RU198080U1 - MECHANICAL EXOSCELETON FOR LOWER EXTREMITIES - Google Patents

Abstract

The utility model is intended for situations when a person, along with walking, needs to be in a static pose of a half-squat or squat for a long time. Such situations can arise during installation work in production, in particular when assembling cars, or in agriculture during planting or harvesting. The technical result, which consists in providing increased usability by adjusting the position of the squat or squat with the seat locked while providing assistance when standing up from the pose of the squat or squat and facilitating the possibility of turns in the knee joint. The achievement of such a technical result was made possible by using a mechanical exoskeleton for the lower extremities (ES) containing the lumbar attachment to the human body, the right and left femoral nodes, the right and left knee nodes, the right and left knee nodes, the right and left stack nodes, the right and left bearing nodes. The right femoral, knee, ankle and stack nodes are connected in series. The left femoral, knee, tibia and stack nodes are connected in series. The right support node connects the right femoral and ankle nodes. The left bearing node connects the left femoral and tibial nodes. The lumbar attachment to the human body is made in the form of a waist belt for attachment to a person’s waist. Right and left femoral nodes, each has a femoral beam and a seat assembly. The femoral beam has an upper end for attachment to the lumbar attachment to the human body by means of fastening tapes, with one end of the tape being attached to the waist belt and the other to the upper end of the femoral beam, and the lower end for attachment to the knee assembly. The femoral beam is made along with four sides, on which a longitudinal groove is made on each of which has such a cross section that the output part is narrowed and the inner part is expanded. The first groove is located opposite the second, and the third opposite the fourth. The first groove is located on the side closest to the thigh than the second. The fourth groove is located on the side closest to the outer lateral side of the thigh than the third. The seat assembly has a seating element, femoral belts connected to the landing element. The landing element has a landing and fixing straps interconnected. A cracker is attached to the free side of the mounting plate to be located in the first groove of the femoral beam to allow the landing element to slide. The right and left knee nodes, each has straps for attaching the human tibia, an upper transverse beam for attaching to the lower end of the femoral beam, an average transverse beam for attaching to the tibial knot, and two frames located in parallel planes. Each frame consists of two docked L-shaped plates - the first and second. Each of the L-shaped plates has a connecting long arm and a fastening short arm. The connecting long shoulders of the first and second L-shaped plates with the ends are pivotally connected in the middle of the frame. The fixing arm of the first L-shaped plate is fixed end to the upper transverse beam. The fixing arm of the second L-shaped plate with the end fixed motionless to the middle transverse beam. Straps for attaching the human tibia are fixed on the long connecting shoulders of the second L-shaped plates. The right and left tibial nodes each have a lower transverse beam for attachment to the stacking unit and an ankle beam that has an upper end for attachment to the middle transverse beam and a lower end for attachment to the lower transverse beam. The right and left stack nodes, each has a rectangular plate frame, two triangular plate frames, two supporting bases - right and left and straps for attaching the foot. Straps for attaching the foot are fixed on both sides of the triangular plate frames. Supporting bases, each made in the form of a hook-shaped plate, which has bent sides on three sides of the hook part - for the right base in one direction, and for the left in the other, and bent triangular sides at the edges opposite each other along the longitudinal straight part of the hook-shaped plate. The bases of the triangular sides are a continuation of the sides of the hook part, and the vertices are located at the end of the longitudinal part of the plate. The hook parts of the support base plate are fixedly mounted at the ends of the lower crossbeam. On the short opposite edges of the plate-shaped rectangular frame, the bases of the triangular plate-like frames directed in the same direction with their vertices are fixed across. The vertices of the triangular plate frames are pivotally connected to the ends of the longitudinal straight parts of the hook-shaped plates so that their sides are opposite each other. The right and left load nodes each have

Description

The utility model is intended for situations when a person, along with walking, needs to be in a static pose of a half-squat or squat for a long time. Such situations can arise during installation work in production, in particular when assembling cars, or in agriculture during planting or harvesting.

Known seat for a wearable device to assist in a sitting position - see application US No.838317662. This device allows along with the possibility of walking to take a sitting position. Seat at the application of US No. 2018317662 adopted as the closest analogue.

