FIELD: medicine.
SUBSTANCE: group of inventions refers to medicine, namely to adaptive space robot-manipulators for prosthetic repair of an upper limb of a patient. Robot comprises an artificial joint in the form of a spatial mechanism of a parallel structure. Spatial mechanism of parallel structure is made in the form of octahedral module (1) in initial position with ribs in the form of rods, which ends are pivotally connected in apices (2) of octahedral module. Rods are equipped with linear drives (3) with axial force (4) and relative speed (6) sensors. Rods are made with possibility of changing their length by control commands to linear drives from control system. One of the faces of the octahedral module is docking and is equipped with a three-support resilient coupling gripper. Other four working faces, which do not have joint linings with common linear drives, are equipped with three-support rigid and three-support resilient grippers. Method of patient's service by means of adaptive mobile spatial robot-manipulator includes its installation on upper limb stump assembly and control of spatial movement of its elements by control of lengths of all rods of linear drives.
EFFECT: reduced weight characteristics and expanded functional capabilities of the prosthesis.
5 cl, 15 dwg
