149 results about "Exoskeleton Device" patented technology

The invention discloses an exoskeleton device and a robot with the exoskeleton device, the exoskeleton device comprises a waist module and a plurality of limb modules, and at least one of the plurality of limb modules is connected to the waist module. The waist module is connected with at least one of the limb modules, so that when the exoskeleton device is arranged outside a user, the limb modules can be selectively connected for use according to requirements, when the exoskeleton device is arranged outside the user, the use requirements can be met, the exoskeleton device is simplified, and meanwhile the use efficiency of the exoskeleton device is improved. And the satisfaction degree of using the exoskeleton device by the user can be improved, and the use experience of the user is improved. In addition, in the specific using process, the thigh binding and the shank binding can also achieve modular design so as to be connected to different positions, and therefore the using requirements of different heights can be met.

The invention discloses an electric power inspection exoskeleton modular structure, and belongs to the technical field of human body exoskeleton machine assistance, the electric power inspection exoskeleton modular structure comprises a supporting system, the supporting system comprises a back supporting plate, a waist supporting frame and thigh supporting rods, and a main body supporting frame is formed; the modular interface system comprises at least one group of mechanical interfaces, electrical interfaces and data interfaces which are uniformly distributed on a force transmission path of the support system; the functional module comprises a plurality of interchangeable power assisting modules, operation modules and protection modules, and the functional module is detachably connected with the supporting system through the modular interface system; a hybrid drive system includes a rigid driver and a flexible driver for providing position control and compliance force control, respectively. By means of the modular interface system, plug-and-play of functional modules such as power assisting, operation and protection is achieved, needed exoskeleton configuration can be rapidly assembled, multiple sets of exoskeleton equipment do not need to be arranged, and the equipment utilization rate and task adaptability are greatly improved.

Disclosed in the present invention is a lower-limb-powered exoskeleton device for rehabilitation assistance, comprising ankle-joint sagittal-plane driving units, knee-joint sagittal-plane driving units, hip-joint sagittal-plane driving units, a hip-joint horizontal-plane driving unit, a joint driver connecting frame, a lower-limb fixing support, sensors, a controller and a power supply. Antagonistic-drive-type linear driving units are used in the sagittal plane of a hip joint so as to enable the bending and extension movements of the hip joint, and a linear driving unit having the function of self-locking when powered off is used in the horizontal plane of the hip joint so as to enable the turning movements of the exoskeleton; and a linear driving unit in cooperation with a magnetorheological brake is used in the sagittal plane of each knee joint, thereby significantly reducing the power consumption of a knee-joint driver while lowering the control difficulty. The powered exoskeleton device can help patients with an impaired lower-limb motor function to carry out walking rehabilitation training.

The hip joint exoskeleton device comprises a waist exoskeleton, a leg exoskeleton and a driving mechanism, the driving mechanism is used for driving the leg exoskeleton to move relative to the waist exoskeleton, and a protruding structure penetrating through a waist exoskeleton shell is arranged on the waist exoskeleton. The protruding structure is connected with a controller in the waist exoskeleton and used for displaying the electric quantity of the driving mechanism and / or controlling the driving mechanism, the protruding structure comprises a flexible layer and a supporting piece, and the flexible layer is arranged on the outer side of a waist exoskeleton shell and provided with a folded edge extending towards the inner side of the waist exoskeleton shell; the supporting piece and the shell are used for conducting extrusion sealing from the inner side and the outer side of the folded edge. When it rains, water is not prone to accumulating on the periphery of the protruding structure, the waterproof effect is good, during installation, the flexible layer is arranged on the periphery of the supporting piece in a sleeving mode, then the supporting piece with the flexible layer is clamped into the opening of the waist exoskeleton shell, installation of the protruding structure can be completed, and convenience and rapidness are achieved.

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a clutch control type knee joint exoskeleton damping device and a control method. Comprising a pair of rotating assemblies which are rotationally connected; the pair of leg connecting assemblies are connected with the pair of rotating assemblies correspondingly, and the pair of leg connecting assemblies are used for being connected with the thighs and the shanks on the same side of the user correspondingly; the rotary damper is controllably coupled with the knee joint assembly; the clutch device is arranged between the rotary damper and the knee joint assembly, and the clutch device is used for switching the coupling state of the knee joint assembly and the rotary damper; and the control unit is used for judging a gait cycle phase and a motion mode according to the signal acquired by the detection unit, and controlling the clutch device to switch the coupling state of the knee joint assembly and the rotary damper according to a preset control rule. And the exoskeleton device can intelligently control the clutch device to dynamically adjust the damping state of the knee joint.