However, there are disadvantages for the user when using this device:

- there is no way to adjust the position of a semi-squat or squat with a seat lock;

- when cornering in the knee there are difficulties;

- it is difficult to get out of a semi-squat or squat pose.

When developing the proposed exoskeleton, the task was to eliminate the above disadvantages.

As a result of the solution of the task, a technical result was achieved, which consists in increasing the usability by adjusting the position of the squat or squat with the seat locked while providing assistance when standing up from the pose of the squat or squat and facilitating the possibility of turning in the knee joint.

The achievement of this technical result was made possible by using a mechanical exoskeleton for the lower extremities (ES) containing the lumbar attachment to the human body, the right and left femoral nodes, the right and left knee nodes, the right and left knee nodes, the right and left stack nodes, the right and left bearing nodes. The right femoral, knee, ankle and stack nodes are connected in series. The left femoral, knee, tibia and stack nodes are connected in series. The right support node connects the right femoral and ankle nodes. The left bearing node connects the left femoral and tibial nodes. The lumbar attachment to the human body is made in the form of a waist belt for attachment to a person’s waist. Right and left femoral nodes, each has a femoral beam and a seat assembly. The femoral beam has an upper end for attachment to the lumbar attachment to the human body by means of fastening tapes, with one end of the tape being attached to the waist belt and the other to the upper end of the femoral beam, and the lower end for attachment to the knee assembly. The femoral beam is made along with four sides, on which a longitudinal groove is made on each of which has such a cross section that the output part is narrowed and the inner part is expanded. The first groove is located opposite the second, and the third opposite the fourth. The first groove is located on the side closest to the thigh than the second. The fourth groove is located on the side closest to the outer lateral side of the thigh than the third. The seat assembly has a seating element, femoral belts connected to the landing element. The landing element has a landing and fixing straps interconnected. A cracker is attached to the free side of the mounting plate to be located in the first groove of the femoral beam to allow the landing element to slide. The right and left knee nodes, each has straps for attaching the human tibia, an upper transverse beam for attaching to the lower end of the femoral beam, an average transverse beam for attaching to the tibial knot, and two frames located in parallel planes. Each frame consists of two docked L-shaped plates - the first and second. Each of the L-shaped plates has a connecting long arm and a fastening short arm. The connecting long shoulders of the first and second L-shaped plates with the ends are pivotally connected in the middle of the frame. The fixing arm of the first L-shaped plate is fixed end to the upper transverse beam. The mounting arm of the second L-shaped plate with the end fixed motionless to the middle transverse beam. Straps for attaching the calf, mounted on the long connecting shoulders of the second L-shaped plates. The right and left tibial nodes, each has a lower transverse beam for attachment to the stacking unit and an ankle beam that has an upper end for attachment to the middle transverse beam and a lower end for attachment to the lower transverse beam. The right and left stack nodes, each has a rectangular plate frame, two triangular plate frames, two supporting bases - right and left and straps for attaching the foot. Straps for attaching the foot are fixed on both sides of the triangular plate frames. Supporting bases, each made in the form of a hook-shaped plate, which has bent sides on three sides of the hook part - for the right base in one direction, and for the left in the other, and bent triangular sides at the edges opposite each other along the longitudinal straight part of the hook-shaped plate. The bases of the triangular sides are a continuation of the sides of the hook