Orthopedic joint and method for controlling it

Description

[0001] The invention relates to an orthopaedic joint, in particular a prosthetic joint or orthotic joint, having an upper part and a lower part pivotably arranged thereon and a resistance device arranged between the upper part and the lower part, which resistance provides a resistance against a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjusting device via which the resistance can be adjusted, wherein the adjusting device is coupled to a control device which is coupled to at least one sensor, so that the resistance can be adjusted via the control device on the basis of sensor data which are transmitted from the at least one sensor to the control device, wherein a function is stored in the control device,in which the joint is locked against pivoting in at least one direction depending on the sensor data, and the function for locking can be activated and unlocking can be deactivated based on the sensor data. The invention also relates to a method for controlling an orthopedic joint, in particular a prosthetic joint or orthotic joint, having an upper part and a lower part pivotably arranged thereon, and a resistance device arranged between the upper part and the lower part, which provides resistance to a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjusting device via which the resistance is adjusted based on sensor data transmitted from at least one sensor to a control device connected to the adjusting device, in such a way thatthat when a function is activated, the joint is locked against pivoting and when the function is deactivated, the joint is unlocked.

[0002] Orthopedic devices such as prostheses, orthoses, or exoskeletons have joints that movably connect two components of the orthopedic device. The ability of the two components to pivot relative to each other about a pivot axis, which can be designed as a fixed pivot axis in a single-axis joint or as a moving pivot axis in a multi-link system, enables, for example, guidance and support of a movement by an orthosis or the execution of movements that correspond to natural movement. In the case of a prosthesis or orthosis of the lower extremity, this can achieve a movement pattern that approximates natural movement. A prosthetic foot is connected to a lower leg shaft or a lower leg tube via an ankle joint. The lower leg tube is attached to a prosthetic knee joint, which is attached to a femoral stump via a femoral shaft.The same applies to orthoses applied to existing limbs. The orthopedic device can bridge one or more joints, for example, a knee joint and / or an ankle joint, or, in the case of an upper extremity, an elbow joint and / or a wrist joint.

[0003] In order to influence the pivoting around the pivot axis, dampers are known from the prior art that offer resistance to extension and / or flexion movements. The resistance can be adjustable; it is also possible for the resistance to change depending on the load situation or movement parameters. During a rapid movement, for example, greater resistance can be provided automatically; it is also possible to set or change a resistance curve depending on the angle or load. The adjustment can be made mechanically or mechatronically. In a mechatronic embodiment of the damper or resistance device, movement data, load data and / or position data are recorded via sensors and transmitted to a control device.This generates an activation or deactivation signal for an actuator or adjustment device to reduce or increase the respective resistance. This can be achieved, for example, by changing the flow cross-section in a hydraulic damper or by changing a magnetic field in magnetorheological resistance devices. The resistance device can also be designed as an electric motor, which, in generator mode, provides resistance to a pivoting movement.

[0004] Especially with computer-controlled joints or joint devices with sensors, different control programs can be stored to provide adapted resistance behavior for different loads or movement situations. For walking on level ground, a resistance profile can be generated for a step cycle that differs from walking on a ramp. Furthermore, computer-controlled joints have functions stored for special situations, for example, where a joint is locked by repeatedly executing a specific movement pattern, or where a lock is activated or deactivated after a certain time period. The "C-Leg®<" from Ottobock features a standing function that can be activated via a movement pattern. There is also the option of an intuitive standing function that locks the joint when it is held still in a flexed position.If the position of the leg changes, the standing function is deactivated.

[0005] The parameters for activating and deactivating special functions are either fixed or are determined individually for the patient and set once.

[0006] DE 10 2009 052 887 A1 relates to a method for controlling an orthotic or prosthetic joint of a lower extremity with a resistance device to which at least one actuator is assigned, via which the flexion and / or extension resistance is changed depending on sensor data.

[0007] WO 01 / 43669 A1 relates to a prosthesis or orthosis comprising two parts connected to one another by an articulated joint and a control device for the joint with at least one sensor that determines the position of at least one part relative to a fixed line, in particular the direction of gravity. The sensor is coupled to the control device, and based on the determined data, the joint is influenced, for example, a resistance is changed.

