Human back exoskeleton

Abstract

The invention relates to passive and / or non-powered exoskeletons. An exoskeleton for the human back includes a torso section containing two spines, each of which includes a flexible rod which has an alternating series of vertebrae and intervertebral spacers mounted thereon and is connected to a shoulder girdle section at the top and to a hip section at the bottom, wherein said flexible rod is disposed inside cavities in the vertebrae and intervertebral spacers, and wherein the spines are connected to one another by corresponding parallel vertebrae, and the intervertebral spacers are configured in the form of resilient elements which are connected to the vertebrae above and below to dampen the loads therebetween and are disposed inside a resilient housing. The technical result of the claimed solution is an increase in the efficiency and reliability of the exoskeleton.

Description

[0001] EXOSKELETON FOR THE HUMAN BACK

[0002] Field of technology

[0003] The technical solution relates to relates to exoskeletons and other wearable structures designed to assist a person in carrying loads. In particular, the claimed solution relates to passive exoskeletons and / or exoskeletons without a mechanical drive.

[0004] Exoskeletons for the human back are used in various industries that require lifting heavy loads, as they significantly increase the mass of the payload that can be carried by a person without injury. Such devices can be used, for example, by builders, firefighters, police, military, tourists, etc. to move loads, sometimes over long distances. In addition, these devices should not limit the human's ability to move, be safe and reliable, and also allow holding a large payload that exceeds the safe limit of human capabilities.

[0005] Prior art

[0006] The prior art discloses an auxiliary device for fixing the back, which ensures the correct lifting position of the user, including a back assembly consisting of a number of interconnected and articulating vertebral assemblies, as well as an upper back plate assembly and a lower back plate assembly, each of which is interconnected with a number of vertebrae. Each vertebra is connected to an adjacent assembly by means of a ball joint, and a row of vertebrae is connected to the upper and lower plate assemblies by means of additional ball joints. At least one support component extends from the upper plate assembly through the row of hinged vertebrae to the lower plate assembly to provide rigidity and support for the hinged articulation of the vertebrae. US Patent No. US11123214B2, IPC A61F 5 / 02, A61F 5 / 00, published on 24. P .2020.The prior art also discloses a solution selected as the closest analogue, which is an exoskeleton designed to be worn by a user to support and transmit the load carried by the user. It is known from the description of the solution that the exoskeleton comprises a torso section connected to a lower limb section via a hip joint section so as to transmit the load carried by the torso section down to the support surface via the hip joint section and then the lower limb section. The torso section comprises a shoulder element designed to rest on the user's shoulders, as well as a spinal unit extending downwards from the shoulder element along the user's spine and comprising a plurality of spinal elements. The uppermost spinal element is connected or made as a single unit with the shoulder element, while the lowermost spinal element is connected to the hip joint section.The torso section is designed to support and transmit the load carried by the user's shoulders and torso in the direction of the support surface via the hip joint section and then the lower limb section. Russian Federation Patent No. RU2696631C2, IPC B25J 11 / 00, A61F 2 / 50, A61F 2 / 60, A61F 5 / 00, F41H 13 / 00, published on 05.08.2019.

[0007] The distinctive features of the claimed solution are, in particular, the implementation of two vertebral columns, which impart increased efficiency to the exoskeleton and increase the mass of the payload that can be moved, as well as the implementation of intervertebral spacers in the form of elastic elements connected to the upper and lower vertebrae to cushion the load between them, placed in an elastic body, due to which the cushioning of the exoskeleton is ensured, its efficiency and reliability are increased.

[0008] Disclosure of the invention The technical result of the claimed solution consists in increasing the efficiency and reliability of the exoskeleton. The increase in efficiency is achieved, in particular, by increasing the mass of the payload that can be moved, as well as by increasing the mobility of the exoskeleton. The increase in reliability is achieved, in particular, by increasing the wear resistance and durability of the exoskeleton.

