RU2839503C1 - Exoskeleton for supporting human body and lower extremities - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: invention refers to medicine, particularly to an exoskeleton for supporting a human body and extremities. Exoskeleton comprises a body section connected to the lower extremity section by means of a lumbar spine connected to the hip joint section. Section of the lower extremities includes femoral parts connected to corresponding knee parts connected to corresponding shin parts. Lumbar spine includes carriages for connection with corresponding femoral parts made with possibility of movement relative to lumbar spine. Each femoral part includes a femoral lever connected to the lumbar carriage by means of a transitional lever pivotally connected to the femoral lever and to the carriage, and by means of a shock absorber pivotally connected to the carriage and attached to the femoral lever.

EFFECT: easier use of the exoskeleton, broader functional characteristics thereof, as well as high efficiency thereof.

5 cl, 3 dwg

Description

The technical solution relates to an exoskeleton for supporting the human body and limbs, designed to be worn by the user with the ability to perceive and transmit load, relieving the user's body of it.

A passive exoskeleton is known from the prior art for facilitating the movement of a load by a person, consisting of feet, shins, thighs, wherein the connections of the shin and thigh units contain an adjustment for the X-shape of the legs, ties on the shins, covering the shins of a person, wherein the thighs are made in the form of levers adjustable in length, connecting the knee and belt units, wherein the belt is made in the form of a rocker-shaped part similar to the pelvic bones of a person, on both sides of which the femoral levers are attached, and in the middle - a back spring in the form of a flat beam of rectangular cross-section, transmitting the load from the shoulders and the load hook to the belt, wherein the shoulders are made in the form of spatial parts, in shape resembling the deferred collar of a fur coat and taking the load from the load placed on the shoulders and transmitting the load to the back spring, wherein the load hook is made with the function of dropping the load and the possibility of securing the load using a suspension from a system of belts and transmitting the load from the weight of the load to back spring (Patent in the Russian Federation No. 189468, published on 23.05.2019).

An exoskeleton is known, which is designed to be worn by a user for supporting and transmitting a load carried by the user, wherein: the exoskeleton comprises a torso section connected to a lower limb section via a hip joint section, so as to transmit the load carried by the torso section down to a support surface via the hip joint section and then the lower limb section. The lower limb section comprises two symmetrical articulated lower limb units, each of which is designed to be supported on each leg of the user and to be able to follow the leg movements when using the exoskeleton, wherein each lower limb unit has an upper end operatively connected to the outer side of the hip joint section, and a lower end designed to be in contact with the support surface. Each lower limb unit is designed to fully transfer the load from the outer side of the hip joint section to the inner side of the user's leg before contact with the supporting surface (Patent in the Russian Federation No. 2696631, published on 05.08.2019).

The distinctive feature of the declared technical solution is, in particular, the implementation of the femoral part of the lower limb section with the possibility of cushioning and adjustment to the individual parameters of the user.

The technical result of the claimed technical solution consists in increasing the convenience of using the exoskeleton, expanding its functional characteristics, and increasing its efficiency.

The increased ease of use and expansion of the functional characteristics of the exoskeleton is ensured, in particular, by the ability to perform a greater number of motor actions in the body and in the hip joint, achieved through the mobility of the exoskeleton joints in accordance with the biomechanics of the user; due to the ability to adjust the size of the exoskeleton depending on the dimensions of the user.

The increased efficiency of the exoskeleton is achieved, in particular, by reducing the loads on the user’s hip joint and legs that occur during his or her motor activity.

The claimed technical result is achieved in that the exoskeleton includes a torso section connected to a lower limb section by means of a lumbar section connected to a hip joint section, wherein the lower limb section includes femoral parts connected to corresponding knee parts connected to corresponding shin parts, wherein the lumbar section includes carriages for connection to corresponding femoral parts, made with the possibility of movement relative to the lumbar section, wherein each femoral part includes a femoral lever connected to the lumbar section carriage by means of a transition lever pivotally connected to the femoral lever and to the carriage, and by means of a shock absorber pivotally connected to the carriage and attached to the femoral lever.