part, and the vertices are located at the end of the longitudinal part of the plate. The hook parts of the support base plate are fixedly mounted at the ends of the lower crossbeam. On the short opposite edges of the plate-shaped rectangular frame, the bases of the triangular plate-like frames directed in the same direction with their vertices are fixed across. The vertices of the triangular plate frames are pivotally connected to the ends of the longitudinal straight parts of the hook-shaped plates so that their sides are opposite each other. The right and left load-bearing nodes, each has a telescopic node, a hinge node for connecting the telescopic node to the tibial beam of the tibial node, and an adjustment hinge node for connecting the telescopic node to the femoral beam of the femoral node. The telescopic assembly is made in the form of a rod with a piston and sleeves with a cavity for accommodating the piston, the rod has a lower fixing rod, and the sleeve has an upper fixing rod. The hinge assembly for connecting the telescopic assembly to the tibial beam of the tibial assembly has a lower axis under the lower rod mounting rod and a U-shaped bracket for the lower axis, in the legs of which holes are made for locating the lower rod mounting rod between the legs, the lower axis passes through the holes in the legs with the ability to rotate the mounting rod of the rod on the lower axis, the jumper of the U-shaped bracket from the outside is fixed to the ankle beam of the ankle node. The adjusting-articulated assembly for connecting the telescopic assembly to the femoral beam of the femoral assembly has an upper axis, a platform with ears under the upper axis, a carriage, a rail, an adjustable brake. The upper axis passes through the holes in the ears with the possibility of rotation of the upper mounting rod sleeve on the upper axis. The carriage is made in the form of a housing having a longitudinal groove. The rail is made with a protrusion for placement in the longitudinal groove of the carriage with the possibility of moving the carriage relative to the rail. The rail is fixedly fixed in the second longitudinal groove of the femoral beam. The adjustable brake has a bed, a spring-return unit, and a unit for adjusting the position of the bed relative to the femoral beam, the bed is made in the form of a plate with a plate fixed to it perpendicular to its plane of the shelf. A hole is made on the bar above the shelf. The strap is fixed perpendicular to the edge on the outside of the platform on the side closest to the outer surface of the thigh. The node for adjusting the position of the bed relative to the femoral beam has a skeleton, a rail, a pin, a lever, a guide sleeve under the pin. The rail has a cross-sectional shape identical to that of the fourth groove in the femoral beam and longitudinally aligned coaxial transverse channels. The lath is fixed in the fourth groove of the femoral beam motionless. The pin has one end fixing, and the other - lock. The skeleton has a base for attaching to the said shelf shelf two adjacent perpendicularly spaced sides - support and protective. The support board has a channel under said guide sleeve coaxial with a hole in the bar of said frame. In addition, the skeleton has on the base a rack opposite the said channel. The guide sleeve under the pin is located in said channel and hole of the bar of said bed. The pin is installed in the bore of the sleeve under the pin and has the possibility of a locking end in one of the transverse holes of the rail. The lever is made of pushing and transmission links. The pushing link is straight and has a handle on one end and a swivel on the other end. The transmission link is made L-shaped, directed by the apex from the shelf, one end pivotally connected to the fastening end of the pin, and the other pivotally connected to the end of the pushing link with which it is pivotally connected to the rack. The spring-return unit has two tension springs with hooks at the ends and two cables. Each cable has a loop at one end and a hole at the other for attaching to the outer ends of the upper axis. Each spring is hooked onto the loop of the cable with one hook, and the other is located in the recess of the upper transverse beam.

