EXOSKELETON Russian patent published in 2024 - IPC A61H3/00 B25J9/00 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment, namely to exoskeletons. Exoskeleton comprises a frame on which a module for a human body is fixed from above. From below, identical right and left lower extremities of the exoskeleton are attached to the frame, each of which contains a hip, shin and foot connected by a hinge joint. Hips and shins are made in the form of links of variable length, and hinge joint is made in the form of cylindrical hinges located between connected elements, installed mutually perpendicular and fixed on ends of connected elements. Thighs and shins comprise a variable-length section. Module for human body is made in the form of front right, front left, back right and back left stands, right and left stiffening arches, front and back stiffeners for spinal fixation. Front right, front left, rear right, rear left posts are made in the form of links of variable length and rigidity and contain section of variable length. Variable-length section is made in the form of a cylindrical housing with coils wound on the cylindrical housing to create a magnetic field completely filled with a magnetic-rheological fluid with a piston located inside the cylinder with holes for overflow of magnetic-rheological liquid and a rod, a cover in the form of a flange is installed on the cylindrical housing for sealing and preventing the rod rotation relative to the cylindrical housing. On the inner hole of the flange there are splines for movement of the stock. Right and left stiffening arches, front and rear stiffening ribs are made with possibility of attachment of support for human body and upper extremities of exoskeleton.

EFFECT: implementation of variable stiffness of structure of links of lower part and housing.

1 cl, 5 dwg