Features of the mechanics of the working prototype of the rehabilitation exoskeleton of the lower extremities

The minimum set of necessary rehabilitation regimes for the lower extremities with the use of a rehabilitation exoskeleton was compiled and described in the work. These rehabilitation modes are applied to the working prototype of the exoskeleton of the lower extremities and the formulas of the PID controller and the speed of the drives are described. Methods were described to prevent injuries and muscle rupture of a patient undergoing rehabilitation in an exoskeleton using a gyroscope and accelerometer, current sensors and tracking the timing of exoskeleton movements. For the gyroscope and accelerometer, the formulas used in the traditional method of calculating values from the values obtained from inertial sensors are indicated in the work. The Kalman filter is described, which allows smoothing the signals of the gyroscope and accelerometer, and a complementary filter that corrects the angles calculated from the gyroscope by the value of the angles calculated from the accelerometer. All the described rehabilitation regimes and methods of injury prevention allow using a working prototype of the exoskeleton of the lower extremities for its intended purpose without the possibility of harming the patient.