[0008] WO 2011 / 057790 A1 relates to a method and a device for controlling an artificial orthotic or prosthetic joint of a lower extremity with a resistance device to which at least one actuator is assigned, via which the flexion and / or extension resistance is changed depending on sensor data, wherein status information is provided via sensors during use of the joint. The resistance in the stance phase or while standing is increased from an initial value depending on the ground reaction force until the joint is locked. In addition, an adjustment device is provided via which the load-dependent resistance change can be activated and / or deactivated.

[0009] The object of the present invention is to provide a joint and a method for controlling a joint that can be more easily adapted to the needs of the respective user.

[0010] This object is achieved by a joint having the features of the main claim and a method having the features of the subordinate claim. Advantageous embodiments and further developments of the invention are disclosed in the subclaims, the description, and the figures.

[0011] The orthopedic joint comprising an upper part and a lower part pivotably arranged thereon, and a resistance device arranged between the upper part and the lower part, which provides resistance against a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjustment device via which the resistance can be adjusted, wherein the adjustment device is coupled to a control device coupled to at least one sensor, such that the resistance can be adjusted via the control device based on sensor data transmitted from the at least one sensor to the control device, wherein a function is stored in the control device in which the joint is locked against pivoting in at least one direction depending on the sensor data, wherein the function can be activated for locking and deactivated for unlocking based on the sensor data,provides that at least one parameter for activation and at least one parameter, which is different from the activation parameter, for deactivating the function are correlated with each other. With such a joint, it is possible to adjust the characteristics for activating and deactivating the lock. The patient's behavior for triggering a lock or for releasing a lock can be correlated across multiple parameters. The parameter, or the parameter that leads to locking the joint, can be changed, for example, with regard to sensitivity and can lead to locking of the joint particularly quickly; at the same time, the parameter that leads to deactivation of the joint is also changed. The respective parameter can be composed of several sensor values ​​or properties, for example, a time factor and a movement factor. If, for example, the joint is not moved for a certain period of time,This can serve as a parameter for locking a joint. A less sensitive parameterization specifies that locking only occurs after a complete standstill for a comparatively long period of time. A more sensitive parameterization can specify that slight relative movements or pivoting are permitted within the same period, or that locking is activated or initiated when the joint is completely stationary and this standstill lasts only a short time, or when the joint is briefly and almost completely immobilized. Conversely, the corresponding deactivation can also be set sensitively, for example, by lowering a threshold value for the change in spatial position or a slight change in an axial load.

[0012] A joint can be locked by positively locking it against relative movement of the upper and lower parts. It is also possible for the resistance device, for example a hydraulic damper, a brake, a magnetorheological damper, a linear hydraulic system, and / or an electric motor in generator mode, to be set to such a high resistance value that displacement is not to be expected under normal load, or that relative movement of the upper and lower parts is only possible very slowly or with the application of very high forces and moments. Locking can thus involve complete immobilization of the joint or mean very high resistance to flexion and / or extension.

[0013] The duration of a static state of the joint device can be stored as a parameter for activating the function. From a certain threshold value of the static state, the control device assumes that the joint should be locked and causes the adjustment device to increase the resistance to flexion and / or extension via the resistance device. For this purpose, valves can be closed, magnetic fields applied or switched off, or mechanical resistances such as brakes or form-locking elements activated or engaged. In addition to the time and the presence of a static state, other sensor values ​​or states can also be incorporated into the parameter, for example loads, changes in loads, angular positions of joint components relative to one another, or even absolute positions of joint components in space.

[0014] The parameters for activating or deactivating the function can be a movement of the lower part, a movement of the upper part, a load on the joint or a joint component, or rates of change in the movement or load. In addition, other parameters or characteristics can be stored which make it possible to activate or deactivate the locking function using the resistance device. For example, a sensor can detect a very high acceleration in one direction that would not occur in a normal movement sequence. If, for example, a joint is moved back and forth several times in opposite directions, these accelerations and changes in direction of movement can be used as the basis for locking or blocking or increasing the resistance to a specified value.