It is possible to perform an exoskeleton in the following versions:

The landing strip can be made with a soft coating.

The right and left knee nodes may have straps for attaching the hips of a person, mounted on the long connecting shoulders of the first L-shaped plates.

The femoral beam may have cavities to lighten its weight.

The lumbar attachment to the human body may have a shoulder attachment to the human body made in the form of shoulder straps mounted on the waist belt and connected by jumpers on the chest and back of the person.

The technical result is provided by all the signs of an exoskeleton, while:

The adjustment of the position of the semi-squat or squat with the seat locking is primarily ensured by the special implementation of the right and left load-bearing nodes, each of which has a rod with the upper end directed towards the femoral node and the lower end directed towards the lower leg, movable-articulated node for connection rod with the tibial beam of the tibial node, and an adjustment hinge node for connecting the rod to the femoral beam of the femoral node made of the original design.

The implementation by the knee joint of movements as close as possible to the natural ones is primarily ensured by the special execution of the right and left knee nodes, each has straps for attaching the human tibia, an upper transverse beam for attaching to the lower end of the femoral beam, an average transverse beam for attaching to the tibial knot and two frames located in parallel planes made of the original design.

Providing assistance when standing up from a semi-squat or squat pose is achieved by the original implementation of the adjustment-hinge assembly for connecting the stem to the femoral beam of the femoral assembly.

In FIG. 1 shows an exoskeleton rear view for a standing position, General view.

In FIG. 2 shows an exoskeleton front view for a standing position, general view.

In FIG. 3 shows a cross section of a femoral beam.

In FIG. 4 shows an exoskeleton front view for the semi-squat position, general view.

In FIG. 5 shows a side view exoskeleton for a semi-squat position.

In FIG. 6 shows a part of the stacking unit, a general view.

In FIG. 7 shows a stacking unit, a general view.

In FIG. 8 shows a part of the adjusting-articulated assembly for connecting the telescopic assembly to the femoral beam of the femoral assembly, standing position.

In FIG. 9 shows a part of the unit for adjusting the position of the bed relative to the femoral beam, the position of the semi-squat.

In FIG. 10 shows a telescopic assembly,

In FIG. 11 shows a part of the unit for adjusting the position of the bed relative to the femoral beam, general view.

In FIG. 12 shows a unit for adjusting the position of the bed relative to the femoral beam, the position of the semi-squat, in section.

In FIG. 13 shows a unit for adjusting the position of the bed relative to the femoral beam, standing position, in section.

In the drawings, the following positions are used:

1 - lumbar attachment to the human body,

2 - shoulder mount to the body (not shown),

3, 4 - right and left femoral nodes,

5, 6 - right and left knee nodes,

7, 8 - right and left tibial nodes,

9, 10 - right and left stack nodes,

11, 12 - right and left bearing nodes,

13 - waist belt

14 - shoulder straps (not shown),

15 - jumpers (not shown),

15 - jumpers (not shown),

16 - femoral beam

17 - seat assembly

18 - the upper end of the femoral beam,

19 - mounting tape

20 - the lower end of the femoral beam,

21 - the first side of the femoral beam,

22 - the second side of the femoral beam,

23 - the third side of the femoral beam,

24 - the fourth side of the femoral beam,

25 - the first longitudinal groove,

26 - the second longitudinal groove,

27 - the third longitudinal groove,

28 - fourth longitudinal groove,

29 - narrowed part of the longitudinal groove 25-28,

30 - an expanded part of the longitudinal groove 25-28,

31 - landing element

32 - thigh belts,

33 - landing strip,

34 - mounting plate

35 - free side (not shown) of the mounting plate 34,

36 - cracker (not shown),

37 - belts for attaching the lower leg of a person,

38 - upper transverse beam for attachment to the lower end 20 of the femoral beam 16

39 - middle transverse beam for attachment to the ankle node 7, 8,

40, 41 - frames,

42, 43 - respectively, the first and second docked L-shaped plates,

44 - docking long shoulder

45 - fastening short shoulder,

46 - lower transverse beam of attachment to the stacking unit 9, 10

47 - tibia,

54 - the upper end of the shin beam 47,

55 - the lower end of the shin beam 47,

56 - rectangular plate frame,

57, 58 - triangular plate frames,

59 - right support base,

60 - left support base,

61 - belts for attaching the foot,

62 - hook plate

63 - bent sides

64 - hook part

65 - bent triangular sides,

66 is a longitudinal straight part,

67 - the tops of the triangular sides 65, hook plate 62,

68 - short opposite edges of the plate rectangular frame 56,

69, 70 - the tops of the triangular plate frames 56, 57,

71 - telescopic site

72 - hinge node for connecting a telescopic node to the tibia of the tibia,

73 - adjusting the hinge assembly for connecting the telescopic assembly to the femoral beam of the femoral assembly,

