Abstract: An active control method and device for large deformation of a deep thin-bedded surrounding rock, the active control method includes: drill holes in the surrounding rock of a tunnel against a tunnel face, add the active control device containing a sleeve, a high-strength prestressed anchor bolt, a resin anchoring agent and a grouting device into drill holes, apply a preload to the anchor bolt when the resin anchoring agent has a certain strength, and carry out lag grouting in the surrounding rock through the grouting device after stress adjustment, and the high-strength prestressed anchor bolt and the grouting device are inserted in the sleeve with holes on the side. The active control device or method of the invention can effectively reduce the fracture depth and degree of a thin-bedded soft rock in deep engineering, and effectively inhibit the occurrence of large deformation disasters.

Abstract: A lower limb exoskeleton system includes a back frame, hip joint movement mechanisms, telescopic thigh bars, knee joint movement mechanisms, shank bars, foot jump-down cushioning mechanisms, a waist binding frame, upper leg binding frames and lower leg binding frames. Two protruding ends of the back frame are connected with a top end of each of the telescopic thigh bars respectively via the hip joint movement mechanisms, bottom ends of the telescopic thigh bars are connected with a top end of the corresponding shank bars respectively via the knee joint movement mechanisms, and bottom ends of the shank bars are connected with the foot jump-down cushioning mechanisms. The waist binding frame is arranged on an inner side of a horizontal part of the back frame, and the upper leg binding frames and the lower leg binding frames are arranged on the telescopic thigh bars and the shank bars respectively.

Abstract: A lower limb exoskeleton system includes a back frame, hip joint movement mechanisms, telescopic thigh bars, knee joint movement mechanisms, shank bars, foot jump-down cushioning mechanisms, a waist binding frame, upper leg binding frames and lower leg binding frames. Two protruding ends of the back frame are connected with one end of each of the telescopic thigh bars respectively via the hip joint movement mechanisms, the other ends of the telescopic thigh bars are connected with one end of the corresponding shank bars respectively via the knee joint movement mechanisms, and the other ends of the shank bars are connected with the foot jump-down cushioning mechanisms. The waist binding frame is arranged on an inner side of a horizontal part of the back frame, and the upper leg binding frames and the lower leg binding frames are arranged on the telescopic thigh bars and the shank bars respectively.