[0015] The parameters for deactivating the function can be, for example, a spatial position of the upper part, a spatial position of the lower part, and / or a spatial position of a connecting line between two points proximal and distal to the pivot axis. The connecting line between two specified points can be predefined as a so-called joint tendon. The spatial position of the joint tendon allows conclusions to be drawn about the movement situation. For example, the spatial position of a leg tendon between a thigh and a lower leg, for example, between the hip joint and the ankle joint, can be used to determine whether a user or patient is standing, lying, or sitting.If a knee joint is locked in a stretched, standing position, a forward or backward tilt of the upper part together with the lower part, for example when sitting down, can unlock the joint device by releasing the resistance device or reducing the flexion resistance.

[0016] A further development of the invention provides that threshold values ​​are stored for the parameters for activation and / or deactivation. The threshold values ​​can be stored in a memory device that is coupled to the control device or integrated therein. The threshold values ​​can be variable, giving the user or an orthopedic technician the option of making an individual adjustment to the respective user. The threshold values ​​can be adjusted continuously or in steps. Continuous adjustment can be useful, for example, for a temporal parameter or a temporal characteristic. Step-by-step adjustment makes different threshold values ​​easier to perceive and simplifies setting. In particular, when several measured values ​​are combined to form a parameter, setting can be made easier by combining the values ​​and a predetermined gradation.For example, the sensitivity of the locking mechanism can be adjusted to several levels, from stable to normal to sensitive, using a selection of symbols or icons. Continuous adjustment can be achieved using touch-sensitive control elements on an output device or via rotary knobs or sliders, which can also be digitized and displayed virtually.

[0017] The thresholds for activation and deactivation can be positively correlated. With a sensitive setting for the activation of a lock, a slight action or a low-threshold impulse is required to trigger deactivation. For example, if a joint is locked after a short period of partial immobilization, a positive correlation with deactivation means that a slight displacement, unloading, loading, or acceleration is sufficient to release the lock and allow flexion and / or extension.

[0018] The control device can be connected to a display and a control element for changing the parameters and / or the threshold values ​​of the parameters, making it easy for a user or orthotist to adapt to the specific user. A higher-level criterion such as "sensitivity" can act as a so-called master controller, enabling simple adjustment. Furthermore, it is possible to individually adjust the individual values ​​or influencing variables for the parameters, such as time, load, displacement, magnitude of displacement, speeds, accelerations, moments, or positions in space, and combine them with one another.

[0019] To provide the necessary sensor values, a gyroscope, an inertial measuring unit, an angle sensor, a force sensor, and / or a time sensor can be coupled to the control device in order to make the necessary sensor data available to the control device. Several of these sensors can also be assigned to the orthopedic joint or the orthopedic aid, in particular connected to the joint or the orthopedic aid. In addition to directly attaching the sensors to the joint or to other components attached to the joint, it is also possible to attach the sensors to the user separately from the orthopedic aid and transmit the sensor data to the control device via cable or wirelessly.The control device accommodates the necessary components for the electronic processing of the sensor data, in particular at least one processor, at least one memory, a power supply, storage elements for the required software and a device for recording sensor data and outputting control data with which the adjustment device for the resistance device can be activated or deactivated.

