208 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 utility model relates to the technical field of exoskeleton equipment, and discloses an exoskeleton knee joint assembly and exoskeleton equipment, which comprises a first leg assembly and a second leg assembly for connecting the exoskeleton equipment, and further comprises a first connecting seat, a second connecting seat and a rotating shaft seat, the first connecting base is used for being assembled with the first leg assembly. The second connecting seat is used for being assembled with the second leg assembly; the rotating shaft seat comprises a shaft part, a circumferential limiting piece and a clamping part, the circumferential limiting piece and the clamping part are arranged at the two ends of the shaft part respectively, the circumferential limiting piece is used for connecting the shaft part and the first connecting seat together, the shaft part is sleeved with the second connecting seat, and a clamping space is reserved between the second connecting seat and the clamping part; the stress position of the rotating shaft seat is increased, so that the stress of the rotating shaft seat is balanced, the overall structural stability of the rotating shaft seat is improved, the rotating shaft seat is not prone to abrasion and bending deformation, the service life is prolonged, and the using effect is ensured.

The invention provides an upper limb assisting exoskeleton device which comprises a large mechanical arm, a small mechanical arm, a rotary connecting module and a lubricating module, the rotary connecting module comprises a fixing rod and a rotating block, the fixing rod is fixed to the end, close to the small mechanical arm, of the large mechanical arm, the fixing rod is sleeved with the rotating block, and the rotating block can rotate around the fixing rod; the small mechanical arm is connected with the rotating block; the lubricating module comprises an oil tank and a baffle, the oil tank sleeves the fixed rod, an oil storage space is defined by the oil tank and the outer wall of the fixed rod, the oil tank is connected with the rotating block and can rotate around the fixed rod along with the rotating block, the oil tank comprises a first side wall facing the rotating block, and the plane where the first side wall is located is perpendicular to the axial direction of the fixed rod; an oil outlet penetrating through the first side wall is formed in the first side wall of the oil tank; the baffle is located in the oil storage space and makes contact with the first side wall to be used for sealing the oil outlet, and the baffle can move relative to the oil tank in the rotating process of the oil tank so that the oil outlet can be opened.

A thigh connecting module is connected with a first connecting rod module and a second connecting rod module through pin shafts, a shank connecting module is connected with the first connecting rod module and the second connecting rod module through pin shafts, the thigh connecting module is connected with the thigh part of an external exoskeleton device, and the shank connecting module is connected with the thigh part of the external exoskeleton device. The shank connecting module is connected with the shank part of an external exoskeleton device, and all the modules jointly form a four-connecting-rod movement mechanism so as to be attached to the movement curve of the knee joint. According to the scheme, the movement curve of the knee joint of the human body is precisely fitted through the unique four-connecting-rod movement mechanism design, stress deviation in the movement process is reduced, simple rope driving and a built-in reset spring ball mechanism are adopted, use of a complex structure is avoided, an intelligent control system or a machine learning algorithm is combined, and the movement accuracy of the knee joint of the human body is improved. Equipment parameters are automatically adjusted, so that the equipment quality and cost are reduced on the premise of greatly improving the precision and naturalness of knee joint assistance.

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.

A wearable device may include an exoskeleton configured to attach to a hand of a user, wherein the exoskeleton comprises one or more finger linkages for respective fingers of the hand. A finger attachment may be configured to slide onto each finger and attached to the respective one or more finger linkages. The one or more finger linkages comprises a metacarpophalangeal (MCP) joint linkage and proximal interphalangeal (PIP) joint linkage, wherein the one or more finger linkages couples the metacarpophalangeal (MCP) joint linkage and proximal interphalangeal (PIP) joint linkage together so that movement is restricted to one degree of freedom (DOF).

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.

An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

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.

An integral power-assisting exoskeleton device and power-assisting method, wherein the shoulder fixing frame of the shoulder joint assembly realizes free movement of the upper limb exoskeleton through a ball head connector; the forearm support of the upper limb exoskeleton is hinged to the upper arm support, and the upper limb cylinder for driving the forearm support to swing relative to the upper arm support is fixed to the upper arm support; the lower end of the thigh plate is rotatably installed with the knee joint rotation axis, and one end of the piston cylinder assembly for assisting in increasing the angle between the thigh plate and the calf plate is hinged to the large push plate, and the other end is hinged to the cantilever rocker on the outer periphery of the knee joint rotation axis; one end of the connecting plate of the foot exoskeleton is fixedly connected to the calf plate of the lower limb exoskeleton, and the other end is connected to the sole sleeve assembly, and energy is stored through the passive power-assisting component when the human foot structure performs plantar flexion movement for power-assisting walking, and the power-assisting function of the exoskeleton is realized on the basis of reducing system cost by adopting the minimum active power-assisting method, so that the power-assisting effect is better.

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 present invention discloses a wearable rope-driven upper limb power-assisting device, which belongs to the technical field of upper limb power-assisting exoskeleton devices, and comprises a wearing unit, a driving unit and a control unit arranged on the wearing unit; the wearing unit comprises a binding mechanism bound to the human body and a shoulder wearing mechanism for assisting in fixing the binding mechanism; the driving unit comprises a rope reeling mechanism and a guide mechanism arranged on the binding mechanism, the rope on the rope reeling mechanism extends to the front of the shoulder through the guide mechanism, and the end of the rope is connected to a weight connecting hook; the rope reeling mechanism is electrically connected to the control unit; the device is worn on the human body through the binding mechanism and the shoulder wearing mechanism, and adopts a rope-driven flexible transmission method to hook and lift heavy objects. It not only has a simple structure and light weight, saves human physical strength, and is simple to operate, does not affect the normal range of human activities, but can also adaptively compensate for the incoordination of the left and right arms during exercise, thereby improving the compatibility of the human body and the power-assisting device.

The present invention discloses a fuzzy adaptive control method for lower-limb exoskeletons based on a nonlinear disturbance observer, applicable to the field of exoskeleton robots. Because accurate numerical values ​​for exoskeleton robot dynamic parameters are difficult to obtain, and external disturbances present during exoskeleton control are difficult to estimate, to address these issues and enable the exoskeleton to better track a set trajectory, a fuzzy system is used to estimate the unknown dynamic parameters, and a nonlinear disturbance observer is used to estimate lumped disturbances to compensate for the effects of uncertain disturbances. The controller employed in the present invention is used to drive the motors of the exoskeleton device, effectively improving the exoskeleton's responsiveness and tracking accuracy.

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.