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MODULAR EXOSKELETON WITH APPLICATIONS IN HUMAN LOWER-LIMB LOCOMOTOR RECOVERY
MODULAR EXOSKELETON WITH APPLICATIONS IN HUMAN LOWER-LIMB LOCOMOTOR RECOVERY
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机译：模块化外骨骼及其在人下肢机车恢复中的应用
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摘要
The invention relates to a system of modular exoskeleton type for human lower limbs, which can be adapted to various anthropomorphic sizes of potential users, being intended for human locomotion assistance applications for walking rehabilitation in patients suffering from locomotor deficiencies. According to the invention, the system comprises two mechanisms with articulated bars which consist of nine mobile kinematic elements (1 ... 9) which are connected to each other by rotary kinematic couplings by means of some bolts (17), the drive element (1) of the two mechanisms being driven by an electric motor (13) which transmits the motion to the shaft (18) by means of wheels (14 and 15), where the electric motor (13) and the bolts of the mechanism couplings (A, B and G) are fixed on an upper frame (12) and the elements (5 and 9) adjustable according to the user's height materialize the thigh bone and the shin bone of the leg, the system has a guard (19) for protecting the patient against the moving elements of the mechanism, the whole system being attached to the user by means of some attachment straps.
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