[0020] The method for controlling an orthopaedic joint with an upper part and a lower part pivotably arranged thereon and a resistance device arranged between the upper part and the lower part, which resistance provides a resistance against a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjusting device via which the resistance is adjusted on the basis of sensor data transmitted from at least one sensor to a control device connected to the adjusting device in such a way that when a function is activated the joint is locked against pivoting and when the function is deactivated it is unlocked, provides that at least one threshold value for a parameter for the activation and at least one threshold value for a parameter for the deactivation of the function are correlated with one another.The threshold values ​​for deactivation and activation are stored in the control unit and compared with the sensor data. The sensor data can either be transmitted pre-processed by the sensors or processed as raw data in the control unit and compared in processed form with the threshold values ​​stored in the software. If a parameter or a threshold value for an activation parameter is changed, this leads to a change in the deactivation parameter and, if necessary, vice versa. A threshold value is implemented in the software in the control unit for the orthotist and / or the user. This threshold value allows adjustability or selection of the stability or response behavior of the control unit and thus the response behavior of the locking mechanism.The setting value can change several parameters of the function, for example a standing function, simultaneously and in a well-coordinated manner. If, for example, a fine or sensitive response is desired to activate the function, the function is parameterized so that, for example, a short resting position is sufficient to achieve a lock against flexion and / or extension. At the same time, the necessary threshold values ​​for removing the lock, i.e. for deactivating the lock and thus releasing or reducing the locking resistance, are lowered if a positive correlation exists. The threshold values ​​are, for example, a range of motion or an angular velocity of a joint segment. If there is a negative correlation, the threshold values ​​for removing the lock are increased.Conversely, if high stability and locking are desired, the function can only be parameterized in clear cases such that a longer rest position or a longer duration of a static state is required to achieve locking. If the deactivation parameters are positively correlated, a larger range of motion, a greater angular velocity, or a higher acceleration is required to release the lock or reduce the resistance to a corresponding level.

[0021] If the thresholds or parameters for activation and deactivation are positively correlated, this is usually advantageous for a user because, for example, insecure patients prefer clear situations for locking and unlocking, while users of joints who prefer sensitive locking usually also prefer sensitive control for unlocking.

[0022] The function can be activated in particular on the basis of the duration of a static state of the joint device, in particular on the basis of the duration of a static state in a specific orientation of a component or in a specific orientation of a joint tendon.

[0023] The function can be deactivated based on movement, i.e., a reversal of the static state, of the lower part, the upper part, or through a load on the joint or a joint component. On the other hand, a load on the joint can also be a criterion for activating a lock. The lock can also be released by detecting speeds or accelerations, or by specific orientations of joint components in space or relative to each other.

[0024] In particular, a function that causes a locking can be deactivated based on a spatial position of the upper part, the lower part and / or a connecting line between two points proximal and distal to the pivot axis.

[0025] The threshold values ​​for the activation and / or deactivation parameters are preferably variable, particularly stepwise or continuously adjustable. The parameters can be displayed, for example, on a touch-sensitive display, so that a corresponding parameter adjustment or threshold value adjustment for the respective parameter is made by adjusting a displayed slider or dial, or, in the case of stepwise creation, by touching an icon. Using one or more icons on the display, the user or orthopedic technician can be informed about the threshold values ​​and their properties, so that the person in question receives the necessary information about which settings have what effects.

[0026] Exemplary embodiments of the invention are explained in more detail below with reference to the accompanying figures. They show: Figure 1- an orthopaedic device in the form of an orthosis in a first position; Figure 2 - an orthopaedic device in the form of a prosthesis in a first position; Figures 3 to 6 - a prosthesis according to Figure 2 in different positions; Figure 7 - an orthosis according to Figure 1 during use; Figure 8 - a schematic representation of the adjustment of a locking and unlocking mechanism; Figure 9 - a schematic representation of a prosthetic knee joint; and Figure 10 - various designs of resistance and adjustment devices.

[0027] Figure 1shows a schematic representation of an orthopedic aid in the form of an orthosis 10 with an upper part 11 that is connected to a lower part 12 via a joint 13. The lower part 12 is connected to the upper part 11 about a pivot axis 14. The upper part 11 of the leg orthosis is designed as a shell or splint for receiving a thigh, the lower part 12 is designed to rest against a lower leg and has a foot part that is molded onto the lower part 12 or alternatively fastened thereto. A resistance device 20 is arranged on the upper part 11, via which a pivoting resistance of the lower part 12 relative to the upper part 11 can be adjusted. The resistance device 20 can be used in particular to block a pivoting movement and is designed, for example, as a hydraulic damper, a brake, a magnetorheological resistance device or the like.Sensors 30 are arranged on both the upper part 11 and the lower part 12. These sensors can record information about the current spatial position, the position relative to one another, and, if applicable, loads, angular positions, and / or accelerations of the respective components. The sensors 30 are coupled to a control device 40, either via cable or wirelessly. Within the control device 40, the sensor data is evaluated and compared with threshold values ​​stored in programs or memories within the control device 40. If the corresponding criteria for locking or unlocking the joint 13 are met, the control device 40 outputs a control command to an adjustment device 60 arranged on the resistance device 20.The adjusting device, for example a motor or actuator for adjusting a valve, a coil for changing a magnetic field or another actuating device or another influencing element, then acts within the resistance device 20 or on the resistance device 20 and locks or unlocks the joint 13.

