METHOD OF ACTUATING AN EXOSKELETON Russian patent published in 2022 - IPC A61H3/00 A61G5/00 B25J13/00 

FIELD: medical equipment.

SUBSTANCE: invention relates to use of an exoskeleton worn on a human operator. Method of actuating an exoskeleton involves using data processing means and performing the following steps: generating a trajectory of the exoskeleton from a sitting position to a standing position or vice versa, wherein said trajectory is parameterised by time, application on said trajectory of a set of virtual limiting conditions for activated degrees of freedom of the exoskeleton, wherein said conditions are parameterized by variable phase, activation of an exoskeleton controller associated with said set of virtual limiting conditions for the exoskeleton transition from a sitting position to a standing position or vice versa, wherein the controller is capable of generating commands for drives of the exoskeleton with observance of virtual limiting conditions along the trajectory. Group of inventions also discloses the corresponding exoskeleton devices.

EFFECT: use of inventions allows increasing efficiency and versatility of using the exoskeleton.

13 cl, 3 dwg