RU173285U1 - EXOSCELETE KEEPER - Google Patents

Abstract

The exoskeleton elbow is intended for use in a motorized exoskeleton, made with the ability to attach to the user's legs and move in the sagittal plane of the user with impaired musculoskeletal system during normal functioning of the upper limbs and upper body. The exoskeleton 1 of the protector 1 comprises a protector of the protector 1, the inner surface of which is made in the form of a surface corresponding to the outer surface of the heel of the shoe 9 of the user, and at least one element 5 for attaching the case 10 of the protector of the heel 1 to the shoe 9 of the user. As the heel of the shoe 9 of the user use the heel of the shoe 9, integrated with the support element 11 of the foot of the exoskeleton, made with the possibility of attaching to the legs 4 of the user of the exoskeleton and with the possibility of movement in the sagittal plane. In this case, the support element 11 of the foot of the exoskeleton is connected to the ankle hinge 12 of the exoskeleton using one or two connecting posts 13, and the casing 10 of the henpecked 1 is provided with an additional support 6 mounted in the casing 10 of the heel 1 with the possibility of rotation relative to the axis of rotation 7, perpendicular to the plantar surface of the casing henpecked. Moreover, it is preferable if the axis 7 of rotation of the additional support 6 is aligned with the vertical axis 8 of the legs 4 of the user. The proposed technical solution for performing henpecked 1 allows the exoskeleton user to rotate the leg 4 relative to its vertical axis 8 without tearing off the exoskeleton foot support 3 from the supporting surface with less muscle energy than in the prototype, which confirms the achievement of the claimed technical result and extends the functionality of the exoskeleton as a whole . 1 s.p. f-ly, 4 ill.

Description

The utility model relates to medical equipment and can be used as an henpeckel for leg supports of an exoskeleton, made with the possibility of attaching an exoskeleton to the user's legs and with the ability to move in the sagittal plane and designed to assist walking people with limited mobility who are not able to independently movement, with limited mobility or complete immobility of the lower extremities during normal functioning of the upper limbs and The upper part of the housing.

The features of the proposed constructive implementation and application of the henpecked for exoskeleton foot supports provide the user with the opportunity to rotate the user’s leg with respect to the axis perpendicular to the supporting surface, without detaching the sole of the heel from the supporting surface.

A known design of the heel of the shoe of the user, including the body of the heel of the heel, the inner surface of which is made in the form of a surface mating the outer surface of the heel of the shoe of the user and at least one element for attaching the heel of the heel to the shoe of the user [US 3851412 publ. 12/03/1974].

The disadvantage of this henpecked is that to rotate the supporting leg, the user in the process of movement has to overcome the sliding friction force due to the interaction of the sole surface of the heelcloth casing with the supporting surface.

Also known is the design of the heel of the shoe of the user, including the body of the heel of the heel, the inner surface of which is made in the form of a surface corresponding to the outer surface of the heel of the shoe of the user, and at least one element for attaching the heel of the heel to the shoe of the user [US 4727659 publ. 03/01/1988].

The disadvantage of this henpecked is also that in order to rotate the supporting leg, the user has to overcome the sliding friction force due to the interaction of the sole surface of the henchloid body with the supporting surface. This design is selected as a prototype of the proposed solution.

The technical result to which the invention is directed is to reduce the amount of friction force due to the interaction of the sole surface of the henpecked body with the supporting surface when the supporting leg is rotated, due to the muscular strength of the normally functioning upper limbs and the upper part of the user’s body and the reduction of his muscular efforts.

To achieve the specified technical result in the heel of the user’s shoe containing the heel of the heel, the inner surface of which is made in the form of a surface mating the outer surface of the heel of the user’s shoe, and at least one element for attaching the heel of the heel to the user’s shoe, as the heel of the shoe the user uses the heel of the shoe integrated with the support element of the foot of the exoskeleton, made with the possibility of attaching to the legs of the user mosquito and with the possibility of movement in the sagittal plane, and the supporting element of the exoskeleton foot is connected to the ankle joint of the exoskeleton using one or two connecting racks, and the heel of the heel is equipped with an additional support mounted in the heel of the heel with the possibility of rotation about an axis perpendicular to the plantar surface of the heel of the heel.

In this case, the axis of rotation of the additional support can be combined with the vertical axis of the user's legs.

The utility model is illustrated by drawings, where in FIG. 1 and 2 show a general view of the heel of the shoe of the user; in FIG. 3 shows a possible embodiment of a user shoe integrated with an exoskeleton foot support member to form an integrated exoskeleton foot support; and in FIG. 4 - placement of the henpecked on the exoskeleton.