[0028] In the Figure 2A corresponding orthopedic device in the form of a prosthesis is shown. Instead of a thigh shell, the upper part 11 is designed as a thigh shaft for receiving a thigh stump, the joint 13 is designed as a prosthetic knee joint, and the lower part 12 as a lower leg tube or lower leg section. At the distal end of the lower leg section 12, a prosthetic foot is pivotally mounted on a joint 13 in the form of a prosthetic ankle joint. The pivoting occurs about a pivot axis 14', so that the lower leg section 12 is considered the lower part with respect to the prosthetic knee joint 13 and the upper part 11' with respect to the prosthetic ankle joint 13. The foot section is then the lower part 12'.Sensors 30 are also arranged on the prosthesis, for example at least one gyroscope, an acceleration sensor and / or angle sensor on the femoral shaft as the upper part 11, a spatial position sensor or an IMU, an axial force sensor or the like on the lower leg part as the lower part 12, and a torque sensor and / or force sensor can be arranged on the foot part, for example. Several sensors can be arranged on the respective component or assigned to it. In addition, a time sensor or a timing element is arranged or formed in the control device 40, via which a change in state or the duration of a detected state is determined. In the embodiments of the . Figures 1 and 2The user of the orthopedic aid 10 is in a sitting position with the knee joint bent. The bent position is determined, for example, by an angle sensor that detects the angular position of the upper part 11 and lower part 12 in space or relative to each other. Furthermore, the foot part or the prosthetic foot is relieved because part of the body weight is not transferred to the orthopedic aid 10 due to the sitting position. This low axial load is detected, for example, by a force sensor in the foot part or the prosthetic foot. It can be pleasant for the user if a joint 13, 13', i.e. the orthotic or prosthetic knee joint or the prosthetic ankle joint, is locked if the user remains in such a position for a certain period of time.Based on predefined parameters such as axial load, angular position, and / or duration of a static state, a function can be activated to lock the respective joint 13, 13'. To unlock the joint 13, 13', it is necessary to detect a change in the situation. The sensor values ​​and parameters for deactivating the lock, i.e., for unlocking the respective joint 13, 13', are also defined, for example, an increase in the axial load in the foot part or prosthetic foot, a change in the spatial position of the upper part 11, or a moment about a pivot axis 14, 14'. If the predefined threshold values ​​are reached, the control device 40 outputs a corresponding signal, and the resistance device 20 is unlocked by the adjustment device 60.

[0029] In the Figures 3 to 6Different usage situations of the orthopaedic device 10 are shown using the example of a prosthetic leg with a femoral shaft, a prosthetic knee joint, a lower leg part and a jointless prosthetic foot. Figure 3 a user stands on an inclined plane in which Figure 4 the user leans against a wall in which Figure 5 the user leans forward and supports himself on a table in the Figure 6 The user sits on a raised chair. The basic structure of the prosthesis according to the Figures 3 to 6 corresponds to that of the prosthesis according to Figure 2 The difference lies in the design of the orthotic foot as a jointless foot, i.e., without a second joint 13' and a pivot axis 14'. Not all components are shown in the figures to improve clarity.