The invention discloses a brain-computer interface-based hand function rehabilitation auxiliary training method, which belongs to the technical field of rehabilitation training, and specifically comprises the following steps of: acquiring an original electroencephalogram signal of hand action of a patient, and synchronously recording an actual movement track of a healthy side hand; separating the original electroencephalogram signal into an action intention signal and an action control signal; activating a mirror image hand model in the virtual training scene based on the action intention signal, and mapping the action control signal into a three-dimensional motion parameter; dynamically correcting the joint movement range of the mirror image hand model according to the actual movement track of the uninjured side hand, and generating virtual hand actions matched with the physiological features of the patient; extracting track key point coordinates of the mirror image action and a joint angle change sequence, and converting the track key point coordinates and the joint angle change sequence into a driving instruction of affected side exoskeleton equipment; the exoskeleton resistance change is fed back to the virtual training scene in real time, and the motion damping of the mirror image hand model is adjusted; according to the invention, personalized precise assistance of hand function rehabilitation training is realized, and the adaptability and effectiveness of training are improved.

The invention provides an electrical stimulation and lower limb exoskeleton device fusion control method and system, and the method comprises the steps: driving an exoskeleton to move through bottom admittance control based on the actual human-computer interaction torque and expected torque of a knee joint and reference trajectory data of the knee joint in a gait cycle, and triggering ankle joint electrical stimulation through a fixed stimulation parameter group; after the gait cycle is finished, torque errors are calculated, and periodic iteration updating is conducted on the knee joint reference trajectory data through an iterative learning control algorithm till convergence is conducted to obtain target knee joint reference trajectory data; and then determining a target moment of a gait phase based on the target knee joint reference trajectory data, and obtaining a corresponding target stimulation parameter group from the set stimulation parameter time mapping library to replace the fixed stimulation parameter group for subsequent stimulation. According to the method, through single-cycle and cross-cycle trajectory iteration, the adaptation defect of a traditional fixed trajectory is avoided, the stimulation parameters are synchronously optimized, and the dorsiflexion assisting effect is indirectly improved.

The invention relates to a joint angle prediction method and device, wearable lower limb exoskeleton equipment and electronic equipment, and relates to the technical field of exoskeleton equipment control. The method comprises the following steps: acquiring an electromyographic signal when a user walks by wearing the wearable lower limb exoskeleton equipment; classifying the electromyographic signals according to an electromyographic signal classification model, and determining a first electromyographic signal associated with the knee joint and a second electromyographic signal associated with the ankle joint; inputting the first electromyographic signal and the second electromyographic signal into a joint angle prediction model, and determining a joint angle of a knee joint and a joint angle of an ankle joint; wherein the wearable lower limb exoskeleton equipment performs joint control according to the joint angle of the knee joint and the joint angle of the ankle joint. Therefore, the electromyographic signals are disassembled into the signals related to all the lower limb joints, then the joint angles of all the lower limb joints are predicted through the signals related to all the lower limb joints, and therefore the joint angle prediction accuracy is improved.

According to the ray protection suit passive mechanical exoskeleton device with high man-machine collaboration, through the degree-of-freedom isomorphism design of the hip joint piece, the knee joint piece, the ankle joint piece and the human body joints, the walking and normal action requirements of people can be effectively met, the man-machine collaboration of the exoskeleton is greatly improved, and the safety of the human body is improved. Meanwhile, a steel wire rope spring assistance mode is adopted to provide an assistance effect for walking actions of a human body, the load of the human body is further reduced, and in addition, through the design of a 3D flexible soft package material and a multi-joint adjusting mechanism, the comfort of a person in the wearing and using process can be effectively improved.

The application discloses a hand rehabilitation training system and adaptive training method based on brain-muscle coupling and force feedback, comprising a force feedback exoskeleton device, a training task interaction module, an electroencephalogram-electromyogram acquisition module, a synchronous control module, a signal preprocessing and feature extraction module, a brain-muscle coupling analysis module, an adaptive training adjustment module, and a safety constraint and degradation control module. The system is based on a virtual environment, and the user wears the force feedback exoskeleton device to complete the grasping task, and the electroencephalogram and electromyogram signals are synchronously acquired, the brain-muscle coupling indexes of the trial and round are calculated, and the training task difficulty parameters and the force feedback intensity parameters are updated based on the indexes, and the parameter updating process is safety constrained, and the degradation control is executed in abnormal conditions. The application realizes the closed-loop adaptive adjustment of the hand rehabilitation training task difficulty and the force feedback intensity with controllable online calculation, and is helpful to improve the training adaptability and the central-peripheral collaborative training effect.