In FIG. 1, 2 and 3 are indicated:

1 - henpecked;

2 - integrated foot of the exoskeleton foot support;

3 - foot support of the exoskeleton;

4 - user foot;

5 - an element of attachment of the henpecked case to the user's shoe;

6 - additional support;

7 - axis of rotation of the additional support relative to the plantar of the heel of the heel;

8 - vertical axis of the leg of the user of the exoskeleton;

9 - user shoe;

10 - the henpecked case;

11 - supporting element of the foot of the exoskeleton;

12 - ankle joint of the exoskeleton;

13 - connecting rack for connecting the supporting element of the foot of the exoskeleton with the ankle joint of the exoskeleton;

14 - insole;

15 - a stub;

16 - persistent radial bearing;

17 - a seal;

18 - emphasis;

19 - axis of the additional support;

20 and 21 - the first and second washers;

22 and 23 - crutches;

24 - the pelvic link of the exoskeleton;

25 and 26 - fastening elements of the leg supports of the exoskeleton to the hips and, correspondingly, the shins of the legs of the user of the exoskeleton;

27 - a hole in the henpecked case for placing an element of the henpecked attachment to the integrated foot of the exoskeleton foot support.

The exoskeleton 1 of the protector 1 comprises a protector of the protector 1, the inner surface of which is made in the form of a surface corresponding to the outer surface of the heel of the user’s shoe 9, and at least one element 5 of the casing 10 of the protector of the heel 1 to the user’s shoe 9. As the heel of the shoe 9 of the user use the heel of the shoe 9, integrated with the support element 11 of the foot of the exoskeleton, made with the possibility of attaching to the legs 4 of the user of the exoskeleton and with the possibility of movement in the sagittal plane. The shoe 9 of the user, integrated with the support element 11 of the foot of the exoskeleton forms an integrated foot 2. In this case, the support element 11 of the foot of the exoskeleton is connected to the ankle hinge 12 of the exoskeleton using one or two connecting posts 13, and the casing 10 of the heel 1 is provided with an additional support 6 mounted in the casing 10 of the cuffs 1 with the possibility of rotation relative to the axis of rotation 7, perpendicular to the sole surface of the casing 10 of the cuffs 1.

It is preferable that the axis of rotation 7 of the additional support 6 was aligned with the vertical axis 8 of the legs 4 of the user.

The axis 19 of the additional support 6 is mounted in an angular contact bearing 16, which, in turn, is mounted in the housing 10 of the henna 1. The seal 17 and the first washer 20 are installed between the upper horizontal surface of the additional support 6 and the angular contact bearing 16, and radially above of the support bearing 16 - the second washer 21.

A plug 15 is installed on the inner surface of the sole of the heelbrake body.

An opening 27 is made in the sole of the casing 10 of the henna 1 for placing an element 5 for attaching the casing 10 of the henpecked 1 to the integrated foot 2.

The user uses the henpecked 1 for the foot support 3 of the exoskeleton as follows.

To move and maintain balance during movement, the exoskeleton user uses two motorized leg supports 3 of the exoskeleton, using fasteners 25 and 26 attached to the hips and legs of the legs 4 of the user, respectively, and allowing him to move in the sagittal plane, and two hand supports in the form of crutches 22 and 23. Moreover, at each step, one foot support 3 of the exoskeleton and, accordingly, one leg 4 of the user during the movement of the exoskeleton are in the transfer phase, i.e. in an unsupported state, and the other leg support of the exoskeleton and both crutches 22 and 23 are in a state of support.

To make a turn during movement, the user rotates the body with the help of the muscles of normally functioning hands and the upper part of the body. And simultaneously with this, the pelvic link of the user and the exoskeleton associated with it through the pelvic link 26 and the corresponding foot support of the user's leg limb in a support state will rotate. That is, this will rotate the henclavicle 1 relative to the stationary additional support 6. This rotation will occur relative to the axis of rotation 7 of the additional support 6, perpendicular to the supporting surface and combined with the vertical axis 8 of the legs 4 of the user. Naturally, the rolling friction forces resulting from this and the moments resulting from these forces will be less than the sliding friction forces in the prototype.

Thus, the proposed technical solution for the implementation and placement of the henpecked allows the user of the exoskeleton to rotate the leg relative to its vertical axis without tearing off the exoskeleton leg support from the supporting surface with less muscle energy than in the prototype, which confirms the achievement of the claimed technical result and extends the functionality of the exoskeleton as a whole .

Claims (2)

1. An exoskeleton of the shoe of the user, comprising a henpecked case, the inner surface of which is made in the form of a surface corresponding to the outer surface of the heel of the user’s shoe, and at least one element for attaching the heel of the heel to the user’s shoe, characterized in that the heel of the heel is provided with additional support, mounted in the body of the henpecked with the possibility of rotation about an axis perpendicular to the plantar surface of the heel of the heel. 2. The heel of the user's shoe according to claim 1, characterized in that the axis of rotation of the additional support coincides with the vertical axis of the leg of the user of the exoskeleton.

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