EXOSKELETON COMPRISING MECHANICAL ANKLE JOINT WITH TWO ROTARY AXES Russian patent published in 2020 - IPC A61H3/00 

FIELD: medicine; machine building.

SUBSTANCE: invention relates to exoskeletons. Exoskeleton contains a pelvis structure, two upper and two lower foot structures, two foot structures and two hip structures. Said structures are interconnected by mechanical joints and can be actuated by at least one drive, installed on each of said structures. Foot structure comprises a support plane configured to support a user's foot thereon. Bottom foot structure is made with possibility to accommodate lower part of user's foot in it. Mechanical knee joint is made with possibility to connect lower foot structure with upper leg structure, made with possibility of accommodating upper part of user's leg in it. Mechanical knee joint has a rotary axis. Mechanical ankle joint connects the foot structure to the foot lower structure. Mechanical ankle joint contains the first rotary joint having the first rotary axis. First rotary axis and mechanical axis of rotational axis of knee form angle between 0° and 15°. Mechanical ankle joint comprises the second rotary joint having the second rotary axis. Second rotary axis is located in plane perpendicular to first rotary axis and forms with support plane angle between 30° and 60°, when exoskeleton is standing vertically and is at rest.

EFFECT: invention provides an exoskeleton reproduction of a walking movement close to a person's walking movement.

27 cl, 14 dwg