If you are one of those who watched all the parts with great pleasure " Iron Man", you were probably delighted with iron suit, which Tony Stark wore before fighting the villains. Agree, it would be nice to have such a suit. In addition to the ability to take you anywhere in the blink of an eye, even for bread, it would protect your body from all kinds of damage and give superhuman strength.

It probably won't surprise you that very soon, a lighter version of the Iron Man suit will allow soldiers to run faster, carry heavier weapons and navigate rough terrain. At the same time, the suit will protect them from bullets and bombs. Military engineers and private companies have been working on exoskeletons since the 1960s, but only recent advances in electronics and materials science have brought us closer to realizing this idea than ever before.

In 2010, American defense contractor Raytheon demonstrated an experimental exoskeleton called XOS 2—essentially a robotic suit controlled by human brain- who can lift two to three times more weight than a person, without any effort or outside help. Another company, Trek Aerospace, is developing an exoskeleton with a built-in jetpack that can fly at speeds of 112 km/h and hover motionless above the ground. These and a number of other promising companies, including such monsters as Lockheed Martin, are bringing the Iron Man suit closer to reality every year.

Read the interview with the creator of the Russian exoskeleton Stakhanov.

ExoskeletonXOS 2 fromRaytheon

Note that not only the military will benefit from the development of a good exoskeleton. One day, people with spinal cord injuries or degenerative diseases that limit mobility will be able to move around with ease thanks to external frame suits. The first versions of exoskeletons, such as ReWalk from Argo Medical Technologies, have already entered the market and received widespread approval. However, at the moment, the field of exoskeletons is still in its infancy.

What revolution do future exoskeletons promise to bring to the battlefield? What technical hurdles must engineers and designers overcome to make exoskeletons truly practical for everyday use? Let's figure it out.

History of the development of exoskeletons

Warriors have been putting armor on their bodies since time immemorial, but the first idea of ​​a body with mechanical muscles appeared in science fiction in 1868, in one of Edward Sylvester Ellis's dime novels. The book "Steam Man of the Prairies" described a giant steam engine human form, which moved its inventor, the brilliant Johnny Brainerd, at a speed of 96.5 km/h when he hunted bulls and Indians.

But this is fantastic. The first real patent for an exoskeleton was received by Russian mechanical engineer Nikolai Yagn in the 1890s in America. The designer, known for his developments, lived overseas for more than 20 years and patented a dozen ideas describing an exoskeleton that allows soldiers to run, walk and jump with ease. However, in fact, Yagn is known only for the creation of the “Stoker's Friend” - an automatic device that supplies water to steam boilers.

Exoskeleton patented by N. Yagn

By 1961, two years after Marvel Comics came up with Iron Man and Robert Heinlein wrote Starship Troopers, the Pentagon decided to make its own exosuits. He set out to create a "servo soldier", which was described as a "human capsule equipped with steering and amplifiers" that allowed heavy objects to be moved quickly and easily, as well as protecting the wearer from bullets, poisonous gas, heat and radiation. By the mid-1960s, Cornell University engineer Neil Meisen had developed a 15.8-kilogram wearable framed exoskeleton, dubbed the “superman suit” or “human amplifier.” It allowed the user to lift 453 kilograms with each arm. At the same time, General Electric had developed a similar 5.5-meter device, the so-called “pedipulator,” which was controlled by an operator from the inside.

Despite these very interesting steps, they were not crowned with success. The suits proved impractical, but research continued. In the 1980s, scientists at the Los Alamos Laboratory created a design for the so-called Pitman suit, an exoskeleton for use by American troops. However, the concept remained only on the drawing board. Since then, the world has seen several more developments, but lack of materials and energy limitations have not allowed us to see the real Iron Man suit.

For years, exoskeleton manufacturers have been stymied by the limits of technology. The computers were too slow to process the commands that powered the suits. There wasn't enough power supply to make the exoskeleton portable enough, and the electromechanical actuator muscles that moved the limbs were simply too weak and bulky to function in a "human" way. Nevertheless, a start had been made. The idea of ​​an exoskeleton turned out to be too promising for the military and medical fields to simply part with it.