[0009] The claimed technical result is achieved due to the fact that the exoskeleton for the human back includes a torso section containing two vertebral columns, each of which includes a flexible rod on which vertebrae and intervertebral spacers are installed in alternation, connected in the upper part to the shoulder girdle section, and in the lower part to the hip joint section, wherein the flexible rod is located in the cavity of the vertebrae and intervertebral spacers, wherein the vertebral columns are connected to each other by corresponding parallel vertebrae, the intervertebral spacers are made in the form of elastic elements connected to the upper and lower vertebrae for cushioning the load between them, placed in an elastic body. The elastic elements are preferably made in the form of wave springs. The elastic body can be made on the basis of rubber.The vertebrae preferably comprise coaxial cavities in which cords for pads are installed, located on the outer lateral side of each spinal column. The cords for pads can be made with the possibility of fixation by means of fasteners in the upper and lower parts of the spinal columns. The shoulder girdle section is preferably made in the form of a rigid frame, including left and right shoulder holders, each of which is fixed at one end of the extension element, the other end of which is fixed to the transition element, and connected to the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod. The shoulder girdle section preferably includes rigid pads for holding the mass of the payload, rigidly fixed to the extension elements.

[0010] The claimed exoskeleton for the human back includes a torso section containing two vertebral columns, each of which includes a flexible rod, which is an imitation of the anatomical structure of the human body and ensures the transfer of load from the shoulder girdle section to the hip joint section, thereby removing the load from the user's back, making it easier for him to move heavy loads. It should be noted that the claimed exoskeleton for the human back is part of the body exoskeleton system, which also includes a lower limb section connected to the hip joint section, to direct the load to the supporting surface from the hip joint section.The presence of two spinal columns provides the claimed solution with high reliability due to the distribution of the load from the shoulder girdle section to both spinal columns on each side of the body, which reduces the load on each of them separately, thereby reducing the risk of breakage and deformation of the spinal column and increasing wear resistance, durability, and thus the reliability of the solution. Also, due to the distribution of the load between the two spinal columns, the efficiency of the exoskeleton increases, since such an implementation increases the mass of the payload that can be moved using the exoskeleton.In addition, the implementation of two spinal columns additionally increases the convenience of using the claimed solution due to the fact that, as is clear to a specialist in this field of technology, if there is only one spinal column, it should be located along the axis of the user's spine, which when bending forward or backward can cause discomfort or pain due to contact of the back in the area of ​​the spinous processes of the vertebrae with the device. The implementation of two spinal columns allows them to be located symmetrically at some distance from the user's spine, which will additionally reduce discomfort when bending due to the location of the spine between the spinal columns of the exoskeleton, which will additionally increase the convenience of its use.

