Abstract
The present application relates to the technical field of active assistive robotic exoskeletons, in particular discloses a wearable active powered upper-limb assistive device including a torso exoskeletal frame configured to be worn by an operator and a waist bag for the operator to wear around a waist, where the torso exoskeletal frame is connected with an upper support arm, the upper support arm is flexibly connected to the torso exoskeletal frame, an upper-limb linkage assembly is connected between the waist bag and the upper support arm, and the upper support arm is further drivingly coupled to an assistive lifting linkage assembly. The flexible connection structure is used to replace the original rotary shaft coupling of the upper support arm and the torso exoskeletal frame, and the upper-limb linkage assembly is used to support the upper support arm and the assistive lifting linkage assembly, the assistive lifting linkage assembly is used to increase a lifting moment arm of the active assistive device, so as to comprehensively improve the auxiliary operation effect of the active assistive device, reduce the operation discomfort, improve the operation efficiency, while reducing the occurrence of safety accidents and lumbar muscle strain and other health problems.