The invention discloses an exoskeleton device control method and system for ground wire hooking. Multi-modal features are extracted from surface electromyogram signals, kinematics data and mechanics data, and the motion intention of an operator is recognized in real time. And according to the identified motion intention, main motion and micro-jitter motion are extracted, and a stage reference trajectory of the exoskeleton is generated according to superposition of the task stage and the target state. Thirdly, a cost function is defined to optimize trajectory planning, and trajectory tracking precision, execution energy consumption and obstacle avoidance cost are considered; and on the basis of the collaborative motion trail and real-time feedback of an operator, the needed power-assisted torque is calculated, and impedance parameters are adjusted in a self-adaptive mode according to the power-assisted requirement, errors and confidence coefficients. And finally, according to the deviation between the contact force error and the target force, the total output torque of the exoskeleton joint is generated. By adjusting the control strategy and assisting power output in real time, the response precision and comfort of the exoskeleton device are improved, and motion control and energy efficiency are optimized.

1. Name of the design product: hip walking exoskeleton. 2. Use of the design product: for exoskeleton device (wearable robot). 3. Design points of the design product: in shape. 4. Picture or photograph best indicating the design points: perspective view.

A fixing device is used for fixing exoskeleton equipment to a preset part and comprises a mounting seat used for being in butt joint with the preset part, and the mounting seat is configured to be capable of moving in the preset direction of the preset part; the bandage is mounted on the mounting seat, a wearing space for accommodating a preset part is formed between the bandage and the mounting seat, and the size of the wearing space is adjustable; the binding direction of the binding band is perpendicular to the preset direction. And the fixing piece is connected to the mounting seat, and the fixing piece is configured to be capable of fixing the mounting seat to a preset part after the position of the mounting seat is adjusted. According to the fixing device, the mounting base is fixed to the preset part through the binding band and the fixing piece together, and the stability of binding the mounting base to the preset part is not affected while the force applied to the preset part by the binding band is properly reduced; and the size of the wearing space is adjustable, and the mounting seat can move along the preset direction of the preset part, so that the fixing device can adapt to the preset parts with different sizes.

An exoskeleton system that includes one more actuator units that each include an actuator, the one or more actuator units configured to be worn by a user; an exoskeleton device; one or more cables, comprising a first cable extending from the exoskeleton device to a first actuator unit of the one or more actuator units; and a power pack in which the exoskeleton device is disposed.

The application relates to a shoulder rehabilitation auxiliary exoskeleton device which comprises a wearing assembly, an upper limb fixing assembly, an upper limb movement supporting assembly and a passive power output assembly; the upper limb fixing assembly comprises an upper arm fixing piece and a rocker arm; the upper limb movement supporting assembly comprises a connecting rod, a first mounting bracket and a first rotary disc; the passive power output assembly comprises a first shell, an elastic traction rope, a pull rope, a guide wheel and a second rotary disc; the connecting rod connects the wearing assembly and the first mounting bracket; the first rotary disc is rotationally connected to the first mounting bracket; the two ends of the rocker arm are respectively connected to the first rotary disc and the upper arm fixing piece; the guide wheel is arranged on the second rotary disc; the two ends of the elastic traction rope are fixedly connected, and the elastic traction rope passes through the guide wheel; one end of the pull rope is fixedly connected to the second rotary disc, and the other end of the pull rope is fixedly connected to the first rotary disc after passing out of the first shell. The elastic traction rope is adopted, metal parts are reduced, and adjustable auxiliary torque can be provided while reducing weight.

The application provides a finger exoskeleton device and a motion decoupling method thereof, a middle phalanx transmission mechanism arranged at a proximal phalanx part and connected with a driving mechanism; a distal phalanx transmission mechanism arranged at a distal phalanx part and connected with the middle phalanx transmission mechanism; and the driving mechanism is used to provide power. The application has the beneficial effect that the finger exoskeleton device and the motion decoupling method thereof can increase the rotation angle of the distal phalanx by decoupling the motion of the distal phalanx and the middle phalanx under the stress action of the middle phalanx only when the grip is insufficient, so that the grip is sufficient.