[0011] Each of the spinal columns of the exoskeleton includes a flexible rod, which provides the claimed solution with high mobility, allowing to bend and turn the body at any angle, which increases the efficiency of the exoskeleton, in contrast to the implementation of spinal columns with a rigid element. In addition, the implementation of a flexible rod in each spinal column of the exoskeleton allows them to bend without blocking each other's movements, in particular, when bending the body to the side, when one spinal column of the exoskeleton bends more than the other. In particular embodiments, the flexible rod can be a metal cable in a silicone braid, which additionally protects the cable from mechanical impacts and moisture, further increasing the wear resistance and reliability of the product.The flexible rod is connected in the upper part to the shoulder girdle section, and in the lower part to the hip joint section to ensure the integrity of the structure, as well as the correspondence of the movement of the exoskeleton parts relative to each other to the biomechanics of the human body, which allows the exoskeleton to maximally repeat the position of the human body, thereby increasing the mobility of the product and its efficiency. For example, when moving or turning the shoulder girdle section or the hip joint section relative to the spinal columns of the exoskeleton, they can also change their position due to the connection of the flexible rod with these sections. This also prevents the possible occurrence of stresses at the junctions of the sections in the case of a rigid connection, which also increases wear resistance, durability, and, as a result, the reliability of the claimed solution.The connection with the shoulder girdle section and the hip joint section can be carried out by connecting flexible rods and transition elements. On each flexible rod, vertebrae and intervertebral spacers are installed in alternation, while the flexible rod is located in the cavity of the vertebrae and intervertebral spacers, which also imitates the anatomical structure of the human spine and ensures optimal mobility and efficiency of the exoskeleton, as well as its reliability. The presence of vertebrae on a flexible rod ensures the transfer of vertical load from one vertebra to another through the intervertebral spacers from the upper part of the spinal column to the lower one, which is necessary for using the solution for its intended purpose.Unlike the implementation of the spinal column as a single piece, without division into vertebrae and intervertebral spacers, which would not allow it to repeat the contours of the human spine at various tilts and turns, thereby limiting the movement of the exoskeleton spinal column, the presence of vertebrae increases mobility, and as a consequence, the effectiveness of the solution due to the increased mobility and flexibility of the exoskeleton spinal columns. The presence of intervertebral spacers on a flexible rod, installed alternating with the vertebrae and made in the form of elastic elements connected to the upper and lower vertebrae, provides cushioning of the exoskeleton spinal column during active movements, for example, when loading with a payload or unloading, jumping, and also tilting, which allows the spinal columns to bend in any direction, repeating the movements of the human body, and also effectively transfer the load from one vertebra to another by connecting with them.The presence of such elastic intervertebral spacers between the vertebrae of the exoskeleton spinal column ensures its wear resistance under various loads and positions, durability, and reliability due to the shock-absorbing effect between the vertebrae, preventing them from contacting each other, which, in the absence of intervertebral spacers, when the vertebrae move relative to each other, can lead to their abrasion, the occurrence of cracks and a subsequent decrease in the mass of the payload that can be transferred. In addition, in the absence of intervertebral spacers, the mobility of the exoskeleton and its efficiency are also reduced due to the contact of the vertebrae with each other when bending, while elastic intervertebral spacers are capable of elastically deforming, and also create an additional distance between the vertebrae, providing greater mobility and flexibility of the spinal columns.The implementation of intervertebral spacers in the form of elastic elements placed in an elastic body increases the reliability of the exoskeleton by preventing damage to the elastic elements, for example, due to moisture or temperature effects, or mechanical impact of other objects, which can lead to their rapid wear, thereby increasing wear resistance, durability, and, as a consequence, the reliability of the exoskeleton. At the same time, in contrast to the implementation of the body as rigid, the implementation of the body as elastic also creates a shock-absorbing effect of the intervertebral spacers, which also increases the mobility and efficiency of the exoskeleton. In addition, placing elastic elements in an elastic body additionally increases the safety of using the exoskeleton, as it prevents possible snagging of the elastic elements on other objects, branches, leaves, clothing elements, etc., which reduces the likelihood of a sharp jamming of the exoskeleton spinal column and injury to the user.In preferred embodiments, the elastic elements are made in the form of wave springs, which, unlike the use of coil springs, reduces the height of the intervertebral spacer with the same elasticity, thereby further reducing the mass of the exoskeleton while maintaining the mass of the payload that can be moved, thereby further increasing the efficiency of the exoskeleton. In addition, reducing the mass of the exoskeleton further increases the convenience of its use. The most preferable option is to make the elastic body based on rubber, which further increases the reliability of the solution due to the high moisture resistance and wear resistance of rubber. In addition, making the elastic body from rubber further reduces its mass, and as a result, the mass of the entire exoskeleton, which further increases its efficiency and convenience of use.

[0012] The location of the flexible spinal rod in the cavity of the vertebrae and intervertebral spacers increases the reliability of the solution, as it allows protecting the flexible rod from various effects, such as moisture or mechanical impact, which prevents its damage, thereby increasing the wear resistance and durability of the exoskeleton. In addition, the ability to cushion the load exerted on the exoskeleton by the spinal columns is ensured by the ability to move the vertebrae and intervertebral spacers relative to the flexible rod, similar to beads on a string, due to the location of the rod in the cavity of the vertebrae and intervertebral spacers, which provides the exoskeleton with high mobility, efficiency and reliability.In case of attachment of a flexible rod to the outer surface of vertebrae and intervertebral spacers, the amortization of the spinal column of the exoskeleton is reduced, which reduces its reliability and can cause local stresses in the joint when bending and turning the user's body with subsequent damage to the joint, and also limit the user's range of motion, reducing mobility, and as a result, the efficiency of the exoskeleton. In addition, such fastening of the flexible rod is less reliable in contrast to its location in the cavity of the vertebrae and intervertebral spacers, since if the joint is damaged, the spinal column of the exoskeleton will lose its integrity and mobility.