74 - rod with a piston,

75 - sleeve with a cavity for accommodating the piston,

76 - lower mounting rod,

77 - upper mounting rod,

78 - lower axis

79 - U-shaped bracket for the lower axis,

81 and 82 - legs of the U-shaped bracket,

83 - jumper U-shaped bracket,

84 - slider (not shown),

85 - the upper axis 85,

86 - platform

87 - ears

88 - carriage,

89 - rail

90 - adjustable brake,

91 - carriage housing,

92 is a longitudinal groove,

94 - the ledge of the rail 89,

95 - bed

96 - return spring unit

97 - node adjusting the position of the frame relative to the femoral beam,

98 - bar,

99 - shelf

100 - hole in the bar 98,

101 - the skeleton,

102 - rail

103 - pin, 104-lever,

105 - guide sleeve under the pin,

106 - coaxial transverse channels,

107 - mounting end of the pin,

108 - locking end of the pin,

109 - the base of the skeleton,

110 - supporting board,

111 - a protective board,

112 - channel

113 - stand

114 - pushing link

115 - transmission link

116 - handle

117 - swivel,

118 - one end of the transmission link,

119 - the other end of the transmission link,

120 - tension spring,

121 - tension spring hooks,

122 - cable

123 - cable loop

124 - cable hole,

125 - recess in the upper transverse beam,

126 - cavity in the femoral beam.

The mechanical exoskeleton of the lower extremities (ES) contains the lumbar attachment to the human body 1, in some cases together with the shoulder assembly 2 of the attachment to the human body, the right and left femoral nodes 3, 4, the right and left knee nodes 5, 6, the right and left tibia nodes 7, 8, right and left stack nodes 9, 10, right and left bearing nodes 11, 12.

Right femoral 3, knee 5, ankle 7 and stack 9 nodes are connected in series. Left femoral 4, knee 6, shin 8 and stack 10 nodes are connected in series. The right support node 11 connects the right femoral 3 and lower leg 7 nodes, and the left support node 12 connects the left 4 femoral and lower leg 8 nodes.

The lumbar attachment unit 1 to the human body is made in the form of a waist belt 13 for attachment to a person’s waist. In the case of an exoskeleton with a shoulder assembly 2 attached to the human body, assembly 2 is made in the form of shoulder straps 14 (not shown) attached to a waist belt and connected by jumpers 15 (not shown) on the chest and back of a person.

The right and left femoral nodes 3.4, each has a femoral beam 16 and a seat assembly 17. The femoral beam 16 has an upper end 18 for attachment to the lumbar node 1 by means of fastening tapes 19 and a lower end 20 for attachment to the knee assembly. One end of the said tape 19 is attached to the waist belt 13, and the other to the upper end 18 of the femoral beam 16.

The femoral beam 16 is made along with four sides 21, 22, 23, 24, on which each has a longitudinal groove 25, 26, 27, 28, in which the cross section is such that the output part 29 is made narrower, and the inner 30 part is expanded . The first groove 25 is located opposite the second 26, and the third 27 is opposite the fourth 28. The first groove 25 is located on the side 21 closest to the hip than the second 26, the fourth groove 28 is located on the side 24 closer to the outer side of the thigh than the third 27.

The seat assembly 17 has a landing element 31, femoral belts 32 connected to the landing element 31. The landing element 31 has a landing 33 and mounting straps 34 connected to each other. A cracker 36 (not shown) is attached to the free side 35 of the fastening bar 34 for positioning in the first groove 25 of the femoral beam 16 to allow the seating element 31 to slide.

The right 5 and left 6 knee nodes, each has straps 37 for attaching the human tibia, the upper transverse beam 38 for attaching to the lower end 20 of the femoral beam 16, the middle transverse beam 39 for attaching to the tibial node 7, 8, two frames 40, 41, located in parallel planes.

Each frame 40, 41 consists of two docked L-shaped plates - the first 42 and second 43. Each of the L-shaped plates 42, 43 has a connecting long arm 44 and a fastening short arm 45, with the connecting long arms 44 of the first and second Г- the shaped plates 42, 43 are pivotally connected in the middle of the frame 40, 41, and the fixing arm 45 of the first L-shaped plate 42 is fixed with the end fixed to the upper transverse beam 38, and the fixing arm 45 of the second L-shaped plate 43 is fixed with the end fixed to the middle transverse beam 39. Straps for attaching 37 shins of a person are fixed on the long connecting shoulders 44 of the second L-shaped plates 43.

