METHOD FOR SETTING EXOSKELETON IN MOTION Russian patent published in 2022 - IPC A61H3/00 A61G5/00 B25J13/00 

FIELD: robotics.

SUBSTANCE: group of inventions relates to the field of using robotics elements to create structures of an exoskeleton worn on a person and to set it in motion. At the same time, the exoskeleton has a set of degrees of freedom, including at least one degree of freedom, activated by a drive controlled by data processing means, and at least one non-activated degree of freedom. To ensure the walking of the exoskeleton, the method includes stages, at which, upon a start request, a command is generated and transmitted to at least one of drives to transfer the exoskeleton to a rocking state, in a database located in triplet data recording means, including a set of virtual constraints for activated degrees of freedom, an exoskeleton controller and a stability area, identify a set of virtual constraints, at which the rocking state is in the stability area associated with the set of virtual constraints, and it is ensured that the controller executes commands associated with the identified set of virtual constraints.

EFFECT: use of inventions makes it possible to increase the reliability of exoskeleton operation.

8 cl, 4 dwg