[0013] In the claimed solution, the spinal columns are connected to each other by corresponding parallel vertebrae, which ensures the communicating movement of two spinal columns of the exoskeleton for maximum repetition of the biomechanics of the human body, which increases the mobility and efficiency of the exoskeleton. In the absence of such a connection, the load exerted on the spinal columns would be distributed unevenly and a sufficient volume of movements would not be ensured, for example, when bending to the sides, when one spinal column bends more than the other, since optimal mobility is ensured by the communicating movement of the spinal columns as a single structure. In addition, when connecting the spinal columns to each other by parallel vertebrae, a constant distance is maintained between them, which also ensures uniform transfer of the load and communicating movement.The connection of parallel vertebrae to each other can be accomplished by means of a horizontal rib, which can also be made curved in an arc or elastic, to provide additional comfort and cushioning between the spinal columns.

[0014] The vertebrae preferably contain coaxial cavities in which cords for pads are installed, located on the outer side of each spinal column. Such a particular embodiment additionally increases the stability of the exoskeleton position relative to the user's spine, which reduces the risk of incorrect load distribution and displacement of the exoskeleton's center of gravity, which additionally increases its efficiency when moving large loads, and also allows fixing the position of the pad relative to the exoskeleton. In addition, such a preferred embodiment of the exoskeleton additionally increases the convenience of using the claimed solution due to the use of cords for pads for securing the exoskeleton relative to the user. Clothing elements or various fabric pads containing elements for fastening the exoskeleton to the user, such as straps or fasteners, can be used as pads.The preferred implementation of the cavities as coaxial for the cords for the linings additionally increases the reliability of the exoskeleton by reducing the risk of the cord chafing against the edges of the cavities when they are not coaxially located and installing the cords with bends. The location of the coaxial cavities for the cords on the outer side of each spinal column additionally increases the convenience of using the exoskeleton and connecting it to the fabric linings. The cords for the linings can be made with the possibility of fixing by means of clamps in the upper and lower parts of the spinal columns, which allows adjusting the exoskeleton taking into account the individual characteristics of the user's body, in particular the depth of the bends of the spine, while the spinal columns repeat the contours of the spine and the movements of the user's body and do not limit movements in the presence of individual features of the body structure, which also additionally increases the efficiency of the claimed solution.In addition, the use of cords for the pads and the possibility of fixing them by means of clamps in the upper and lower parts of the spinal columns additionally increases the reliability of fastening the exoskeleton to the elements of the user's clothing, which also additionally increases the convenience of using the claimed solution, allowing the exoskeleton spinal columns to be installed with the necessary bends for each user individually. In a preferred embodiment, an additional cord with clamps located in the upper part of the spinal columns can be installed on the inside of the pads adjacent to the user's body for additional fixation of the pad relative to the exoskeleton spinal columns.