The right and left tibia nodes 7, 8 each have a lower transverse beam 46 for attachment to the stack assembly and an ankle beam 47 that has an upper end 54 for attachment to the middle transverse beam and a lower end 55 for attachment to the lower transverse beam.

The right and left stack nodes 9, 10, each has a rectangular plate frame 56, two triangular plate frames 57, 58, two supporting bases - right 59 and left 60 and straps 61 for attaching the foot, the latter are fixed on both sides of the triangular plate frames 57, 58. Supporting the right and left bases 59, 60, each is made in the form of a hook-shaped plate 62, which has bent sides 63 on three sides of the hook part 64 - for the right base in one direction, and for the left in the other, and bent triangular sides 65 on opposite each other along the longitudinal straight portion 66 of the hook plate 62. The bases of the triangular flanges 65 are an extension of the flanges 63 of the hook portion 64, and the vertices 67 of the triangular flanges 65 are located at the end of the longitudinal 66 portion of the plate 62.

The hook parts 64 of the plate 62 of the supporting base 59, 60 are fixedly mounted at the ends of the lower transverse beam 46.

On the short 68 opposite edges of the plate-shaped rectangular frame 56, the bases of the triangular plate-shaped frames 57, 58, directed by the vertices 69, 70 in one direction, are transversely fixed.

The vertices 69, 70 of the triangular plate frames 56, 57 are pivotally connected to the ends of the longitudinal straight parts 66 of the hook plates 62 so that their sides 63 are opposite each other.

The right and left bearing units 11 and 12, each has a telescopic unit 71, a hinge unit 72 for connecting the telescopic unit to the tibia of the tibial node, and an adjusting hinge unit 73 for connecting the telescopic unit to the femoral beam of the femoral node. The telescopic assembly 71 is made in the form of a rod 74 with a piston and sleeves 75 with a cavity for accommodating the piston. The stem 74 has a lower mounting rod 76, and the sleeve 75 has an upper mounting rod 77.

The hinge assembly 72 for connecting the telescopic assembly to the tibial beam of the tibial assembly has a lower axis 78 for the lower rod mounting rod and a U-shaped bracket 79 for the lower axis, in the legs 81 and 82 of which holes are made for locating the lower rod fixing rod 76 between the legs. The lower axis 78 passes through the holes in the legs 81 and 82 with the possibility of rotation of the lower mounting rod rod 76 of the rod on the lower axis 78. The jumper 83 of the U-shaped bracket from the outside is fixed to the ankle beam 47 of the ankle node.

The adjusting-articulated assembly 73 for connecting the telescopic assembly to the femoral beam of the femoral assembly has an upper axis 85, a platform 86 with ears 87 under the upper axis 85, a carriage 88, a rail 89 and an adjustable brake 90. The upper axis 85 passes through the holes in the ears 87 with the possibility of turning the upper mounting rod 77 of the liner on the upper axis.

The carriage 88 is made in the form of a housing 91 having a longitudinal groove 92. The rail 89 is made with a protrusion 94 for placement in the longitudinal groove of the carriage 88 with the possibility of moving the carriage 88 relative to the rail 89. The rail 89 is fixedly mounted in the second longitudinal groove 26 of the femoral beam 16.

The adjustable brake 90 has a frame 95, a spring-return unit 96 and a unit 97 for adjusting the position of the frame relative to the femoral beam. The frame 95 is made lamellar in the form of a strap 98 with a shelf 99 fixed thereon perpendicular to its plane. The strap 98 is fixed perpendicular to the edge on the outer side of the platform 86 on the side closest to the outer surface of the thigh. On the bar 98, a hole 100 is made above the shelf 99.

