DEVICE FOR COMPENSATING LOAD APPLIED TO EXOSKELETONS Russian patent published in 2024 - IPC A61H1/02 A61H3/00 B25J9/00 

FIELD: medical equipment.

SUBSTANCE: group of inventions relates to the devices for load compensation and associated exoskeletons. The device (201, 301, 501, 601, 701, 901) for load compensation contains: a joint (3; 302) requiring assistance, designed to limit its operation by the supporting structure (102, 104; 303; 702, 704); a main rod (304) comprising a proximal end (305) connected to said assisted joint (3; 302), and also comprising a distal end (306) configured to generate mechanical stress therein under the influence of an applied load (11); an auxiliary rod (307) comprising a first end (308) and a second end (309), wherein said first end (308) is hinged to said main rod (304) for rotating said auxiliary rod (307) relative to said main rod (304) , and said second end (309) is movable in the plane in which the applied load (11) lies; an elastic element (310, 910) configured to provide an elastic force that acts between said second end (309) of said auxiliary rod (307) and said distal end (306) of said main rod (304); a control system (313; 613) configured to change the distance between said second end (309) of said auxiliary rod (307) and said joint (3; 302) requiring assistance, so as to change the preload of said elastic element (310, 910). Said elastic element (310, 910) is configured to provide said elastic force based on the kinematic configuration of said load compensation device (201, 301, 501, 601, 701, 901) so as to compensate said applied load (11) in the part transverse to said main rod (304). An exoskeleton (100; 700) containing at least one device (201, 301, 501, 601, 701, 901) for load compensation, as well as sensors and at least one processor.

EFFECT: load compensation device that combines the positive aspects of passive and active technologies within a unique device that adapts the user's movements, thereby guaranteeing high compactness and low energy consumption and which can be scaled to any type of equipment or exoskeleton.

18 cl, 9 dwg