The invention discloses a walking assisting mechanical exoskeleton device, which belongs to the technical field of mechanical exoskeleton assistance and comprises a bearing support, a battery pack is arranged on the bearing support, a rechargeable battery and a control panel are arranged in the battery pack, hip assistance frames are symmetrically arranged on the lower portion of the bearing support left and right, and assistance motors are arranged at the front ends of the hip assistance frames. The power-assisted motor is in transmission connection with a power-assisted plate through a hinge piece, and a rotary opening and closing type thigh protection plate assembly is arranged at the lower end of the power-assisted plate. A gyroscope is arranged in the hip assisting frame and is in signal connection with the control panel, and the control panel controls the assisting motor to work. According to the device, the wearing fitting degree is improved through the rotatable back plate, multidirectional swing of the thigh is adapted through the hinge piece, the binding stability is improved by rotating the opening and closing type protection plate, assistance can be accurately provided for walking and bowing actions, and the device is high in assistance efficiency, comfortable to wear, safe, reliable and suitable for walking and walking assisting scenes.

The invention provides a continuum lower limb assisting exoskeleton device based on rope driving. The continuum lower limb assisting exoskeleton device comprises a fixing module, a continuum module, a power module, a control module and a sensing module. The fixing module is arranged on the waist, and the power module and the control module are installed on the fixing module. The continuum module comprises a plurality of minimum unit layer continuum bodies, a plurality of pull ropes and a plurality of elastic connecting pieces, the minimum unit layer continuum bodies are arranged on the legs, and the pull ropes penetrate through the minimum unit layer continuum bodies in the positions relative to the front sides, the rear sides and the outer sides of the legs; the minimum unit layer continuum bodies are connected in series in the vertical direction to form a continuous bendable sectional type flexible structure, one ends of the elastic connecting pieces are connected with one ends of the pull ropes respectively, the other ends of the elastic connecting pieces are connected with the power modules, and the sensing modules are distributed on the waist and the legs. The lower limb power assisting device solves the technical problems that an existing lower limb power assisting device is large in mass, poor in compliance and not suitable for long-time wearing training of weak patients.

The invention provides an exoskeleton device oriented to spine assistance, and relates to the technical field of nursing instruments, and the exoskeleton device oriented to spine assistance comprises a back supporting structure used for being attached to the back of a user for supporting; the fixing bandage set is arranged on the side, facing the user, of the back supporting structure, and the fixing bandage set is used for being connected with the body of the user; the power assisting mechanism is arranged on the side, away from the user, of the back supporting structure, and the power assisting mechanism can provide power assisting for the user when the user changes from the stooping posture to the standing posture. According to the exoskeleton device oriented to spine assistance, assistance can be provided for a user when the user changes from a stooping posture to a standing posture.

The utility model discloses a wearable exoskeleton device, and relates to the technical field of exoskeletons. Comprising a back supporting follow-up plate, shoulder straps are arranged at the two ends of the front side of the back supporting follow-up plate, lower limb exoskeleton mechanisms are arranged on the two sides of the bottom of the back supporting follow-up plate, electric shoulder joints are arranged on the two sides of the back supporting follow-up plate, the electric elbow joints are movably connected with upper arm supports, and the electric elbow joints are installed at one ends of the upper arm supports. The electric elbow joint is movably connected with a forearm support, and a forearm binding belt is arranged on the forearm support. According to the wearable exoskeleton device, when the wearable exoskeleton device is worn, the electric shoulder joints are located below the armpits, the upper arm supports and the forearm supports are located below the arms, the electric shoulder joints and the upper arm supports can cooperate with each other to support the shoulders, the spine bearing is reduced, meanwhile, the back supporting random plate is matched with the shoulder straps, the waist can be supported to a certain degree, and the wearable exoskeleton device is convenient to use. The pressure of the weight of the upper body on the lumbar vertebra is reduced, and the device is suitable for people with spine weakness and hand weakness.

