side plate, a protrusion, and a right side plate at the end near the user's waist. The left side plate and the right side plate are respectively located on the left and right sides of the protrusion, and the protrusion protrudes from the left side plate and the right side plate to form the connecting channel. One end of the central wearable component passes through the connecting channel and is detachably connected to the other end of the central wearable component on the user's front.

[0014] Optionally, a through hole is provided on one side of the protrusion on the carbon fiber back plate, and the second elastic part is connected to the through hole; the left side plate is provided with a left connecting hole, the right side plate is provided with a right connecting hole, and the two shoulder straps are respectively connected to the carbon fiber back plate through the left connecting hole and the right connecting hole.

[0015] Optionally, the wearable assistive exoskeleton may further include a soft pad, which is disposed on the side of the upper wearable device or the carbon fiber backplate facing the human body.

[0016] This utility model's technical solution forms an integrated human skeletal structure by connecting an upper wearable component worn on the shoulders, a middle wearable component worn on the waist, and a lower wearable component worn on the legs. The upper wearable component is located at the end of the carbon fiber backplate near the user's head and is worn by the upper limbs. The other end of the carbon fiber backplate near the user's waist has a connecting channel. One end of the middle wearable component passes through the connecting channel and is connected to the carbon fiber backplate, and is detachably connected to the other end for easy wearing on the waist. The carbon fiber backplate extends along the spine to provide support and tension to the back. The elastic band is elastic and has multiple elastic parts at one end, including a first elastic part connected to the middle wearable component and a second elastic part connected to the carbon fiber backplate. The other end of the elastic band is connected to the lower wearable component. The elastic band is located on the back of the legs to provide tension to the legs. When the user is carrying heavy objects, this reduces the burden on the shoulders, backplate, and legs, saving energy. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of one embodiment of the wearable assistive exoskeleton 100 of this utility model; Figure 2 This is a structural schematic diagram from another perspective of an embodiment of the wearable assistive exoskeleton 100 of this utility model; Figure 3 This is a partial structural schematic diagram of an embodiment of the wearable assistive exoskeleton 100 of this utility model; Figure 4 This is a schematic diagram of the carbon fiber backplate 40 in the wearable assistive exoskeleton 100 of this utility model; Figure 5 This is a schematic diagram of another embodiment of the wearable assistive exoskeleton 100 of this utility model; Figure 6 This is a structural schematic diagram of another embodiment of the wearable assistive exoskeleton 100 of this utility model from another perspective.

[0019] Explanation of icon numbers: 100 Wearable assistive exoskeleton 42 Upper bracket 10 upper wearable parts 43 Fasteners 11 shoulder strap 44 Lower bracket 12 load-bearing bar 45 Left side panel 121 Connection hole 451 Left connecting hole 13 grip 46 convex part 14 Extension belt 47 right side panel 15 middleware 471 Right connecting hole 16 strap 48 Through hole 20 Central wearable parts 50 elastic band 21 connector 51 First elastic section 30 Lower wearable parts 52 Second elastic section 40 carbon fiber back plate 53 Buckle 41 Connection Channel 60 cushion The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] In scenarios such as logistics warehousing, construction, agricultural production, and home moving, bending over to lift heavy objects can generate enormous pressure on the intervertebral discs, potentially several times the weight of the object itself. Bending over to lift objects with incorrect posture can cause the intervertebral discs to bear uneven shear forces and enormous compressive forces. Over time or with a single overload, this can easily lead to injuries such as herniated discs, ligament sprains, or muscle tears. Moreover, if muscle strength is insufficient, fatigued, or coordination is poor, the force will be transferred to more vulnerable structures, such as leg ligaments and joints, leading to aggravated damage. The most common mistake is incorrect posture of the lower back and legs, which easily shifts the load from strong leg muscles to the vulnerable lower back. In situations that require twisting the body, the spine and waist are prone to sprains. Therefore, in terms of human structure, it is not suitable to directly lift or move heavy objects. Over time, this can easily cause cumulative damage or acute injury.