[0030] In the Figures 3 to 6A connecting line 50 is drawn between two points 51, 52 on the prosthesis. The proximal point 51 is positioned in the area of ​​the greater trochanter, the distal point 52 is positioned in the area of ​​the natural ankle joint at the distal end of the lower leg part 12. The connecting line 50 represents the so-called leg tendon, the orientation and length of which allow conclusions to be drawn about the absolute position of the leg, the respective components, and the movement situation. The spatial position of the connecting line 50 or leg tendon can be calculated based on the spatial position of the upper part 11 and / or the lower part 12 as well as the known distances of the points 51, 52 to the pivot axis 14 and the angular position between the upper part 11 and the lower part 12. Figure 3 The leg tendon 50 is slightly tilted forward in the walking direction and has an almost maximum length due to the slight flexion in the knee joint 13. The flexion in the knee joint in the Figure 4 is larger than in the Figure 3 , however, the leg tendon 50 is tilted backwards. The leg tendon 50 in the position according to Figure 5 is comparatively strongly tilted forward and shortened compared to the position according to Figure 3 , the spatial inclination of the sitting position according to Figure 6 corresponds approximately to the inclination of the leg tendon 50 according to Figure 4 However, the leg tendon 50 is significantly shorter due to the greater knee flexion. Furthermore, different axial forces can be detected in all positions, for example, via a force sensor 30 in the foot section. Likewise, the moments around the knee joint axis 14 are different in each usage situation.

[0031] For example, in order to be able to adapt the locking time of the prosthetic knee joint 13 to the wishes or needs of the respective user in a given situation, the control device 40 is assigned a control element that can be arranged directly on the prosthesis. Alternatively, the control element can be in wireless communication with the control device 40 and, for example, be an application on a mobile phone, a remote control, a computer, or the like. The control element can also be designed as a rotary control, slide control, or other adjustment device.

[0032] For example, if the user is in a position according to Figure 4, this may mean that the user wishes to rest. For this purpose, it is helpful if the joint 13 is locked. It may be desired that this locking by the resistance device 20 be carried out very quickly in order to reduce the user's efforts. If the user changes his position, the prosthesis should resume its normal properties and mobility, for example, for walking on level ground, as quickly as possible. Accordingly, the locking period after detecting the position is determined according to Figure 4 , for example, by detecting the backward inclination of the leg tendon 50 under a torque about the pivot axis 14 and an otherwise static position of the prosthesis. To unlock the resistance device 20, only a slight change in the spatial position of the leg tendon 50 is required, for example, a slight forward tilt.

[0033] If the user is in a forward leaning position according to Figure 5 For example, when working at a low table, a quick locking of the knee joint 13 may be desirable, but a quick unlocking and thus a risk of instability may be undesirable. For such a position of the leg tendon 50 with a corresponding loading situation, negative feedback may be advantageous, i.e., a quick locking with a slow or sluggish unlocking.

[0034] In the Figure 7If the orthopedic device 10 is depicted as an orthosis, rapid locking of the orthotic knee joint 13 in a static position, for example, when the user is working in this position, can also be useful in this position. In addition to the orientation of the leg tendon 50, its static state over a certain period of time can serve as an indicator that locking is required. Furthermore, axial loads or moments can be detected via sensors 30 in the foot part, so that rapid locking may be desired when the leg is subjected to high loads with the orthosis. If the load situation and usage situation change, rapid unlocking may be desired.For this purpose, a control panel, a display or a control element can be arranged on the control device 40, which is located on the thigh part or upper part 11 of the orthosis, so that the sensitivity can be easily adjusted by the user during use.

[0035] Figure 8shows, by way of example, part of a control device 40 with an operating element 42, which is designed as a touch-sensitive element in a display device 41, for example a display. The operating element 42 can also be designed as a mechanical operating element, for example as a controller, slider, or switch. The position of the operating element 42 can be shifted between the two extreme values ​​for very responsive (with rapid locking and correspondingly rapid unlocking) and very stable (very stable). The adjustment can be continuous or stepwise. Below the operating element 42, it is displayed how the time for activation of the lock by the resistance device 20 changes as a result, namely from short to long.For the deactivation of the lock, the parameter associated with this embodiment is shown below, namely the degree of movement, for example the pivoting of a component or the pivoting of the leg tendon 50. In the illustrated embodiment, there is a positive correlation between the parameter for activation (duration of a static state) and the parameter for deactivation (range of motion).