The adjustment unit 97 of the position of the bed relative to the femoral beam has a skeleton 101, a rail 102, a pin 103, a lever 104 and a guide sleeve 105 under the pin. The rail 102 has a cross-sectional shape identical to that of the fourth groove 28 in the femoral beam 16 and longitudinally aligned coaxial transverse channels 106. The rail 102 is fixed in the fourth groove 28 of the femoral beam 16 motionless. The pin 103 has one end fixing 107 and the other locking 108. The frame 101 has a base 109 for fastening to the said shelf 99 of the frame 95, two adjacent beams perpendicularly located - a supporting 110 and a protective 111. The supporting board 110 has a channel 112 for said guide sleeve 105 coaxial with the hole 100 of the bar 98 of the said frame 95. In addition, the skeleton 101 has on the base a post 113 opposite the channel 112. The guide sleeve 105 for the pin is located in the channel 112 and the hole 100 of the bar of the frame. The pin 103 is installed in the bore of the sleeve 105 under the pin and can be positioned by the locking end 108 in one of the transverse holes 106 of the rail 101. The lever 104 is made of pushing 114 and transmission 115 links. The pushing link 114 is made straight and has a handle 116 at one end and a hinge 117 with the stand 113 at the other. The transmission link 115 is made L-shaped, directed by the apex from the shelf 99, with one end 118 pivotally connected to the fastening end 107 of the pin, and the other 119 is pivotally connected to that end of the pushing link 114 with which it is pivotally connected 117 to the strut 113.

The spring-return unit 96 has two tension springs 120 with hooks 121 at the ends and two cables 122. Each cable 122 has a loop 123 at one end and an opening 124 for attaching to the outer ends of the upper axis 85 at each other. Each spring 120 has one hook 121 hooks onto the loop 123 of the cable 122, and the other is located in the recess 125 of the upper transverse beam 38.

It is possible to perform an exoskeleton in the following versions:

The landing strip can be made with a soft coating.

The right and left knee nodes 5 and 6 may have straps (not shown) for attaching the hips of a person, mounted on the long connecting shoulders 44 of the first L-shaped plates 42.

The femoral beam 16 may have cavities 126 to lighten its weight.

The lumbar node 1 of attachment to the human body may have a shoulder node (not shown) of attachment to the human body made in the form of shoulder straps mounted on a waist belt and connected by jumpers on the chest and back of a person.

Claims (15)