[0024] In the current technology market, various technical assistance solutions have emerged, but each of them has obvious limitations, hindering their widespread adoption and use. For example, handcarts and robotic arms are often large and heavy, making them inconvenient to store and move, and requiring flat and wide ground, which makes them unsuitable for many scenarios (such as narrow warehouse aisles and family rooms). Other items, such as knee pads and lumbar supports, can only provide localized and limited support, making them unsuitable for long-term heavy-duty moving tasks. Some devices provide assistance by incorporating elastic elements (such as springs or torsion springs) into the support structure. However, these devices suffer from severe wear and tear, and their performance deteriorates significantly over long-term use. Furthermore, due to the numerous auxiliary components in some devices, the overall structure is often bulky and cumbersome, making the donning and doffing process cumbersome. This limits their application range, makes it difficult to perfectly adapt to users of different heights and body types, affects the assistive effect and wearing comfort, and makes them difficult to carry and adapt to various occasions.

[0025] To address the aforementioned problems, this utility model proposes a wearable assistive exoskeleton 100, with reference to... Figure 1 and Figure 2 The device comprises an upper wearable component 10, a middle wearable component 20, a lower wearable component 30, a carbon fiber backplate 40, and an elastic band 50. The upper wearable component 10, the middle wearable component 20, and the lower wearable component 30 are connected sequentially to form a human exoskeleton shape support that conforms to the contours of the human back and lower limbs. It is worn on the human body via straps or ropes. The upper wearable component 10 is shaped to fit the contours of the human shoulder and upper back and consists of two arc-shaped components that extend beyond the shoulders. The middle wearable component 20 is connected to the lower end of the upper wearable component 10 and is shaped to fit the lower back and buttocks of the human body. The lower wearable component 30 is connected to the lower end of the middle wearable component 20 and includes two rod-shaped components that extend along the left and right thighs of the human body, respectively, and can be secured with thigh or calf straps. The carbon fiber backplate 40 is fixedly connected to the back of the middle wearable component 20, providing core rigid support for the entire structure. When the user bends over, part of the torso's weight is directly transferred to the exoskeleton frame through the carbon fiber backplate 40, instead of the user's back muscles bearing the entire weight. The upper end of the elastic band 50 is connected to the upper part of the upper wearable component 10 or the upper part of the carbon fiber backplate 40, and its lower end is connected to the elastic band 50 at the thigh of the lower wearable component 30. When a person bends over, the elastic band will taut, providing a pulling force to help the body stand up, indirectly reducing the strain on the waist and legs. Furthermore, it primarily utilizes the characteristics and lightweight nature of all-carbon fiber, resulting in an overall weight lighter than most products on the market. Therefore, through the structural support of the carbon fiber backplate 40 and the elastic assistance of the elastic band 50, some of the load originally borne by the human muscles is transferred to the exoskeleton structure, effectively reducing the risk of fatigue and injury to the user's waist and legs during repetitive lifting operations. Specifically, it has the following advantages: 1. Suitable for people with a height range of 160cm-185cm; 2. Overall weight: ≤1.6kg; 3. Rated load capacity: 40kg; 4. Maximum load capacity: 65kg; 5. When standing, the wearable exoskeleton can lift at least 100% of the rated load-bearing weight. Compared to lifting the same weight without the exoskeleton, the maximum pressure on the wearer's arms is reduced by ≥50%. 6. When walking, the wearable exoskeleton can lift at least 100% of the rated load-bearing weight. Compared to lifting the same weight without the exoskeleton, the maximum pressure on the wearer's arms is reduced by ≥30%. 7. The central wearable component 20 is made of high-strength carbon fiber, which has excellent toughness; 8. Wearing the exoskeleton does not affect human movement, and allows for actions such as moving forward and backward, moving sideways, jumping, running, kneeling on one knee, squatting and standing up (squatting and standing up), side kicking, and vaulting over obstacles; Meanwhile, the wearable assistive exoskeleton 100 can switch between a use state (unfolded) and a carrying state (folded), reducing its storage volume, making it easy to carry, and also facilitating adjustment and maintenance according to the user's body shape. The foldable design allows it to be folded into a compact form when not in use, facilitating transportation and storage. It boasts advantages such as light weight, maintenance-free operation, high reliability, and immediate use, making it ideal for warehousing, logistics, and other work scenarios requiring frequent handling. This utility model has the following embodiments: Example 1:

