MX2015009042A - Biped skeleton with legs based on mechanisms of eight bars. - Google Patents

Abstract

Described is the development of an exoskeleton, which legs are based on links of eight rotating hinged bars known as Peaucellier-Lipkin mechanisms. The invention has achieved that the Peaucellier-Lipkin mechanism of one-degree of freedom be more flexible with the introduction of other two additional degrees of freedom, thus obtaining a device for medical assistance with the versatility of being used by people with motive difficulties in the lower limbs. However, the use of sticks is required for maintaining the balance and providing the required safety. The handles of the sticks include the controls manipulated by the user as needed, obtaining independence with regard to the movements in structured and semistructured grounds in the presence of obstacles and also for climbing stairs. The legs of the exoskeleton, upon being based on the mechanism of eight bars, may distribute the forces, such as the weight if the exoskeleton itself and that of the user, in a better manner.