| 摘要 |
FIELD: medicine.SUBSTANCE: group of inventions refers to medical equipment, namely to devices for setting the desired path of exoskeleton and methods of controlling of devices in preset modes. Method of setting the desired path of exoskeleton for movement of the user with dysfunction of the locomotor apparatus, device for walking facilitating for that user and method of controlling said device enables walking at predetermined modes of motion of users with limited mobility or complete immobility of lower extremities at normal operation of upper limbs and upper part of the housing. Inventions provide the possibility of movement of users with matched walking close to human walking pattern without of locomotor apparatus, at the same time providing for the user from the control panel to change mode and such parameters as walking, pitch and the rate of walking leg lifting height. Device comprises a portable user part including motorized exoskeleton of lower lambs, equipped with control device built in the on-board controller of exoskeleton, and not portable part including external computer of assistant-specialist and system for determining parameters of the desired path of the exoskeleton motion in the Cartesian coordinate system. Control signals to drives of exoskeleton are generated taking into account mass-inertia characteristics of the user's body segments and exoskeleton elements and requirements to quality control.EFFECT: using the inventions allows to expand functional capabilities of controlling of vehicular exoskeleton.9 cl, 9 dwg |