Man-machine

In the early 2000s, the quest to create a real Iron Man suit began to get somewhere.

The Defense Advanced Research Projects Agency DARPA, the Pentagon's incubator for exotic and advanced technologies, launched a $75 million program to create an exoskeleton to complement the human body and its performance. DARPA's list of requirements was quite ambitious: the agency wanted a vehicle that would allow a soldier to tirelessly carry hundreds of kilograms of cargo for days on end, support large guns that typically require two operators, and be able to carry a wounded soldier off the battlefield if necessary. In this case, the car must be invulnerable to fire, and also jump high. Many immediately considered DARPA's plan impracticable.

But not all.

Sarcos - led by robot creator Steve Jacobsen, who had previously created an 80-ton mechanical dinosaur - came up with an innovative system that used sensors and used those signals to control a set of valves, which in turn adjusted hydraulics under high pressure in the joints . The mechanical joints moved cylinders connected by cables that mimicked the tendons that connect human muscles. As a result, the experimental exoskeleton XOS was born, which made a person look like a giant insect. Sarcos was eventually acquired by Raytheon, which continued development to introduce the second generation of the suit five years later.

The XOS 2 exoskeleton excited the public so much that Time magazine included it in its Top 5 list of 2010.

Meanwhile, other companies, like Berkeley Bionics, were working to reduce the amount of energy that artificial prosthetics required so that the exoskeleton could function long enough to be practical. One project from the 2000s, the Human Load Carrier (HULC), could operate for up to 20 hours on a single charge. Progress was moving forward little by little.

Exoskeleton HAL

By the end of the decade, the Japanese company Cyberdyne had developed a robotic suit called HAL, even more incredible in its design. Instead of relying on the muscle contractions of a human operator, HAL operated on sensors that read electrical signals from the operator's brain. In theory, a HAL-5-based exoskeleton could allow the user to do anything they want just by thinking about it, without moving a single muscle. But for now, these exoskeletons are a project of the future. And they have their own problems. For example, only a few exoskeletons have been approved for public use to date. The rest are still being tested.

Development problems

By 2010, the DARPA project to create exoskeletons led to certain results. Currently, advanced exoskeleton systems weighing up to 20 kilograms can lift up to 100 kilograms of payload with virtually no operator effort. At the same time, the latest exoskeletons are quieter than an office printer, can move at a speed of 16 km/h, perform squats and jump.

Not long ago, one of the defense contractors, Lockheed Martin, introduced its exoskeleton designed for heavy lifting. The so-called “passive exoskeleton,” designed for shipyard workers, simply transfers the load to the exoskeleton’s legs on the ground.

The difference between modern exoskeletons and those developed in the 60s is that they are equipped with sensors and GPS receivers. Thus, further raising the stakes for military use. Soldiers could gain a host of benefits using such exoskeletons, from precise geopositioning to additional superpowers. DARPA is also developing automated fabrics that could be used in exoskeletons to monitor heart and respiratory health.

If American industry continues to move along this path, it will very soon have vehicles that can not only move “faster, higher, stronger,” but also carry an additional several hundred payloads. However, it will be at least several more years before the real " iron men"will enter the battlefield.

As is often the case, the developments of military agencies (think, for example, the Internet) can be of great benefit in peacetime, as the technology will eventually come out and help people. Suffering from complete or partial paralysis, people with spinal cord injuries and muscle atrophy will be able to lead more fulfilling lives. Berkeley Bionics, for example, is testing eLegs, a battery-powered exoskeleton that would allow a person to walk, sit, or simply stand for long periods of time.

One thing is certain: the process of rapid development of exoskeletons began at the beginning of this century (let's call it the second wave), and how it all ends will become known very, very soon. Technologies never stand still, and if engineers take on something, they bring it to its logical conclusion.

Exoskeleton For the first time, it can become more accessible to the mass consumer, bringing real practical benefits. The latest news on this topic was published by the industry portal Composites Today!