[0015] The shoulder girdle section is preferably made in the form of a rigid frame including left and right shoulder holders, each of which is fixed at one end of the extension element, the other end of which is fixed to the transition element, and connected to the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod. Such a preferred implementation of the shoulder girdle section of the claimed exoskeleton additionally increases its efficiency, since the mobility of the shoulder girdle section relative to the spinal columns and the shock absorption of the shoulder girdle section are additionally increased due to the connection to the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod, which also additionally increases the convenience of its use.In addition, the preferred implementation of the shoulder girdle section in the form of a rigid frame additionally increases the mass of the payload that can be moved, which also additionally increases the efficiency of the exoskeleton, as well as its reliability, by reducing the risk of deformation of the shoulder girdle section, which initially receives the bulk of the payload. The preferred presence of shoulder holders additionally redistributes the vertical load to the corresponding extension elements and then to the corresponding spinal column, which additionally reduces the load exerted on them, preventing possible damage, and additionally increases the reliability of the exoskeleton.The shoulder holders may include side walls located at an angle to the surface that receives the vertical load, for additional retention of the payload and stabilization of its position on the holders, for example, when holding the straps of a backpack to reduce the risk of their slipping and displacement of the center of gravity of the payload. The preferred connection of the extension element with the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod can be realized by means of a transition element including a cavity for placing the flexible rod of the spinal column in it and fixing it by means of a retainer.The advantageous presence of transition elements in the shoulder girdle section additionally directs the load from the extension parts to the spinal column, the cushioning between the transition element and the corresponding spinal column can be realized by means of an intervertebral spacer and a flexible rod, which additionally reduces vibrations and softens the load. In a particular case, the connection of the transition elements to each other can also be realized by means of a rib. The connection of the shoulder holders with the extension elements, and their connection with the transition elements can be preferably realized by means of a bolt fastening.Such a preferred design of the shoulder girdle section, made in the form of a rigid frame, including left and right shoulder holders, each of which is fixed at one end of the extension element, the other end of which is fixed to the transition element, and connected to the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod, additionally increases the uniformity of the load distribution from each shoulder holder to the corresponding spinal column, which also additionally increases the efficiency and reliability of the exoskeleton.

[0016] The shoulder girdle section preferably includes rigid pads for holding the payload mass, rigidly fixed to the extension elements, which additionally increase the reliability and efficiency of the claimed exoskeleton by reducing the risk of their deformation when applying large loads, as well as an additional increase in the mass of the payload that can be moved, since the rigid pads additionally redistribute part of the horizontal load to the corresponding extension elements. In addition, rigid fastening of the rigid pads to the extension elements additionally increases the reliability of the exoskeleton and the uniformity of the load distribution, in contrast to making the connection movable, which also increases the risk of shifting the exoskeleton's center of gravity, its breakage and possible injury to the user. Fastening of the rigid pads to the extension elements of the shoulder girdle section can be preferably performed by means of bolt fastening.

[0017] The connection to the hip joint section can be carried out by means of a transition element connected to the vertebral columns, as well as to the hinged part of the hip joint section, allowing the user to tilt to the left and to the right. The transition element of the hip joint section can include a cylindrical mechanism by means of which the tension of the flexible rod is adjusted and maintained. The transition element of the hip joint section can be connected to the vertebral columns by means of an intervertebral spacer and a flexible rod of the corresponding vertebral column.

[0018] Brief description of the drawing

[0019] Further, the claimed technical solution is explained with the help of figures, which conditionally represent one of the preferred variants of implementing the claimed solution.

[0020] Fig. 1 shows a general view of the torso section, shoulder girdle section and hip joint section (fragment) of the exoskeleton from the front.

[0021] Fig. 2 shows a general view of the torso section, shoulder girdle section and hip joint section (fragment) of the exoskeleton from behind.

[0022] Fig. 3 shows a general view of the torso section, shoulder girdle section and hip joint section (fragment) of the exoskeleton from above at an angle.

[0023] Fig. 4 shows a general view of the torso section, shoulder girdle section and hip joint section (fragment) of the exoskeleton from below at an angle.

[0024] The numbers on the figures indicate:

[0025] - vertebral column (1) of the exoskeleton;

[0026] - flexible rod (2); - vertebrae (3) of the spinal column (1);

[0027] - intervertebral spacers (4) of the spinal column (1);

[0028] - shoulder girdle section (5) of the exoskeleton;

[0029] - section of the hip joint (6) of the exoskeleton (fragment);

[0030] - a horizontal rib (7) connecting the parallel vertebrae (5) of the vertebral columns (1) of the exoskeleton;

[0031] - shoulder holders (8);

[0032] - extension element (9) of the shoulder girdle section (5);

[0033] - transition element (10) of the shoulder girdle section (5);