[0036] In the Figure 9A schematic representation of an orthopedic joint 13 in the form of a prosthetic knee joint is shown. The prosthetic knee joint 13 has an upper part 11 and a lower part 12, which are mounted on one another for rotation about a pivot axis 14. The lower part 12 has connection means for attaching a prosthetic foot at its distal end. Likewise, several sensors 30 are arranged on the lower part 12 to record information and status data. For example, spatial position information, axial forces, moments, angles, and / or accelerations can be measured via the sensors 30. The sensor values ​​are transmitted to a control device 40, which contains the devices necessary for processing the sensor signals. These include, in particular, processors, memory devices, software, energy storage devices, and, if applicable, transmitters and receivers for receiving and forwarding signals.The processed sensor signals are used to control the resistance device 20, which in the illustrated embodiment is designed as a braking device that influences a pivoting of the upper part 11 relative to the lower part 12. Furthermore, an operating element 42 is arranged on the lower part 12. This operating element can have a control panel or on which slide controls or rotary knobs for setting parameters or threshold values ​​of the parameters are arranged or formed. In the illustrated embodiment, three operating elements are depicted in a display device 41 in the form of a display. A further display 41 can be arranged in the region of the pivot axis 14, in which the change in the threshold values ​​is displayed. An adjustment device 60 is assigned to the display 41, via which the resistance of the resistance device 20 can be adjusted.The display 41 can also be arranged at another location on the prosthetic knee joint or the orthopedic device and can communicate wirelessly with the adjustment device 60 so that adjustment can be made at any location within easy reach of the user, for example via a mobile phone, a tablet or another graphical user interface.

[0037] In the Figure 10Five variants of adjustment devices and resistance devices are illustrated using prosthetic knee joints; corresponding components can also be arranged on orthoses or exoskeletons. All prosthetic knee joints 13 have an upper part 11 and a lower part 12. In the left-hand illustration, the resistance device 20 is designed as a spindle gear with a motor that can be activated and deactivated via the adjustment device 60. This changes the pivoting of the upper part 11 relative to the lower part 12 and, if necessary, locks it in at least one direction.

[0038] In the second embodiment from the left, the resistance device 20 is designed as a motor that is arranged directly on the upper part 11 and supported against the lower part 12. The motor represents the resistance device 20 and can be supplied with different currents by the adjustment device 60 via a corresponding control, so that different resistances can be provided against flexion and / or extension or a locking in one of the directions.

[0039] In the middle illustration, the joint device 13 is designed as a multi-link system with four links and a non-stationary joint axis. The resistance device 20 is designed as a spindle gear with a motor that can be activated or deactivated via the adjustment device 60 to influence the pivoting of the upper part 11 relative to the lower part 12 or to effect a locking.

[0040] In the fourth embodiment from the left, the resistance device 20 is designed as a hydraulic damper or pneumatic damper, which has a cylinder in which a piston with a piston rod is guided for longitudinal displacement. The piston divides the cylinder into an extension chamber and a flexion chamber, which are coupled to one another via a connecting channel. Within the connecting channel is at least one control valve, which is designed to be variable in terms of its flow cross-section. The adjustment device 60 can be used to change the flow cross-section or to block a fluidic connection from the extension chamber to the flexion chamber, in order to influence or block pivotability about the pivot axis 14.

[0041] In the right-hand illustration of the Figure 10The resistance device 20 is designed as a pivoting piston system in which the pivoting piston is located in a chamber and can be displaced relative to the lower part 12 in correspondence with the pivoting of the upper part 11. The pivoting piston also forms an extension chamber and a flexion chamber. A magnetorheological fluid can be located within the pivoting piston system, the viscosity of which can be varied via the adjustment device 60 in the form of an activatable and deactivatable magnetic field. This influences the flow rate from the extension chamber to the flexion chamber and vice versa depending on the applied magnetic field and the resulting adjusted viscosity of the medium.