The new exoskeleton will make walking more comfortable and easier. The device is a boot made using composite materials and does not require power sources to operate!

New exoskeleton! How is it useful?

A group of American developers consisting of Stephen Collins, Bruce Widgin And Gregory Savitsky presented to the world new exoskeleton in the form of peculiar boots. The new product is interesting the fact that its design is created using innovative materials and does not involve the use of batteries or external power sources. These features not only made it possible to significantly reduce the weight of the device (each the boot weighs less than one and a half kilogram) but also make it completely autonomous!

Studies have shown that a “pedestrian” exoskeleton can reduce a person’s energy consumption when walking up to 7%! This result is truly can be called breakthrough! Although the first attempts to facilitate human movement began in the 80s of the last century, today the greatest success in this matter, among autonomous devices, has been achieved only by specialized rubber bands, which are far from the performance of the mentioned boots. As for exoskeletons in general, there are already many units of this type in the world, but all of them, as a rule, use artificial energy sources. This, in turn, limits freedom and autonomy of movement.

Exoskeleton - Boots: How it works (video)

How the exoskeleton works in the form of boots is quite simple. The device, made of carbon fiber, has a spring that is attached to the leg through mechanical device(ratchet) on the back just below the knee. The exoskeleton has a frame made of lightweight fiber carbon material, as well as a spring that connects the back of the foot to the top of the shin (just below the back of the knee), where it is connected to a mechanical clutch. When the Achilles tendon is stretched, the sleeve engages in the up position and the spring stretches like a tendon, storing energy. Once the walking leg is lowered, the clutch moves to the down position, the spring relaxes, releasing elastic energy that pushes the clutch up again, starting the next cycle. IN general view The exoskeleton operating cycle consists of the following stages:

1. The ratchet engages;
2. The spring weakens, the released elastic energy pushes the ratchet upward;
3. The ratchet is fixed at the highest point;
4. As the weight moves, the spring stretches;
5. The spring reaches maximum tension;
6. The ratchet is released, the leg is moved one step forward, and the cycle repeats.

It should be noted that scientists have been working on this project for many years. Many design options and materials were tried. Ultimately the choice fell on composite material using carbon fiber.

The presented specimen can be considered a breakthrough in the industry and ready (to one degree or another) for practical use, however, the researchers do not stop there! Options for improving the design through the use of electronics, which will allow tracking individual characteristics walking and terrain features (for example, climbing a mountain).

In addition, the creators of the innovative exoskeleton hope to team up with sports equipment manufacturers to gain financial and technological support that will allow them to commercialize the invention. It is assumed that exoskeleton boots will cost no more than ski boots. Given these prerequisites, we can assume that the new development will clearly find its buyer and will be in demand.

History of the exoskeleton

The first device in history that can be classified as an exoskeleton can be called the invention of a Russian craftsman Nicholas Young. In 1890, he introduced a design consisting of bags of compressed gas to facilitate movement. For obvious reasons, the first exoskeleton was extremely primitive.

The next step in the development of exoskeletons was made by an American inventor Leslie Kelly in 1917. The design, called pedomotor, used steam energy.

The first exoskeleton, in the modern sense of the word, was developed in 1960 by the company GeneralElectric for the needs of the US armed forces. A device called Hardiman made it possible to lift weights up to 110 kilograms, using an effort comparable to a person lifting a weight of 4.5 kg. The design of the exoskeleton included hydraulic mechanisms and electricity as a source for operation. However, Hardiman also had a number of significant shortcomings: high dead weight (about 680 kg); low speed; low level control over manipulation. It should be noted that this device has never been tested with a person inside, due to the high risk to the life and health of the tester.

In 1969, the first pneumatically driven walking exoskeleton was developed in Yugoslavia.

