CARGO EXOSKELETON WITH ADJUSTMENT FOR ANTHROPOMETRIC PARAMETERS OF THE USER Russian patent published in 2018 - IPC A61H3/00 

FIELD: medicine.

SUBSTANCE: invention relates to medicine. Cargo exoskeleton contains one pair of leg supports with fastening elements to the legs of the person, one pair of foot supports, a pelvic node with mounted lateral and posterior pelvic hinges, one pair of connecting elements and one pair of femoral and shin sections. Pair of leg supports includes one pair of knee and ankle articulations. One end of each of the connecting elements is connected to a lateral pelvic joint. Femoral and shank links are made in the form of spatial shells, connected together by means of the corresponding knee joint articulations. Shin-links through the corresponding ankle articulations are connected by free ends to the foot supports. Axis of rotation of the ankle articulations in the sagittal plane coincides with the axis of rotation of the human foot in the sagittal plane. Also, the cargo exoskeleton contains one pair of femoral hinges – the first kinematic pairs, the first elements of which are arc-shaped guides in the form of arcs of coaxial circles – are made in the hip joint body mounted on the corresponding femoral link. Second element is movable along said arc guide and is connected to the other end of the above connecting member with the possibility of adjusting to the anthropometric parameters of the user the relative location of the connecting element and the slider – the second element of the first kinematic pair – the femoral joint in the sagittal plane along the vertical and horizontal lines with their subsequent fixation, settings for the anthropometric parameters of the operator of the relative location of the connecting element and the slider – the second element of the first kinematic pair – the femoral hinge in the sagittal plane along the vertical and horizontal lines with their subsequent fixation. Femoral hinges provide the possibility of relative rotation of the pelvic node and femoral links in a horizontal plane relative to the vertical axes passing through the vertical axis of the thighs of the person in the place of their placement. Axes of rotation of the respective rear, side and hip joints are perpendicular to each other. In the cargo exoskeleton chassis with fastening elements to the human waist, a dorsal-thoracic node with elements of attachment to the human shoulders are introduced. Pelvic unit is made from the left and right parts, each of which is pivotally connected to the chassis via a respective pelvic rear hinge with respect to the chassis in the front plane. Femoral hinges are made with the possibility of perceiving the vertical and radial relative to the vertical axis of the thigh loads, as well as the moments in the frontal and sagittal planes. Axes of rotation of the corresponding back, side and hip joints intersect at the same point, coinciding with the center of rotation of the corresponding hip joint of a person. Spinal-thoracic knot is connected to the chassis and is made in the form of a rigid structure, placed around the human torso and providing a constant distance between the front and the back parts of the dorsal and thoracic node under load and with the possibility of adjusting its width, thickness, height and angle of inclination of the front, the ability to ensure its fit to the top of the chest, back and sides of the person and the possibility of moving relative to the chassis along a curvilinear trajectory in the sagittal plane passing through the spine of a person in accordance with its bend. Each knee joint of the exoskeleton is designed to lock this articulation in the position of the human foot close to the rectified state, and with the possibility of providing the required angle of closure of the human knee. Axis of rotation of the ankle articulations in the frontal plane coincides with the axis of rotation of the human foot in the frontal plane. Exoskeleton is capable of adjusting the amount of girth of the lower and upper parts and the length of the thighs, the size of the girth of the lower and upper parts and the length of the shins, and the size of the heel portion and the height of the human foot.

EFFECT: invention provides increase in the operational reliability of the exoskeleton, and also increases the safety of the user.

23 cl, 17 dwg