Modernization of an industrial passive exoskeleton prototype for lower extremities using rapid prototyping technologies

Abstract

The work is devoted to an urgent problem: increasing the efficiency of exoskeleton design. Such devices are needed to perform work that requires high physical activity in various production processes [1-18]. Currently, there are no industrial exoskeleton designs that meet the needs of customers [19-30]. To determine the effective design option, analogues of foreign and domestic markets are studied [31-33]. Based on a comparative analysis of characteristics, it is revealed that the Russian exoskeleton developed by Karfidov Lab LTD. [34] has the highest performance in comparison with competitors. However, this design lacks a convenient system for fixing the saddle to support the user, and the exoskeleton has a large weight - 6 kg. As a result of the work performed, some modernization is proposed, taking into account the solution of problems. For this, a solid 3D-model in the SolidWorks environment and design documentation for exoskeleton production are developed. To reduce the exoskeleton weight, it is decided to use plastic parts. Support for the user’s body is provided, made in the form of a vest, as well as fixation system in the form of belts located on the foot, lower leg and thigh. It is decided to install a gas spring from the manufacturer Suspa, model Varilock EL2-111-79- 600N, which enables to increase the shock absorption when the exoskeleton is active. To increase the strength of plastic parts, a reinforcement method is used. A saddle is introduced that provides a soft contact between the user and the system in the active and passive positions of the exoskeleton.