Exoskeleton from DARPA(Photo: en.Wikipedia.org)

Achieved much more success Monty Reed while working on a project DARPA. Reed was injured in a parachute jump failure. While in the hospital recovering, he read a book Robert Heinlein « Starship Troopers " In it, the exoskeleton ceases to be the key equipment of a soldier. The book inspired Reed, and in 1986 the world was presented LifeSUIT, created as part of the project Pitman. Developments in this direction continued. One of the latest modifications was the LifeSUIT 14 exoskeleton, capable of covering a distance of 1 mile on a full charge and lifting the operator’s weight up to 92 kg.

In January 2007, it became known that the US Department of Defense (Pentagon) had placed an order and provided funds to the University of Texas to create a new class of exoskeletons for military use. As part of the project, among other things, it was planned to study artificial electroactive polymers designed to increase the strength coefficient, reduce the weight of the structure and increase the efficiency of movement. As a result, the developers have achieved significant success! They were based on nylon thread and fishing line. “Polymer muscles” from the USA exceed the capabilities of human muscles by 100 times! Moreover, their price is only $5 per kilogram, while muscles for the exoskeleton made from titanium and nickel alloys cost at least $3,000 per 1 kg.

Since the end of 2013, active research into the issue of exoskeletons has been carried out in Russia. The project, called ExoAtlet, aims to create a mechanism intended for medical purposes.

Why do you need an exoskeleton?

A mechanism that can facilitate a person’s movement and increase his physical strength promises great prospects!

Today, experts identify 3 main areas where the exoskeleton will be in great demand.

1. First of all, this is - military industry! Actually, it was here that exoskeletons received their initial impetus for development and progress. The design will help the soldier carry more weight (including weapons) and protect him with a layer of armor.
2. Exoskeletons can also bring great benefits in the medical segment. They will make life easier and help with mobility for people with damaged musculoskeletal systems.
3. The third area where exoskeletons will be in demand is the use of similar structures for work. For example, in construction or loading and unloading operations.

Thus, it can be stated that exoskeleton - the unit of the future! If you have a couple of million dollars, you should probably think about investing in this sector of the national economy.

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An exoskeleton is an external frame that allows a person to perform truly fantastic actions: lift weights, fly, run at great speed, make giant leaps, etc. And if you think that only the main characters of “Iron Man” or “Avatar” have such devices, then you are deeply mistaken. They have been available to humanity since the 60s. last century; Moreover, you can learn how to assemble an exoskeleton with your own hands! However, first things first.

Exoskeleton: introduction

Today you can easily buy yourself an exoskeleton - similar products are produced by Ekso Bionics and Hybrid Assistive Limb (Japan), Indego (USA), ReWalk (Israel). But only if you have an extra 75-120 thousand euros. In Russia, only medical exoskeletons are currently produced. They are designed and produced by the Exoatlet company.

Scientists from General Electric and United States Military corporations made the first exoskeleton with their own hands back in the sixties of the last century. It was called Hardiman and could freely lift into the air a maximum load of 110 kg. The person who put on this device experienced a load in the process, as if lifting 4.5 kg! Only Hardiman himself weighed all 680 kg. That is why he was not in great demand.

All exoskeletons are divided into three types:

fully robotic;

• for legs.

Modern robotic suits weigh from 5 to 30 or more kg. They can be either active or passive (working only at the operator’s command). According to their purpose, exoskeletons are divided into military, medical, industrial and space. Let's look at the most remarkable of them.

The most impressive exoskeletons of our time

Of course, it won’t be possible to assemble such exoskeletons with your own hands at home in the near future, but it’s worth getting to know them:

• DM (Dream machine). This is a fully automatic hydraulic exoskeleton that is controlled by the voice of its operator. The device weighs 21 kg and can support a person weighing up to a hundredweight. So far it is used for the rehabilitation of patients who cannot walk due to diseases of the central nervous system or other neuromuscular diseases. The approximate cost is 7 million rubles.
• Exo GT. The mission of this exoskeleton is the same as the previous one - it helps people with pathologies of motor functions of the legs. The characteristics are similar to the previous one, the price is 7.5 million rubles.
• ReWalk. Called to once again give movement to people with paraplegia. The device weighs 25 kg and can work without recharging for 3 hours. The exoskeleton is available in Europe and the USA for an amount equivalent to 3.5 million rubles.
• REX. Today this device can be bought in Russia for 9 million rubles. The exoskeleton gives people with leg paralysis not only independent walking, but also the ability to stand up/sit down, turn around, moonwalk, go down stairs, etc. REX is controlled by a joystick and can function without recharging all day.
• HAL (Hybrid Assistive Limb). There are two versions - for arms and for arms/legs/torso. This invention allows the operator to lift a weight 5 times heavier than the limit for a person. It is also used for the rehabilitation of paralyzed people. This exoskeleton weighs only 12 kg, and its charging lasts for 1.0-1.5 hours.

