Knee exoskeleton with self-aligning mechanism

Abstract

The utility model relates to the field of medical technology, namely to wearable robotic devices for the rehabilitation of patients with impaired lower limb function – knee exoskeletons. The technical problem solved by the utility model is the difference in the mechanical axis of the exoskeleton and the anatomical axis of the user's knee joint during flexion and extension movements, which reduces the efficiency of auxiliary torque transmission and creates undesirable mechanical loads on the joint. The claimed knee exoskeleton with a self-aligning mechanism comprises: a femoral module with a femoral segment (2), a steel tube (3) and plastic rods (4, 5); shin modules with shin segments (9, 9'), telescopic guides (10, 10') and shin supports (13, 13'); a motorized hinge (18) with a brushless motor and a planetary gearbox in the housing (7); a passive hinge (17); multi-axis adjustment mechanisms with quick-release elements (11); Free-running guides for passive self-alignment; fastening straps (21, 22); electronic controller with angle sensors. Operating principle: The controller analyzes the sensor signals, determines the user's intention, and sends a control signal to the motor. The motor, through a gearbox, creates an auxiliary torque on the hinge (18). Free-running guides passively compensate for misalignment between the hinge axis and the anatomical axis of the knee. The device supports walking, transitions from a sitting to standing position, and stair climbing. The technical result: increased kinematic compatibility of the exoskeleton with the user's anatomical knee joint; reduced relative misalignment during flexion and extension movements; increased ergonomic comfort and safety; and a reduction in the overall weight of the structure while maintaining mechanical strength. The modular configuration allows for quick donning, doffing, and individual fitting of the device in clinical settings for users 150–190 cm tall and weighing up to 100 kg.