Exoskeleton

The invention provides an exoskeleton. The exoskeleton comprises a thigh assembly; the knee joint driving module is connected with the thigh assembly; the connecting part is connected with the output end of the knee joint driving module; the shank assembly is connected with the connecting part; wherein at least one of the thigh assembly and the shank assembly can be fixed to a wearer, and the knee joint driving module is used for providing auxiliary force and resistance for the thigh assembly and the shank assembly. The exoskeleton structure provided by the invention has active driving power, so that the exoskeleton can realize self-adaptive adjustment according to the joint movement of the wearer, the effect of protecting the joints of the wearer is achieved, and the use feeling of the wearer is effectively improved. 本发明提供了一种外骨骼。外骨骼包括大腿组件；膝关节驱动模组，膝关节驱动模组与大腿组件连接；连接部，连接部与膝关节驱动模组的输出端连接；小腿组件，小腿组件与连接部连接；其中，大腿组件和小腿组件中的至少一个可与穿戴者固定，膝关节驱动模组用于向大腿组件和小腿组件提供辅助力和阻力。这样设置的外骨骼结构具备主动驱动动力，使得外骨骼能够根据穿戴者的关节运动实现自适应调整，起到保护穿戴者关节的作用，