[0034] - side walls (11) of the shoulder holder (8);

[0035] - clamp (12) of the flexible rod (2);

[0036] - rib (13) connecting transition elements (10);

[0037] - bolt fastening (14);

[0038] - pads (15) of the shoulder girdle section (5);

[0039] - transition element (16) of the hip joint section (6);

[0040] - hinge part (17) of the hip joint section (6);

[0041] - cylindrical mechanism (18) of the transition element (16) of the hip joint section (6);

[0042] - coaxial cavities (19) of the vertebrae (3);

[0043] - cords (20) for linings (21);

[0044] - fastening elements (22) of the pads (21);

[0045] - fasteners (23) for cords (20) for linings (21);

[0046] - additional cord (24);

[0047] - clamps (25) of the additional cord (24).

[0048] Embodiments of the invention

[0049] Below, one of the preferred embodiments of the claimed technical solution is described with references to figures.

[0050] The claimed exoskeleton pertains to passive exoskeletons that do not contain an electric drive. The exoskeleton for the human back includes a torso section containing two vertebral columns (1), each of which includes a flexible rod (2), preferably made in the form of a metal cable in a silicone braid, on which vertebrae (3) and intervertebral spacers (4) are installed in alternating order. Each flexible rod (2) is connected in the upper part to a section of the shoulder girdle (5), and in the lower part to a section of the hip joint (6), and is located in the cavity of the vertebrae (3) and intervertebral spacers (4).

[0051] The vertebral columns (1) are connected to each other by corresponding parallel vertebrae (3). The connection of the parallel vertebrae (3) to each other can be performed by means of a horizontal rib (7). The intervertebral spacers (4) are made in the form of elastic elements, preferably wave springs, connected to the upper and lower vertebrae (3) for cushioning the load between them. The elastic elements are placed in an elastic housing, preferably made on a rubber basis.

[0052] The shoulder girdle section (5) can be made in the form of a rigid frame including left and right shoulder holders (8). Each of the holders (8) is secured to one end of the extension element (9), the other end of which is secured to the transition element (10), and connected to the upper intervertebral spacer (4) of the corresponding spinal column (1) by means of a flexible rod (2). The shoulder holders (8) can include side walls (11) located at an angle to the surface that receives the vertical load, for additional retention of the payload and stabilization of its position on the holders (8). The preferred connection of the extension element (9) with the upper intervertebral spacer (4) of the corresponding spinal column (1) by means of a flexible rod (2) can be realized by means of a transition element (10) including a cavity for accommodating the flexible rod (2) of the spinal column (1) and securing it by means of a retainer (12).In a particular case, the connection of the transition elements (10) to each other can also be realized by means of a rib (13). The connection of the shoulder holders (8) to the extension elements (9), and their connection to the transition elements (10) can be performed preferably by means of a bolt fastening (14). The shoulder belt section (5) preferably includes rigid pads (15) for holding the mass of the payload, rigidly fixed to the extension elements (9), preferably by means of a bolt fastening (14).

[0053] The connection with the hip joint section (6) can be carried out by means of a transition element (16) connected to the vertebral columns (1), as well as to the hinge part (17) of the hip joint section (6). The transition element (16) of the hip joint section (6) can include a cylindrical mechanism (18) by means of which the tension of the flexible rods (2) is adjusted and maintained. The transition element (16) of the hip joint section (6) can be connected to the vertebral columns (1) by means of an intervertebral spacer (4) and a flexible rod (2) of the corresponding vertebral column (1). It should be noted that the claimed exoskeleton for the human back is part of a body exoskeleton system, which also includes a lower limb section connected to the hip joint section (6), for directing the load to the support surface from the hip joint section (6).

[0054] The vertebrae (3) preferably comprise coaxial cavities (19) in which cords (20) for pads (21) are installed, located on the outer lateral side of each spinal column (1). The pads (21) are preferably made of fabric and include fastening elements (22) for connecting the exoskeleton to the user. The cords (20) for the pads (21) are preferably designed with the possibility of fixation by means of fasteners (23) in the upper and lower parts of the spinal columns (1). In a preferred embodiment, an additional cord (24) with fasteners (25) located in the upper part of the spinal columns (1) can be installed on the inner side of the pads (21) adjacent to the user's body, for additional fixation of the pads (21) relative to the spinal columns (1) of the exoskeleton.