Carriages for connection with the corresponding femoral parts, made with the possibility of movement relative to the lumbar region, provide the ability to perform torso rotations around a vertical axis, twisting the body with an inclination.

The femoral lever of the femoral part, connected to the corresponding carriage of the lumbar section by means of a transition lever, pivotally connected to the femoral lever and to the carriage, and by means of a shock absorber, pivotally connected to the carriage and attached to the femoral lever, provides the ability to flex the hip, characterizing the exoskeleton with high functionality and ease of use, and also allows to reduce impact loads on the hip joint and legs during the user's motor activity (jumping, running), increasing the efficiency of the exoskeleton.

The transition lever is used to adjust the user's leg depending on their size, ensuring ease of use of the exoskeleton due to the ability to improve its ergonomics individually for each user.

The connection of the transition lever and shock absorber with the carriage by means of ball joints additionally increases the functionality and ease of use of the exoskeleton due to the ability to bend the leg at the hip joint in all directions (forward/backward, up, to the sides).

The attachment of the shock absorber to the femoral lever by means of an eye and a sliding bushing inserted through it and the shock absorber, the axis of rotation of which is perpendicular to the axis of the shock absorber, allows for an expansion of the range of mobility of the femoral lever in the forward-backward direction, additionally characterizing the femoral part with ease of use during motor activity.

The presence in the structure of the femoral part of the first lower corner for connection with the knee part, connected to the second lower corner, and the first upper corner connected to the femoral lever and connected with the possibility of extension with the second upper corner, connected with the second lower corner with the possibility of extension, also provides individual adjustment of the exoskeleton depending on the dimensions of its user. In particular, the connection of the first upper corner with the femoral lever by means of a sliding axis passing through the openings in the first upper corner and in the femoral lever, coaxially with it, and the second upper corner with the second lower corner by means of a tube, inside which bushings with internal threads for fixation with an adjusting screw are made, allows for manual adjustment, directly by the user, as well as fixing the height of the extension of the parts in any convenient way, additionally increasing the convenience and functionality of the exoskeleton.

The claimed technical solution is further explained using figures, which conditionally represent the preferred embodiment of the claimed exoskeleton.

Fig. 1 shows a general view of the exoskeleton.

Fig. 2 shows a fragment of the femoral part with the upper connection unit of the levers.

Fig. 3 shows a fragment of the femoral part with the lower connection unit of the levers.

The following elements are designated by numbers:

- section (1) of the body;

- lumbar region (2);

- section (3) of the hip joint;

- femoral part (4);

- knee part (5);

- shin part (6);

- carriage (7);

- femoral lever (8);

- transition lever (9);

- shock absorber (10);

- axis (13) of rotation of the sliding sleeve;

- first bottom corner (14);

- second lower corner (15);

- first upper corner (16);

- second upper corner (17);

- sliding axis (18);

- tube (19);

- adjusting screw (20);

- lock washer (21);

- soft pads (22);

- belt (23);

- screws (24) for connecting the upper corners (16), (17).

Below, with references to figures, is a preferred embodiment of the exoskeleton.

The exoskeleton includes a torso section (1) connected to a lower limb section via a lumbar section (2) connected to a hip joint section (3).

The lower limb section includes thigh portions (4) connected to corresponding knee portions (5) connected to corresponding shin portions (6).

The lumbar section (2) includes carriages (7) for connection to the corresponding femoral parts (4).

Each femoral part (4) includes a femoral lever (8) connected to the carriage (7) of the lumbar section (2) by means of a transition lever (9) pivotally connected to the femoral lever (8) and to the carriage (7), preferably via a ball joint (11), and by means of a shock absorber (10) pivotally connected to the carriage (7), preferably via a ball joint (12) with a bearing, and attached to the femoral lever (8). The connection of the transition lever (9) to the carriage (7) is preferably made by means of a hinge (25) with sliding bushings.

