EXOSKELETON OF LOWER EXTREMITIES Russian patent published in 2020 - IPC A61H3/00 

FIELD: medicine.

SUBSTANCE: invention relates to medicine. Exoskeleton of the lower limb comprises a pelvic link, a femoral link, a shin link and a lower foot-like link, hinge joints of the respective adjacent links, which can turn in the sagittal plane, and attachment elements to parts of the user's body mounted on each of the links. Pelvic link is made in the form of a frame containing parallel walls fastened by pins with nuts. Driven step motor is rigidly and detachably fixed on outer wall of frame, with possibility of rotation of first toothed pulley fixed on its shaft, which by means of toothed belt forms step-down gear with gear ratio of 1:4 with second gear pulley, rigidly fixed on upper shaft, installed with possibility rotation in the frame cavity. On the upper shaft there rigidly fixed is the first gear installed in engagement with the third gear pulley, which is rigidly fixed on the middle shaft installed with possibility of rotation in the frame cavity, with formation of the second step-down gear with gear ratio 1:3.3. On the middle shaft there rigidly fixed is the second gear installed in engagement with the first gear sector, which is rigidly fixed on the lower shaft installed with possibility of rotation in the cavity of the frame of the pelvic link, with formation of the third step-down gear with gear ratio 1:5.14. Ends of the lower shaft are rigidly attached to the upper end of the femoral link of the exoskeleton. Femoral link exoskeleton is similar to pelvic link, contains similar drive motor, rigidly and detachably fixed on outer wall of similar frame, and three similar step-down gears. On the lower shaft of the femoral link, the upper end of the shin link is rigidly fixed and the second gear sector is engaged with the corresponding gear of the middle shaft. Femoral link is hingedly suspended under pelvic link with possibility of rotation in sagittal plane. Lower end of shin link is articulated with foot.

EFFECT: invention provides reduced structural complexity and improved interchangeability of device assemblies.

4 cl, 4 dwg