Claims

1. An orthopedic joint comprising an upper part (11, 11') and a lower part (12, 12') pivotably arranged on the latter, and a resistance device (20) which is arranged between the upper part (11, 11') and the lower part (12, 12') and provides resistance against a pivoting movement of the upper part (11, 11') relative to the lower part (12, 12') about a pivot axis (14, 14'), and which has an adjustment device (60) by means of which the resistance is adjustable, wherein the adjustment device (60) is coupled to a control device (40), which is coupled to at least one sensor (30), such that the resistance is adjustable by means of the control device (40) on the basis of sensor data that are transmitted from the at least one sensor (30) to the control device (40), wherein the control device (40) has stored in it a function in which the joint (13, 13') is locked against pivoting in at least one direction in accordance with the sensor data, and the function can be activated for locking and deactivated for unlocking on the basis of the sensor data, characterized in that at least one parameter for activating the function and at least one parameter for deactivating the function , which is different from the parameter for activation, are correlated with one another.

2. The orthopedic joint device as claimed in claim 1, characterized in that the duration of a static state of the joint (13, 13') is stored as a parameter for activating the function.

3. The orthopedic joint device as claimed in claim 1 or 2, characterized in that a movement of the lower part (12, 12'), a movement of the upper part (11, 11') or a loading of the joint (13, 13') or rates of change of the movement or loading are stored as parameters for activating or deactivating the function.

4. The orthopedic joint as claimed in one of the preceding claims, characterized in that a spatial position of the upper part (11, 11'), a spatial position of the lower part (12, 12') and / or a connecting line (50) between two points (51, 52) located proximally and distally of the pivot axis (14, 14') are stored as parameters for deactivating the function.

5. The orthopedic joint as claimed in one of the preceding claims, characterized in that threshold values for the parameters for activation and / or deactivation are stored, and the threshold values are variable.

6. The orthopedic joint as claimed in claim 5, characterized in that the threshold values for activation and deactivation are positively correlated.

7. The orthopedic joint as claimed in one of the preceding claims, characterized in that the control device (40) is connected to a display device (41) and to an operating element (42) for changing the parameters or the threshold values of the parameters.

8. The orthopedic joint as claimed in one of the preceding claims, characterized in that a gyroscope, an angle sensor, a force sensor and / or a spatial position sensor is coupled to the control device (40).

9. A method for controlling an orthopedic joint (13, 13') comprising an upper part (11, 11') and a lower part (12, 12') pivotably arranged on the latter, and a resistance device (20) which is arranged between the upper part (11, 11') and the lower part (12, 12') and provides resistance against a pivoting movement of the upper part (11, 11') relative to the lower part (12, 12') about a pivot axis (14, 14'), and which has an adjustment device (60) by means of which the resistance is adjusted on the basis of sensor data transmitted from at least one sensor (30) to a control device (40) connected to the adjustment device (60), in such a way that the joint (20) is locked against pivoting upon activation of a function and unlocked upon deactivation of the function, characterized in that at least one threshold value for a parameter for activating the function and at least one threshold value for a parameter for deactivating the function , which is different from the parameter for activation, are correlated with one another.

10. The method as claimed in claim 9, characterized in that the threshold values are positively correlated with one another.

11. The method as claimed in claim 9 or 10, characterized in that the function is activated on the basis of the duration of a static state of the joint device.

12. The method as claimed in one of claims 9 through 11, characterized in that the function is activated or deactivated on the basis of a movement of the lower part (12, 12'), a movement of the upper part (11, 11') and / or a loading of the joint (13, 13').

13. The method as claimed in one of claims 9 through 11, characterized in that the function is deactivated on the basis of a spatial position of the upper part (11, 11'), a spatial position of the lower part (12, 12') and / or a connecting line (50) between two points (51, 52) located proximally and distally of the pivot axis (14, 14').

14. The method as claimed in one of claims 9 through 13, characterized in that the threshold values for the parameters for activation and deactivation are variable.