Mechanism of shifting the axis of rotation of the limb swing

Abstract

A mechanism for shifting the axis of rotation of a limb swing is disclosed, comprising an upper part of an exoskeleton (1) and a lower part of an exoskeleton (2), characterized in that the lower part of the exoskeleton (2) is connected to the lower part (6b) of a joint via a swing joint (9), wherein the lower part (6b) of the joint is connected to the upper part (6a) of the joint via a pendulum connection (6), wherein the upper part (6a) of the joint is connected to the upper part of the exoskeleton (1) via at least one guide (3, 3a), also between the upper part of the exoskeleton (1) and the upper part (6a) of the joint a first lever mechanism (4) is arranged, wherein the first lever mechanism (4) comprises a first hydraulic element (22) attached at one end, while the second end of the first hydraulic element (22) is attached to the upper part (6a) of the joint,wherein the second hydraulic element (23) is connected on one side to a bracket (21) of the second hydraulic element (23), wherein the bracket (21) is connected on the other side to the upper part (6)a of the joint, and on the other side the second hydraulic element (23) is connected to a lever mechanism (24) connected at the other end to the lower part (6b) of the joint, wherein the chamber (5) of the first hydraulic element (22) is connected to the chamber (7) of the second hydraulic element (23) via a first hydraulic line (8a) and a second hydraulic line (8b).,