INDUSTRIAL EXOSKELETON FOR UPPER AND LOWER LIMBS Russian patent published in 2023 - IPC A61F2/50 A61H3/00 B25J1/02 B25J9/10 

FIELD: medical equipment.

SUBSTANCE: technical solution for an industrial exoskeleton for the upper and lower limbs referring to devices that facilitate movement of goods with use of manual labour, and designed to automate solution of certain tasks with an increase in physical capabilities. The exoskeleton includes a frame. The frame is part of the attachment module. The attachment module, the power module and the load carrying module are interconnected. The attachment module includes a back frame (1) attached to the operator's back with the help of belts (2). The power module includes drives (3) mounted on the frame and kinematically connected by means of gears (4) with flexible connections to the femoral joints (5). Therein the load carrying module includes a spatial two-link lever mechanism. One end of the first link (12) is connected to the frame by means of a hinge, the axis of which is located in the vertical plane, and the second end is connected to the second link (13) by means of a hinge (14), the axis of which is located in the horizontal plane. The second link is pivotally connected to the cuff (15) installed on the operator's forearm. The lever mechanism is equipped with an elastic energy accumulator device. The accumulator housing (16) is pivotally connected to the first link of the lever mechanism. The accumulator rod (17) is pivotally connected to the second link of the lever mechanism. The unit provides for free movement of the operator's hand, unloading of gravitational forces acting directly on the forearm and the elbow joint, an additional increase in the physical capabilities of a human due to a combination of technical structural elements, use of a spatial lever mechanism, articulated links and connection of links of the lever mechanism using a gravitational compensator, as well as the ability to control movement of the exoskeleton, taking into account the given law of motion of the centre of mass and information about the force interaction of the human leg and the exoskeleton in the corresponding phases of movement.

EFFECT: facilitating movement of goods with use of manual labour and automation of certain tasks with an increase in physical capabilities of a human.

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