METHOD OF DETERMINING THE POSITION AND ORIENTATION OF THE FOOT AND PHASES OF THE MOVEMENT OF THE FOOT SUPPORT OF THE EXOSKELETON AND INTEGRATED FOOT OF THE EXOSKELETON Russian patent published in 2018 - IPC A61F2/60 A61F2/66 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medicine. Integrated foot of the exoskeleton is formed by the integration of the user's shoe of the exoskeleton and the support element, made with the possibility of connection with the ankle hinge of the exoskeleton. Sole plate of the integrated foot is made with the possibility of bending in the area of the projection on it of the axis of bending of the foot of the user of the exoskeleton in the area of the metatarsophalangeal joints. Foot is equipped with range sensors, made with the possibility of measuring the distance from the outer surface of the sole plate to the support surface in the direction perpendicular to the specified outer surface. Data processing from range sensors is carried out in the processing unit, that can be used as a microcontroller and where the correspondence of the current movement of the leg support of the exoskeleton to one of the four phases of movement is determined: TRANSFER, SUPPORT ON THE HEEL of the feet of the exoskeleton, SUPPORT ON THE FULL FOOT of the exoskeleton and SUPPORTS ON THE TOE of the feet of the exoskeleton, and calculate the angles of inclination of the outer surface of the heel and toe parts of the sole plate of the foot of the exoskeleton relative to the supporting surface.

EFFECT: invention provides the ability to determine the position and orientation of the foot relative to the supporting surface and the current phase of movement of the leg support of the exoskeleton, orthosis or prosthesis.

42 cl, 16 dwg