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EXOSKELETON
专利权人:
发明人:
Ekaterina Sergeevna BEREZIY,Elena Valentinovna PISMENNAYA,Andrey Viktorovich KUZMICHEV,Eduard Kirovich LAVROVSKIY
申请号:
US15571946
公开号:
US20180141206A1
申请日:
2016.07.18
申请国别(地区):
US
年份:
2018
代理人:
摘要:
A method for setting desired trajectories of movement of an exoskeleton for enabling movement in a user with a musculoskeletal disorder, a device for assisting walking in a user and a method for controlling said device enable walking in predetermined modes of movement in a user with limited mobility or complete immobility of the lower limbs but normal functioning of the upper limbs and upper part of the body. The invention enables such users to move with a gait pattern similar to the gait pattern of a person without a musculoskeletal disorder, while also providing the user with the possibility of independently changing movement mode and gait parameters, such as stride length, step height and pace, using a control panel 32. The invention comprises a part worn by the user, which includes a motorized lower limb exoskeleton 1 equipped with a control device 35, embodied in an on-board controller 85 of the exoskeleton 1, and a non-worn part, which includes an external computer 86 for a specialized assistant and a system 43 for determining the parameters of desired trajectories of movement of the exoskeleton 1 in a Cartesian coordinate system. Control signals for the exoskeleton 1 actuators are generated taking into consideration the mass and inertial properties of body segments of the user and of elements of the exoskeleton 1, as well as requirements regarding the quality of control. 3 independent claims and 6 dependent claims, 9 drawings
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