PASSIVE-ACTIVE EXOSKELET WITH VARIABLE LENGTH LINKS AND SPRING ELEMENTS OF TWO TYPES

Abstract

The article considers a flat model of a passively active exoskeleton with links of variable length. The construction of a variable-length link, suitable for implementation in a robotic device in the form of a passively active exoskeleton, is as follows: at the ends of the link there are two sections of constant length having mass, between them there is a section of variable length, considered weightless. On a weightless area is a tension-compression spring, which ensures the maintenance of the link length and energy recovery during the movement of a person in the exoskeleton. A torsion spring is installed in each hinge, which provides energy recovery with relative rotational movement of the links. The application of the proposed model in the form of a passively active exoskeleton with spring elements will allow a person to reduce the load on the joints and increase strength, endurance due to energy recovery, increase comfort and time of continuous use. It is possible to use the proposed model in the rehabilitation process to restore impaired functions of the human musculoskeletal system.