[0026] This embodiment provides a connection method. (See reference...) Figure 2 and Figure 3The upper wearable component 10, the middle wearable component 20, and the lower wearable component 30 are connected in sequence to form an integrated structure. The upper wearable component 10 is located at the end of the carbon fiber back plate 40 near the user's head. The upper wearable component 10 consists of two shoulder straps 11. The carbon fiber back plate 40 is Y-shaped and includes two upper supports 42 near the user's head and a lower support 44 near the buttocks. Each of the two shoulder straps 11 is connected to one of the upper supports 42 and the lower support 44, forming a loop for the arm to pass through. The left side plate 45 of the carbon fiber back plate 40 has a left connecting hole 451, and the right side plate 47 has a right connecting hole 471. The two shoulder straps 11 are connected to the carbon fiber back plate 40 through the left connecting hole 451 and the right connecting hole 471, respectively. The two shoulder straps 11 are equipped with buckles in the direction the user is facing to achieve detachable connection, which can further fix the upper wearable component 10. After the user wears it, the carbon fiber back plate 40 is fixed in the direction of the human spine and can provide support for the shoulders and back through its own material properties. Understandably, the carbon fiber backplate 40 extends along the spine of the human body. When carrying heavy objects, the user holds the handle 13 and turns the handle 13 to carry heavy objects. Due to the material characteristics of the carbon fiber backplate 40, it provides rebound when the person bends over, providing support and tension to the back through its own material strength and toughness. For details, please refer to Figure 4 The carbon fiber backplate 40 has two fixing members 43 near the user's head, which are respectively positioned above the user's shoulders. The fixing members 43 are mounted on the upper bracket 42. The upper wearable device 10 also includes a load-bearing rod 12, a gripper 13, and an extension strap 14. One end of the load-bearing rod 12 is attached to the fixing member 43, and the other end is connected to the extension strap 14. The end of the extension strap 14 is connected to the gripper 13 for hand gripping. The load-bearing rod 12, extension strap 14, and gripper 13 work together to lift heavy objects. The fixing member 43 is made of metal and is installed in the through hole of the upper bracket 42. The load-bearing rod 12 is made of carbon fiber and extends obliquely into the fixing member 43, extending a distance away from the fixing member 43. The end of the load-bearing rod 12 away from the fixing member 43 has a connecting hole 121. The extension strap 14 can be detached and passed through the connecting hole 121, so that the extension strap 14 and gripper 13 are positioned in the front direction facing the user, making it convenient for the user to grip. Optionally, the gripper 13 can be a double-arc gripper, a single-arc gripper, a glove, or a right-angle anti-slip gripper. The two ends of the double-arc gripper are hook-shaped, and the user holds the middle. The two ends of the double-arc gripper can grip objects with edges, such as material boxes. The single-arc gripper has a structure with one end arc, which can handle objects with arc or round shapes, such as buckets. When the gripper 13 is a glove, it can be used in various scenarios, such as cardboard boxes, furniture, and materials. The right-angle anti-slip gripper can be used on objects with right-angled edges, such as large cardboard boxes. By changing the gripper 13, the wearable auxiliary exoskeleton 100 can be adapted to different scenarios and handle different weights. Furthermore, the central wearable component 20 serves as the core load-bearing element. It is securely fastened to the user's waist and hip bones via adjustable Velcro or buckles, forming a stable load-bearing base to stabilize the body and prevent slippage. A left side plate 45, a protrusion 46, and a right side plate 47 are provided at one end of the carbon fiber back plate 40 near the user's waist. The left side plate 45 and the right side plate 47 are respectively located on the left and right sides of the protrusion 46, and the protrusion 46 protrudes from the left side plate 45 and the right side plate 47, forming a connecting channel 41. One end of the central wearable component 20 passes through the connecting channel 41 and is detachably connected to the other end of the central wearable component 20 on the user's front. Connectors 21, such as buckles or straps, are provided at both ends of the central wearable component 20, which can be fastened to the user's waist after the central wearable component 20 is worn to form a fixation. In this way, both the upper and lower ends of the carbon fiber back plate 40 can be fixed to the human shoulder (or back) and waist.