Preferably, the shock absorber (10) is attached to the thigh lever (8) by means of an eye and a sliding sleeve inserted through it and the shock absorber (10), the axis of rotation (13) of which is perpendicular to the axis of the shock absorber (10).

In a preferred embodiment, the femoral part (8) includes a first lower corner (14) for connection with the knee part, connected to a second lower corner (15), and a first upper corner (16) connected to the femoral lever (8) and connected to a second upper corner (17) with the possibility of expansion, connected to the second lower corner (15) with the possibility of expansion. Preferably, the first upper corner (16) is connected to the femoral lever (8) by means of a sliding axis (18) passing through openings in the first upper corner (16) and the femoral lever (8), coaxially with it, and the second upper corner (17) is connected to the second lower corner (15) by means of a tube (19), inside which bushings with internal threads are made for fixation with an adjusting screw (20).

In a preferred embodiment, the lumbar section (2) of the exoskeleton consists of a lumbar arch, two half-belts with a front buckle and two carriages (7) connected to them. Preferably, the lumbar arch has a socket for a ball joint of the lower part of the spine and two hinges with one axis of rotation for attaching the half-belts. The adhesion of the lumbar section to the user's body is preferably achieved by means of a soft pad secured to the lumbar arch using ties. The lumbar arch and half-belts are preferably made of a rigid material to transfer the load from the spinal section to the legs through the carriages (7) with minimal deformations. The carriage (7) consists of two halves with a groove for the belt between them. The groove is limited at the top and bottom by two pairs of bearings, wherein the minimum distance between them corresponds to the width of the belt. The accuracy of the assembly can be ensured by four pins. In particular, due to the described design, the carriages (7) have mobility along the waist, allowing the torso to rotate around the vertical axis.

Preferably, the adjusting screws (20) have a welded washer under the head, allowing them to be fixed along the axis between the body of the corner (17) and the embedded lock washer (21). The tubes (19) are preferably terminated with embedded bushings with a thread for the adjusting screws. (20) Thus, the adjustment of the distance between the corners (17) and (15) is carried out by rotating the adjusting screws (20). The fixation of the thigh part (4) on the user's thigh is preferably carried out through soft pads (22) with belts (23).

The declared exoskeleton can be used in various industries, in particular, when performing tactical and strategic tasks, when performing any activity accompanied by lifting loads, as well as for people with limited functionality of the musculoskeletal system.

The presented figures, description of the design and use of the exoskeleton do not exhaust the possible design options and do not limit in any way the scope of the claimed technical solution. Other design options and uses are possible within the scope of the claimed formula.

Claims (5)

1. An exoskeleton for supporting the body and limbs of a human being, comprising a torso section connected to a lower limb section by means of a lumbar section connected to a hip joint section, wherein the lower limb section includes femoral portions connected to corresponding knee portions connected to corresponding shin portions, wherein the lumbar section includes carriages for connection to corresponding femoral portions, configured to move relative to the lumbar section, wherein each femoral portion includes a femoral lever connected to the lumbar section carriage by means of a transition lever pivotally connected to the femoral lever and to the carriage, and by means of a shock absorber pivotally connected to the carriage and attached to the femoral lever. 2. An exoskeleton according to item 1, characterized in that the transition lever and shock absorber are connected to the carriage by means of ball joints. 3. An exoskeleton according to item 1, characterized in that the shock absorber is attached to the femoral lever by means of an eye and a sliding sleeve inserted through it and the shock absorber, the axis of rotation of which is perpendicular to the axis of the shock absorber. 4. An exoskeleton according to claim 1, characterized in that each femoral part includes a first lower corner for connection with the knee part, connected to a second lower corner, and a first upper corner connected to the femoral lever and connected with the possibility of extension to a second upper corner, connected to the second lower corner also with the possibility of extension. 5. An exoskeleton according to item 4, characterized in that the first upper corner is connected to the femoral lever by means of a sliding axis passing through openings in the first upper corner and the femoral lever, coaxially with it, and the second upper corner is connected to the second lower corner by means of a tube, inside which bushings with internal threads are made for fixation with an adjusting screw.