[0055] The preferred variant of operation of the claimed technical solution is demonstrated below using an example.

[0056] The exoskeleton is secured to the human body preferably by means of fastening elements (22) on fabric pads (21) connected to the exoskeleton by means of cords (20) for the pads (21) installed in coaxial cavities (19) located on the outer lateral side of each spinal column (1), and an additional cord (24) for tight adhesion to the body and increased ease of use. The payload required for movement is positioned with support on the shoulder girdle section (5), and in the preferred embodiment on the shoulder holders (8), the load from which is transmitted by means of extension (9) and transition (10) elements to the corresponding spinal columns (1) of the exoskeleton, and then to the hip joint section (6), which relieves the load from the human back, facilitating the movement of loads. Load transmission through the spinal columns (1) is ensured by the presence of vertebrae (3) and intervertebral spacers (4).When applying a load, due to the fact that the intervertebral spacers (4) are made in the form of elastic elements, preferably wave springs, placed in an elastic housing, preferably made on the basis of rubber, and also the vertebrae (3) and intervertebral spacers (4) are arranged in an alternating manner, the load transfer is softened and the spinal columns are cushioned, and as a consequence, the claimed solution is highly effective and reliable. When it is necessary to bend or turn, the exoskeleton also repeats the biomechanics of the human body due to the presence of a flexible rod (2) inside each spinal column (1), namely inside the cavities of the vertebrae (3) and intervertebral spacers (4). Due to the connection of parallel vertebrae (3), communicating movement of the spinal columns (1) is ensured. Thus, when the user performs various actions, such as bending, stepping, running, jumping or squatting, etc.The claimed exoskeleton replicates the biomechanics of the human body and takes on part of the load that is applied to the user, removes it from the body and redistributes it in the direction of the supporting surface.

[0057] Industrial applicability

[0058] The claimed technical solution can be used to assist the user in moving loads and is characterized by increased efficiency and reliability.

[0059] The presented figures, description of the design and use of the exoskeleton for the human back do not exhaust the possible design options and do not limit in any way the scope of the claimed technical solution. Other design options are possible within the scope of the claimed formula.

Claims

FORMULA 1. An exoskeleton for a human back, comprising a torso section containing two vertebral columns, each of which comprises a flexible rod on which vertebrae and intervertebral spacers are mounted in alternating fashion, connected in the upper part to a shoulder girdle section, and in the lower part to a hip joint section, wherein the flexible rod is located in the cavity of the vertebrae and intervertebral spacers, wherein the vertebral columns are connected to each other by corresponding parallel vertebrae, the intervertebral spacers are made in the form of elastic elements connected to the upper and lower vertebrae to cushion the load between them, placed in an elastic body.

2. An exoskeleton for the human back according to item 1, characterized in that the elastic elements are made in the form of wave springs.

3. An exoskeleton for the human back according to paragraph 1, characterized in that the elastic body is made on a rubber basis.

4. An exoskeleton for the human back according to paragraph 1, characterized in that the vertebrae contain coaxial cavities in which cords for pads are installed, located on the outer lateral side of each spinal column.

5. An exoskeleton for the human back according to paragraph 4, characterized in that the cords for the pads are designed with the possibility of fixation by means of fasteners in the upper and lower parts of the spinal columns.

6. An exoskeleton for the human back according to paragraph 1, characterized in that the shoulder girdle section is made in the form of a rigid frame, including left and right shoulder holders, each of which is secured to one end of an extension element, the other end of which is secured to a transition element, and connected to the upper intervertebral spacer of the corresponding spinal column by means of a flexible rod.

7. An exoskeleton for the human back according to item 6, characterized in that the shoulder girdle section includes rigid pads for holding the mass of the payload, rigidly fixed to the extension elements.

Images