How to make your own exoskeleton: James Hacksmith Hobson

The first and so far only person who managed to construct an exoskeleton outside the laboratory is Canadian engineer James Hobson. The inventor has assembled a device that allows him to freely lift 78-kilogram cinder blocks into the air. Its exoskeleton operates on pneumatic cylinders, which are supplied with energy by a compressor, and the device is controlled using a remote control.

The Canadian does not keep his invention a secret. You can learn how to assemble an exoskeleton with your own hands following his example on the engineer’s website and on his YouTube channel. However, keep in mind that the weight lifted by such an exoskeleton rests solely on the operator's spine.

DIY exoskeleton: rough diagram

There are no detailed instructions for easily assembling the exoskeleton at home. However, it is clear that it will require:

• frame, characterized by strength and mobility;
• hydraulic pistons;
• pressure chambers;
• vacuum pumps;
• power supply;
• durable tubes that can withstand high pressure;
• computer for control;
• sensors;
• software that allows you to send and convert information from sensors for required work valves

How this composition will roughly work:

1. One pump must increase the pressure in the system, the other must decrease it.
2. The operation of the valves depends on the pressure in the pressure chambers, the increase/decrease of which will control the system.
3. Arrangement of sensors (against the movement of the limbs): six - arms, four - back, three - legs, two feet (more than 30 in total).
4. Computer software should eliminate pressure on the sensors.
5. Sensor signals need to be divided into conditional (the information from them is useful if the unconditional sensor does not “speak” about the pressure it experiences) and unconditional. The conditionality/unconditionality of these elements can be determined, for example, by an accelerometer.
6. The exoskeleton's hands are three-fingered, separated from the operator's wrist, to prevent injury and provide additional strength.
7. The power source is selected after assembly and trial testing of the exoskeleton.

So far, only in the field of rehabilitation, they are already beginning to enter our lives. Inventors are emerging who are able to build such a device outside the laboratory. It is quite possible that in the near future any schoolchild will be able to assemble a Stalker exoskeleton with his own hands. It is already possible to predict that such systems are the future.

I remember watching “Avatar” and being completely stunned by the exoskeletons shown there. Since then, I think that the future lies with these smart pieces of hardware. I also really want to apply my misguided little hands to this topic. Moreover, if you believe the analytical agency ABI Research, the global market for exoskeletons will be $1.8 billion by 2025. At this stage, not being a technician, engineer, architect or programmer, I am somewhat confused. I'm thinking about how to approach this topic. I would be glad if people who would potentially be interested in participating in such projects would be noted in the comments to the article.
There are currently four key companies operating in the exoskeleton market: the American Indego, the Israeli ReWalk, the Japanese Hybrid Assistive Limb and Ekso Bionics. average cost their products range from 75 to 120 thousand euros. In Russia, people also don’t sit without doing anything. For example, the Exoathlete company is actively working on medical exoskeletons.

The first exoskeleton was jointly developed by General Electric and the United States military in the 60s, and was called Hardiman. He could lift 110 kg with a lifting force of 4.5 kg. However, it was impractical due to its significant mass of 680 kg. The project was not successful. Any attempt to use a full exoskeleton resulted in intense uncontrolled movement, as a result of which it was never fully tested with a person inside. Further studies focused on one arm. Although she was supposed to lift 340 kg, her weight was 750 kg, which was twice the lifting force. Without getting all the components together to work practical use Hardiman's project was limited.