The invention discloses an upper limb rehabilitation exoskeleton device based on a brain-computer interface, and particularly relates to the technical field of medical equipment.The upper limb rehabilitation exoskeleton device comprises a turnover mechanism, a first rotating arm is arranged on the outer wall of the turnover mechanism, a fixing structure is arranged at the end, away from the turnover mechanism, of the first rotating arm, and a mounting structure is arranged at the bottom of the turnover mechanism. By arranging the fixing structure, the limb length of different patients can be accurately adapted, the wearing comfort is improved, the rehabilitation training effect is guaranteed, meanwhile, damaged parts can be conveniently and independently replaced, and the maintenance and use cost is effectively reduced; by arranging the mounting structure, the device can be quickly and stably mounted on different types of supports such as wheelchair armrests or sickbed guardrails and the like, the stability of the device during rehabilitation training of a patient is ensured, meanwhile, mounting and dismounting operation can be completed without the aid of complex tools, the use convenience of the device is greatly improved, and the device is worthy of popularization and application. And the operation difficulty of medical staff is reduced.

The application provides an exoskeleton device, belonging to the technical field of exoskeletons. The exoskeleton device comprises a back rod assembly, a first leg assembly, a second leg assembly and a hip belt assembly. The two ends of the back rod assembly are respectively provided with a first motor support and a second motor support. The first motor support is internally provided with a first driving motor for connecting the first leg assembly. The second motor support is internally provided with a second driving motor for connecting the second leg assembly. The hip belt assembly comprises two connecting end covers and a flexible hip belt. The two connecting end covers are respectively connected to the two ends of the flexible hip belt. The two connecting end covers are respectively rotatably connected to the first motor support and the second motor support. The two connecting end covers are respectively rotated relative to the first motor support and the second motor support, so as to adjust the working angle of the flexible hip belt relative to the back rod assembly. The exoskeleton device of the application can enhance the assistance stability and assistance effect of the exoskeleton device in the riding, climbing and squatting modes.

The invention relates to the related technical field of the fields of man-machine cooperation, rehabilitation assistive devices and wearable robots, in particular to a five-connecting-rod knee joint exoskeleton device which comprises a thigh assembly (1), a transmission assembly (2) and a shank assembly (3), and the thigh assembly (1) comprises an output motor (101), a power output rod (102), a thigh binding piece (103), a thigh sliding block (104) and a thigh guide rod (105). The transmission assembly (2) comprises a first connecting rod (201), a second connecting rod (202), a third connecting rod (203), a fourth connecting rod (204), a fifth connecting rod (205) and an auxiliary connecting rod (206), and the shank assembly (3) comprises a shank binding piece (301), a shank sliding block (302), a shank guide rod (303) and a sensing unit (304). The five-connecting-rod knee joint exoskeleton device is based on the mechanical structure design of a five-connecting-rod mechanism, advanced control strategies such as multi-sensor fusion and impedance control are combined, and the nonlinear track of a sliding rotation center in the bending and stretching process of the knee joint of the human body is highly fitted in kinematics; meanwhile, the exoskeleton can adaptively provide assistance or damping according to the gait characteristics and the motion intention of the user by adjusting the output torque and flexibility in real time on the aspect of dynamic control, so that the naturalness, comfort and safety of man-machine interaction are effectively improved; therefore, diversified application requirements of rehabilitation training, walking assistance, man-machine cooperation and the like can be better met.

The present application relates to the field of dynamic data acquisition of wearable exoskeleton equipment, and particularly relates to a dynamic data acquisition processing method for wearable exoskeleton equipment, comprising: S1, obtaining wearable exoskeleton equipment dynamic monitoring data by using wearable exoskeleton equipment corresponding dynamic data; S2, establishing a wearable exoskeleton equipment dynamic data acquisition screening model by using wearable exoskeleton equipment dynamic monitoring data corresponding historical data; S3, obtaining dynamic data acquisition processing results by using time sequence screening processing according to the wearable exoskeleton equipment dynamic data acquisition screening model, realizing overall processing verification process of exoskeleton equipment real-time data after data acquisition, and verifying screening basis by combining with historical data of the same equipment and corresponding working conditions, considering the overall scheme and the internal data flow of the equipment, and realizing the accuracy and real-time performance of data acquisition.

