| 摘要 |
An exoskeleton (100), configurable to be coupled to a person, includes an exoskeleton trunk (109) connected to first and second leg supports (101, 102) at respective hip joints (125, 126), which allow for flexion and extension about respective hip axes (128, 129). A counterweight device (200) including an auxiliary mass (202) is connected to the exoskeleton trunk (109) through an actuator (203) such that the auxiliary mass (202) extends in a position behind the exoskeleton trunk (109). A front load (210) is supported by the exoskeleton (100) through a load bearing device (220) including a load shifting device (222, 223) for selectively operating powered reel mechanisms (226, 227) to raise or lower the front load (210) with respect to the exoskeleton trunk (109). The auxiliary mass (202) can be selectively shifted with respect to the exoskeleton trunk (109) to balance the moment created about the hip axes (128, 129) by the auxiliary mass (202) and the moment created by a downward force of the load (210) on the load bearing device (220). |