Next there will be a brief story about modern exoskeletons, which one way or another have reached the level of commercial implementation.

1. Independent walking. Does not require crutches or other means of stabilization, while leaving your hands free.
4. The exoskeleton for the legs allows you to: stand up\sit down, turn around, walk backwards, stand on one leg, walk up the stairs, walk on various, even inclined surfaces.
5. The device is very easy to control - all functions are activated using the joystick.
6. The device can be used all day thanks to the high-capacity removable battery.
7. With the REX's light weight of only 38 kilograms, it can support users weighing up to 100 kilograms and with a height of 1.42 to 1.93 meters.
8. Convenient fixation system does not cause any discomfort even if you wear it all day.
9. Also, when the user does not move, but just stands, REX does not waste battery power.
10. Access to buildings without ramps, thanks to the ability to walk up stairs without assistance.

HAL

HAL ( Hybrid Assistive Limb) – is a robotic exoskeleton with upper limbs. At the moment, two prototypes have been developed - HAL 3 (restoration of motor function of the legs) and HAL 5 (restoration of the arms, legs and torso). With HAL 5, the operator is able to lift and carry objects up to five times the weight of maximum load under normal conditions.

Price in Russia: they promised for 243,600 rubles. The information could not be confirmed.

Features and technical specifications:

1. Device weight 12 kg.
3. The device can work from 60 to 90 minutes without recharging.
4. The exoskeleton is actively used in the rehabilitation of patients with pathology of motor functions of the lower extremities due to disorders of the central nervous system or as a consequence of neuromuscular diseases.

Rewalk

Rewalk is an exoskeleton that allows paraplegics to walk. Like an exoskeleton or a bioelectronic suit, the ReWalk device uses special sensors to detect deviations in a person's balance and then transforms them into impulses that normalize his movements, allowing the person to walk or stand. ReWalk is already available in Europe and is currently FDA approved in the United States.

Price in Russia: from 3.4 million rubles (on order).

Features and technical specifications:

1. Device weight 25 kg.
2. The exoskeleton can support up to 80 kg.
3. The device can work up to 180 minutes without recharging.
4. Battery charging time 5-8 hours
5. The exoskeleton is actively used in the rehabilitation of patients with pathology of motor functions of the lower extremities due to disorders of the central nervous system or as a consequence of neuromuscular diseases.

Exo bionic

Ekso GT is another exoskeleton project that helps people with severe musculoskeletal diseases regain the ability to move.

Price in Russia: from 7.5 million rubles (on order).

Features and technical specifications:

1. Device weight 21.4 kg.
2. The exoskeleton can support up to 100 kg.
3. Maximum width hips: 42 cm;
4. Battery weight: 1.4 kg;
5. Dimensions (HxWxD): 0.5 x 1.6 x 0.4 m.
6. The exoskeleton is actively used in the rehabilitation of patients with pathology of motor functions of the lower extremities due to disorders of the central nervous system or as a consequence of neuromuscular diseases.

DM

DM ( Dream machine) – a hydraulic automated exoskeleton with a voice control system.

Price in Russia: 700,000 rubles.

Features and technical specifications:

1. Device weight 21 kg.
2. The exoskeleton must support the user's weight up to 100 kg.
3. The scope of application can be much wider than the rehabilitation of patients with pathology of motor functions of the lower extremities due to disorders of the central nervous system or as a consequence of neuromuscular diseases. This could be industry, construction, show business and the fashion industry.

Issues for discussion:

1. What is the optimal composition of a project team?
2. What is the cost of the project at the initial stage?
3. What are the pitfalls?
4. How do you see optimal time implementation of a project from idea to commercial launch?
5. Is it worth starting a similar project now and why?
6. What should be the geography and market expansion?
7. Are you personally ready to take part in such a project and if so, in what capacity?

ZY I would be grateful for constructive discussion, opinions, arguments and arguments for and against in the comments. I'm sure I'm not the only one thinking about this. Meanwhile, I am sure that the exoskeleton is the new iPhone in world popular culture on the horizon of the next ten years.