[0027] By setting up the middle wearable component 20, when the user bends over, the weight of the upper body and part of the weight of the object being carried (transmitted through the arms and shoulder straps 11) will act on the upper wearable component 10 and the back plate 40. These forces are transmitted downward through the back plate 40 and converge on the middle wearable component 20. The middle wearable component 20 will directly apply these forces to the user's waist, and then transfer them downward through the pelvis to the user's lower limbs, thereby bypassing the vulnerable lower back muscles and lumbar spine and achieving effective diversion of gravity. Furthermore, the elastic band 50 has multiple elastic parts at one end, which are elastic ropes. When a person bends over, the elastic band 50 will straighten, giving a pulling force to stand up. The multiple elastic parts include a first elastic part 51 connected to the middle wearable part 20 and a second elastic part 52 connected to the carbon fiber back plate 40. The other end of the elastic band 50 is connected to the lower wearable part 30. The carbon fiber back plate 40 also has a through hole 48 on one side of the protrusion 46. The second elastic part 52 is connected to the through hole, forming a structure that elastically stretches and contracts on the back of the user's legs. When the user stands up or bends their legs while walking, the elasticity can provide a pulling force to the legs and relieve leg pressure.

[0028] Preferably, the soft pad 60 is provided on the side of the upper wearable piece 10 or the carbon fiber back plate 40 facing the human body, which can cushion the human skin in contact and reduce friction.

[0029] The aforementioned structure allows for the transfer of most of the load during transport, relieving pressure on the user's shoulders, back, and knees. This significantly reduces the risk of muscle fatigue and related occupational musculoskeletal disorders (such as lumbar muscle strain and lumbar disc herniation). Furthermore, the connection design allows for folding or unfolding, making it more ergonomic than portable applications in various scenarios. This wearable structure provides greater ease of use.

[0030] Example 2:

[0031] Based on Embodiment 1, this embodiment provides another structure for the upper wearable component 10. (See reference...) Figure 5 and Figure 6 The upper wearable component 10 includes a middle component 15 and a shoulder strap 16. The middle component 15 is fixedly installed at the connection between the upper support 42 and the lower support 44 of the carbon fiber back plate 40 and is in the shape of a hexagon. There are two shoulder straps 16, which are respectively installed on two alternate sides of the middle component 15. One end of the shoulder strap 16 is connected to the middle component 15, and the other end wraps around from the user's chest and waist and connects to the left connection hole 451 and the right connection hole 471 of the carbon fiber back plate 40, forming a structure that allows the human upper limb to pass through. An adjustable strap can also be provided on the shoulder strap 16 to adjust the length and adapt to users of different body sizes. The adjustable strap can be further connected to the connection hole 121 to strengthen the fixation. In this way, the shoulder strap 16 and the middle piece 15 are integrated into one piece, making the connection more secure. Moreover, the connection between the middle piece 15 and the carbon fiber back plate 40 not only makes the connection more stable, but also, being located on the user's back, balances the overall structure and better relieves the pressure of heavy objects. Optionally, a cushioning pad can be provided on the side of the middle part 15 closest to the user to reduce friction.

[0032] Example 3:

[0033] Based on the foregoing embodiments, this embodiment provides a method of use. The wearable assistive exoskeleton 100 has an deployed state and a retracted state. In the deployed state, refer to... Figure 1 or Figure 5 The wearable assistive exoskeleton 100 consists of an upper wearable component 10, a middle wearable component 20, and a lower wearable component 30, which can be worn separately. The user's upper limbs pass through the upper wearable component 10, the middle wearable component 20 is fastened around the waist and the two ends are fastened, and the lower wearable component 30 is fastened near the knee with Velcro. In the storage state (not shown in the figure), the upper wearable component 10, the middle wearable component 20, and the lower wearable component 30 can be folded to reduce the volume and make them easy to carry. After the user puts on the exoskeleton, the device remains stationary with the body in an upright position. When the user bends over to lift heavy objects, the body begins to lean forward and squat, causing the middle wear piece 20 and the lower wear piece 30 to rotate relative to each other. The carbon fiber backplate 40 stretches, and the elastic band 50 is rapidly stretched, storing elastic potential energy. At the moment the user stands up or moves, the carbon fiber backplate 40 rebounds, and the elastic band 50 releases its stored potential energy, assisting the user in straightening their back and extending their knees, relieving gravity, and thus significantly reducing the load on the user's lower back, back, and knees. Moreover, the removable design allows for storage after use and can be taken to other occasions, enriching the application scenarios.