The invention relates to the technical field of knee joint exoskeleton devices, in particular to a viscous damping knee joint exoskeleton device. The knee joint assembly comprises a first rotating assembly and a second rotating assembly which are rotationally connected; the pair of leg connecting assemblies are connected with the first rotating assembly and the second rotating assembly correspondingly, and the pair of leg connecting assemblies are used for being connected with thighs and shanks on the same side of the user correspondingly; the viscous fluid damper comprises a first connecting piece and a second connecting piece which rotate relatively, and the first connecting piece is connected with the first rotating assembly; and the clutch device is arranged between the second connecting piece and the second rotating assembly, and the clutch device is used for switching the rotating coupling state of the second connecting piece and the second rotating assembly, so that the second connecting piece and the second rotating assembly are circumferentially coupled or decoupled. The buffering effect can be effectively improved, and joint impact is reduced.

The application belongs to the technical field of wearable exoskeleton devices, and provides a wearable exoskeleton device suitable for rehabilitation training of infants with congenital cerebral palsy and an exoskeleton control method. The device comprises a wearable exoskeleton device main body, hip joint drives symmetrically arranged on the left and right sides, knee joint drives, ankle joint drives, a controller and multiple groups of sensors. The controller stores joint target trajectory data corresponding to multiple training modes, retrieves corresponding trajectory data based on the selected training mode and generates control instructions to actively drive the affected lower limbs to move. The multiple groups of sensors comprise electromyography sensors, inertial measurement units and pressure sensors. The controller identifies abnormal movement modes such as combined responses and extensor spasticity based on sensor signals and dynamically reduces the drive control gain to release abnormal stress in a compliant manner. The application realizes multi-mode active guidance training and asymmetric assistance for infants with congenital cerebral palsy, and has the ability of abnormal mode identification and safe compliant response.

This invention relates to a hand exoskeleton device, comprising an MCP joint drive mechanism, a PIP-DIP joint drive mechanism, an IP joint drive mechanism, and a back-of-hand kit. The MCP and IP joint drive mechanisms are movably connected and worn on the thumb, and the MCP and PIP-DIP joint drive mechanisms are movably connected and worn on the four fingers other than the thumb. The back-of-hand kit can be worn on the back of the hand. The MCP joint drive mechanism includes a first and a second slide groove component that are arranged opposite to each other and can be interlocked. The second slide groove component forms an arc-shaped slide groove by partially removing itself, holding an arc-shaped intermediate slide rod between the two slide groove components. One end of the intermediate slide rod is provided with a guide pulley for adjusting the direction of a first steel cable. The first steel cable is connected to a groove on the back of the intermediate slide rod via the guide pulley to drive the intermediate slide rod to move bidirectionally in the slide groove. The center of the intermediate slide rod coincides with the rotation center of the MCP joint.

The application discloses a wearable full-body flexible power-assisted exoskeleton device, which comprises an upper limb part, a connecting part, a lower limb part and a control part, the upper limb part is connected with the lower limb part through the connecting part, the upper limb part comprises a back plate, a harness, a motor, a transmission device, a wire reel, a flexible pipe and a battery; the control part comprises a core development board, a pressure sensor and an inertial measurement unit, the pressure sensor and the inertial measurement unit respectively measure cargo weight and human body posture data, so that the operation of the motor is controlled through the core development board to realize power-assisted control. The application directly transmits the self weight of a part of the exoskeleton to the ground through a mechanical structure, thereby effectively reducing the pressure of self weight and improving work efficiency; the flexible rope is connected and equipped with the harness to realize the function of carrying assistance, the flexible rope arranged on the harness not only can save space, but also will not affect the operation of the human body and the machine.

The application relates to the technical field of exoskeletons, and provides an exoskeleton device and operation equipment, wherein the exoskeleton device comprises a wearable waistcoat, a mechanical arm, a first clamping piece, a second clamping piece and a massage assembly; the wearable waistcoat has a body part and two sleeve parts arranged at two ends of the body part; the mechanical arm is connected to at least one of the sleeve parts and / or the body part; two mechanical arms are arranged at the two sleeve parts; the first clamping piece is transmissionally connected to a terminal arm of the mechanical arm; the second clamping piece is arranged at the first clamping piece; two ends of the second clamping piece and two ends of the first clamping piece are connected one by one to form a clamping channel for accommodating a user's arm; the massage assembly is connected to the first clamping piece; the massage assembly has at least two massage ends; the massage ends are rotatably arranged in the clamping channel; and the two massage ends are arranged in a circumferential direction of the clamping channel. The application can solve the problem that an operator needs to lift an insulating rod for a long time and the operation is difficult.

1. Name of the designed product: exoskeleton. 2. Use of the designed product: exoskeleton device for assisting human body. 3. Design points of the designed product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.