DIY exoskeleton

How can you implement an exoskeleton yourself?

To make it wildly strong, as I understand it, you should stick to hydraulics.
For the hydraulic system to work you need:

- durable and movable frame
-minimally necessary set hydraulic pistons (I’ll call them “muscles”)
- two vacuum pumps, two pressure chambers with a valve system connected by a tube.
-tubes that can withstand high pressure.
-power supply exoskeleton
To control the valve system:
-A small dead computer
-about 30 sensors with seven (for example) degrees proportional to the degrees of valve openness
- a special program capable of reading the states of sensors and sending the corresponding commands to the valves.

Why is all this necessary:

- “muscles” and the frame are actually the entire musculoskeletal system.
-vacuum pumps. why two? so that one increases the pressure in the pressure chambers, pipes and muscles, and the second reduces it.
-pressure chambers connected by a tube. in one, increase the pressure, in the second, decrease, and equip the tube with a valve that opens only in two cases: equalizing the pressure, ensuring idling of the liquid.
-valves. it's simple and efficient system control, which will depend on the pressure in the pressure chamber and computer control. increasing the pressure in the pressure chamber by opening the valves of the “stressed muscles” channels will allow you to carry out certain actions, increasing the pressure on the hydraulic pistons, moving parts of the skeleton (frame).

Sensors, why about thirty? Two for the feet, three for the legs, six for the arms and 4 for the back. how to arrange them? against the movement of the limbs. so that the leg pushed forward puts pressure from the inside on the exoskeleton and on the sensor on its inner side. I will further explain why this is so.
- a computer with a program. The main task of the computer and the program is to make sure that the sensors do not experience pressure, then the person inside will not feel the unnecessary resistance of the exoskeleton, which will strive to repeat human movements regardless of the activity of nerves, muscles or other biometric indicators, thereby allowing the use of much cheaper sensors than, for example, in high-tech exoskeletons. sensor signals for the computer should be divided into two groups: with unconditional control hydraulic system and accepted only on the condition that the opposite sensor with unconditional control does not experience pressure. This implementation will keep the leg resting with the knee on the ground from automatic extension if the person does not straighten it himself. But to do this, the person inside the exoskeleton will have to lift his leg from the ground (or he needs to programmatically reduce the sensitivity of the sensors triggered by the condition). Using the leg as an example: place sensors with an unconditioned signal on the front side, and sensors with an unconditioned signal on the back. Imagine for yourself how the movement will be carried out. when a person bends his leg, the exoskeleton leg will bend even if the entire weight of the person is on the sensors that extend the leg. Here, using an accelerometer (or another device similar to a vestibular one), you can programmatically set a change in the unconditionality of sensor signals depending on the position of the body in space, eliminating the twisting of the exoskeleton when falling on your back.

Next, to increase the strength, make the hands three-fingered, strong, you can combine hydraulics and a metal cable. the hand should be separate from the human one, that is, in front of the wrist joint, this will eliminate the design difficulties associated with the presence of the human hand in the exoskeleton hand and will not allow injury to the human hand, as well as the human foot should be on the ankle joint of the exoskeleton and protected.
-hand control. a little free space for two-thirds of the freedom of movement of the hand and fingers of a person in the exoskeleton hand and a system of three rings on cables, three fingers from the little finger to the middle finger in one, the index in the other and the thumb in the third. all control comes down to the fact that the human fingers, moving the ring that is put on them, scroll the sensor wheel with a cable, depending on the rotation of which the fingers of the exoskeleton bend and straighten. this will rule out extra effort hydraulics to extend or bend the fingers of the exoskeleton beyond its design capabilities. use one cable for two rings, one or two for one. Why? because the fingers from the little finger to the index finger need to be bent and unbent only in one direction, and the thumb in two. If you want, you can check it with your own hands.

Power supply exoskeleton- here again, this is where terrible bullshit comes out. You need to select a power source only after making all the necessary calculations, maximizing the optimization of the exoskeleton design and measuring its energy consumption.