[0034] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the inventive concept of this utility model and the contents of the specification and drawings of this utility model, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A wearable assistive exoskeleton (100), characterized in that, It includes an upper wearable part (10) for wearing on the shoulders of a human body, a middle wearable part (20) for wearing on the waist of a human body, and a lower wearable part (30) for wearing on the legs of a human body. It also includes a carbon fiber backplate (40) and an elastic band (50). The upper wearable part (10) is located at one end of the carbon fiber backplate (40) near the user's head, and the other end of the carbon fiber backplate (40) near the user's waist is provided with a connecting channel (41). One end of the middle wearable part (20) passes through the connecting channel (41) and is connected to the carbon fiber backplate (40), and is detachably connected to the other end. The elastic band (50) has multiple elastic parts at one end, including a first elastic part (51) connected to the middle wearable part (20) and a second elastic part (52) connected to the carbon fiber back plate (40). The other end of the elastic band (50) is connected to the lower wearable part (30) to form an integrated wearable structure. The carbon fiber backplate (40) extends along the spine to provide support and tension to the back; the elastic band (50) is located on the back of the legs to provide tension to the legs.

2. The wearable assistive exoskeleton (100) as described in claim 1, characterized in that, The carbon fiber backplate (40) has two upper brackets (42) and fasteners (43) near the user's head. The fasteners (43) are located on the upper brackets (42). The upper wearable device (10) also includes a load-bearing rod (12), a gripper (13), and an extension strap (14). One end of the load-bearing rod (12) is located on the fastener (43), and the other end is connected to the extension strap (14). The end of the extension strap (14) is connected to the gripper (13) for hand gripping.

3. The wearable assistive exoskeleton (100) as described in claim 2, characterized in that, The fixing member (43) is made of metal, and the load-bearing rod (12) is made of carbon fiber. The load-bearing rod (12) extends obliquely into the fixing member (43) and extends in a direction away from the fixing member (43), so that the extension band (14) and the gripper (13) are located in the front direction facing the user.

4. The wearable assistive exoskeleton (100) as described in claim 2, characterized in that, The end of the load-bearing rod (12) away from the fixing member (43) is provided with a connecting hole (121), and the extension strap (14) can be removed and passed through the connecting hole (121).

5. The wearable assistive exoskeleton (100) as described in claim 2, characterized in that, The gripper (13) is a double arc gripper, a single arc gripper, a glove, or a right-angle anti-slip gripper.

6. The wearable assistive exoskeleton (100) as described in claim 2, characterized in that, The upper wearable component (10) consists of two shoulder straps (11). The carbon fiber back plate (40) has two upper supports (42) and lower supports (44) in a "Y" shape. One end of each of the two shoulder straps (11) is connected to the upper support (42) and the other end is connected to the lower support (44), forming a structure through which the upper limbs of the human body can pass. The two shoulder straps (11) are detachably connected in the direction the user is facing.

7. The wearable assistive exoskeleton (100) as described in claim 2, characterized in that, The upper wearable component (10) includes a middle component (15) and a back strap (16). The middle component (15) is located at one end of the carbon fiber back plate (40) near the user's head. One end of the back strap (16) is connected to the middle component (15), and the other end is connected to one end of the carbon fiber back plate (40) near the user's waist, forming a structure through which the human upper limbs can pass.

8. The wearable assistive exoskeleton (100) as described in claim 6, characterized in that, The carbon fiber backplate (40) has a left side plate (45), a protrusion (46), and a right side plate (47) at one end near the user's waist. The left side plate (45) and the right side plate (47) are respectively located on the left and right sides of the protrusion (46), and the protrusion (46) protrudes from the left side plate (45) and the right side plate (47) to form the connecting channel (41). One end of the middle wearable part (20) passes through the connecting channel (41) and is detachably connected to the other end of the middle wearable part (20) on the front of the user.

9. The wearable assistive exoskeleton (100) as described in claim 8, characterized in that, On the carbon fiber back plate (40), a through hole (48) is provided on one side of the protrusion (46), and the second elastic part (52) is connected to the through hole; the left side plate (45) is provided with a left connecting hole (451), and the right side plate (47) is provided with a right connecting hole (471). The two shoulder straps (11) are connected to the carbon fiber back plate (40) through the left connecting hole (451) and the right connecting hole (471) respectively.

10. The wearable assistive exoskeleton (100) as described in any one of claims 1 to 7, characterized in that, The wearable assistive exoskeleton (100) also includes a pad (60) disposed on the side of the upper wearable part (10) or the carbon fiber back plate (40) facing the human body.

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