1. A mechanical exoskeleton for the lower extremities, comprising a lumbar attachment to the human body, right and left femoral nodes, right and left knee nodes, right and left knee nodes, right and left stack nodes, right and left bearing nodes, in this case, the right femoral, knee, ankle and stack nodes are connected in series and also the left femoral, knee, ankle and stack nodes are connected in series, and the right support node connects the right femoral and ankle nodes, the left support node connects the left femoral and ankle nodes, the lumbar attachment to the human body is made in the form of a waist belt for attachment to the person’s waist, right and left femoral nodes, each has a femoral beam and a seat node, the femoral beam has an upper end for attachment to the lumbar attachment to the human body by means of fastening tapes, with one end of the tape being attached to the waist belt, and the other to the upper end of the femoral beam, and the lower end for attachment to the knee assembly, the femoral beam is made along with four sides, on each of which there is a longitudinal groove with such a cross section that the output part is narrowed and the inside is widened, with the first groove located opposite the second and the third opposite the fourth, with the first groove located on the side to the thigh than the second, the fourth groove is located on the side closest to the outer lateral side of the thigh than the third, the seat unit has a landing element, femoral belts connected to the landing element, the landing element has a landing and fixing straps interconnected, and a cracker is attached to the free side of the mounting bracket for positioning in the first groove of the femoral beam to allow the landing element to slide, the right and left knee nodes, each has straps for attaching the human tibia, the upper transverse beam for attaching to the lower end of the femoral beam, the middle transverse beam for attaching to the tibial knot, two frames located in parallel planes, each frame consists of two docked G- of the shaped plates — the first and second, each of the L-shaped plates has a long connecting shoulder and a fastening short shoulder, wherein the long connecting shoulders of the first and second L-shaped plates are pivotally connected in the middle of the frame, and the fixing shoulder of the first L-shaped plate is fixed with an end motionless to the upper transverse beam, and the mounting arm of the second L-shaped plate with the end fixed motionless to the middle transverse beam, belts for attaching the lower leg of the person are mounted on the long connecting shoulders of the second L-shaped plates, the right and left tibial nodes, each has a lower transverse beam for attachment to the stacking unit and an ankle beam that has an upper end for attachment to the middle transverse beam and a lower end for attachment to the lower transverse beam, the right and left stack nodes, each has a rectangular plate frame, two triangular plate frames, two supporting bases - right and left and straps for attaching the foot, the latter are fixed on both sides of the triangular plate frames supporting the bases, each made in the form of a hook plate, which has bent sides on three sides of the hook part - for the right base in one direction, and for the left in the other, and bent triangular sides at the edges opposite each other along the longitudinal straight part of the hook plate, while the bases of the triangular sides are an extension of the sides of the hook part, and the vertices are located at the end of the longitudinal part of the plate, the hook parts of the plate of the supporting bases are fixed motionless at the ends of the lower transverse beam, the bases of the triangular plate frames are directed across the short opposite edges of the plate rectangular frame, directed vertices in one direction, the vertices of the triangular lamellar frames are pivotally connected to the ends of the longitudinal straight parts of the hook-shaped plates so that their sides are opposite each other, the right and left load-bearing nodes, each has a telescopic node, a hinge node for connecting the telescopic node to the lower leg of the lower leg node, and an adjustment hinge node for connecting the telescopic node to the femoral beam of the femoral node, the telescopic assembly is made in the form of a rod with a piston and sleeves with a cavity for accommodating the piston, the rod has a lower fixing rod, and the sleeve has an upper fixing rod, the hinge assembly for connecting the telescopic assembly to the tibial beam of the tibial assembly has a lower axis under the lower rod mounting rod and a U-shaped bracket for the lower axis, in the legs of which holes are made for locating the lower rod mounting rod between the legs, the lower axis passes through the holes in the legs with the ability to rotate the mounting rod of the rod on the lower axis, the jumper of the U-shaped bracket from the outside is fixed to the tibial beam of the tibial node, the adjusting-hinge assembly for connecting the telescopic assembly to the femoral beam of the femoral assembly has an upper axis, a platform with ears for the upper axis, a carriage, a rail, an adjustable brake, the upper axis passes through the holes in the ears with the possibility of rotation of the upper mounting rod sleeve on the upper axis, the carriage made in the form of a housing having a longitudinal groove, the rail is made with a protrusion for placement in the longitudinal groove of the carriage with the possibility of moving the carriage relative to the rail, the rail is fixedly mounted in the second longitudinal groove of the femoral beam, the adjustable brake has a bed, a spring-return unit and a unit for adjusting the position of the bed relative to the femoral beam, the bed is made lamellar in the form of a bar with a shelf fixed thereon perpendicular to its plane, a hole is made on the bar above the shelf, the bar is fixed perpendicular to the edge on the outer side of the platform on the side closest to the outer surface of the thigh; The flange of the femoral beam has a skeleton, a rail, a pin, a lever, a guide sleeve under the pin, the rail has a cross-sectional shape identical to the cross-sectional shape of the fourth groove in the femoral beam, and longitudinally aligned coaxial transverse channels, the rail is fixed in the fourth groove of the femoral beam motionless, the pin has one end is fastening and the other is locking, the skeleton has a base for fastening to the said shelf shelf two adjacent perpendicularly spaced sides - support and protective, the support board has a channel under said guide sleeve coaxial to the hole in the bar of the said frame, in addition, the skeleton has on the base a rack opposite the said channel, a guide sleeve for the pin is located in the said channel and the hole of the strip of the said frame, the pin is installed in the hole of the sleeve for the pin and can be positioned with a locking end in one of the transverse holes of the rail, the lever is made of pushing and transmission links, the pushing link is made direct and has on one con the handle, and on the other a swivel connection with the rack, the transmission link is L-shaped, directed at the top from the shelf, with one end pivotally connected to the fixing end of the pin, and the other pivotally connected to the end of the pushing link with which it is pivotally connected to the rack, the spring-return unit has two tension springs with hooks at the ends and two cables, each cable has a loop at one end and a hole on the other for fastening to the outer ends of the upper axis, each spring is hooked onto the cable loop with one hook and the other is located in a recess upper crossbeam. 2. The exoskeleton according to claim 1, characterized in that the landing strip is made with a soft coating.

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