Limb-sensor-stimulator arrangement

Abstract

The invention relates to a limb-sensor-stimulator arrangement comprising a sensor part (1) to be fastened in a shoe, or in or to a sock (2), or to a cuff (35), comprising a sensor sole (30) or sensors (4) in the sole of a sock (2) or a cuff, in each case for a foot (17) of a patient; wherein: the sensor part (1) comprises sensors (4) in gait-line-typical sole portions (3) of the sole (30); and each sole portion (3) has at least one sensor (4) which is or can be connected to at least one controller (6) via a data link (5); and the controller (6) itself is connected to stimulators / actuators (7) for controlled transmission of information to the patient; at least two, preferably four, and at most thirteen gait-line-typical sole portions (3) are formed in the sensor part (1), each of which has at least one sensor (4) which is operatively connected to one stimulator (7) or to a plurality of stimulators (7a, 7b, 7n) via the data link (5) and via the controller (6); or some of the sensors are connected to one stimulator (7) each; and the first stimulators (7a) and the second stimulators (7b) or the nth stimulators (7n) are designed such that, when used, they can be fastened to muscle areas (8) on a leg (19) or to other muscle areas (8) of the patient body (12) - in particular at the upper end of the calf - and can emit independent flat muscle-stimulating signals - instead of conventional neural stimulating signals - to the patient body (12), which muscle-stimulating signals are triggered by sensor activities of the sensors (4); and each stimulator (7) is designed to be vibrationally muscle-stimulating - in the sense of a muscle-activating, and simultaneously therapeutic, intervention on the muscle - for each determined muscle group (8) with which it is associated.

Description

[0001] Limb sensor stimulator array

[0002] The invention relates to a limb sensor stimulator arrangement according to the preamble of claim 1, as well as a corresponding method for assisting walking and a corresponding computer program product.

[0003] EP3166033A1 discloses a walking aid device and a method for controlling the same, where a training algorithm is created for a human model to derive support for walking aid wearers. Walking support and / or a treatment of polyneuropathy or similar disorders of the walking apparatus cannot be derived therefrom.

[0004] WO2021079127A1 discloses a system in which indicators are intended to facilitate walking for a user. Walking support and / or treatment of polyneuropathy or similar disorders of the walking apparatus cannot be derived from this.

[0005] US11219389B2 describes a human gait diagnostic and warning system that assists with patient diagnosis and the performance analysis of therapies, specific medications, or other treatments. Direct assistance with walking and / or treatment of polyneuropathy or similar disorders of the gait system cannot be derived from this, as the information is not directed to the patient, but rather to assistants, for example.

[0006] WO2015164456A2 also describes a gait analysis and training system using sensors and a feedback system. This system directly addresses a walking disorder caused by illness, which the system is intended to correct or alleviate. Sensors in the foot area or in shoes serve as information providers; at the same time, vibrotactile actuators are also provided in the shoe to provide feedback to the user while walking. The system uses cameras to analyze gait, as shown in Figure 11 of this document. Reflectors and other components for movement analysis are provided on a calf for this purpose. Support for the treatment of polyneuropathy is not intended here.

[0007] In US2012154153A1 entitled “VIBRATORY FEEDBACK SYSTEMS AND METHODS”, a system is shown that uses sensors and vibrators as a feedback system.

[0008] However, the function of vibrators is limited to the area of ​​delivery of a vibration stimulus to the foot, specifically to the sole of the foot, in order to experience a "consciously perceptible" vibration as vibrotactile information.

[0009] This is intended to provide feedback to the user in perceiving their own gait. In cases of impaired peripheral sensitivity, e.g., due to polyneuropathy, such vibrations in the foot area are typically less likely to be perceived because the nerves there are less effective.

[0010] Another known device is state of the art: EVOMOTION The evomove® - Evomotion | The evomove®, which is also specified in US10137025B2.

[0011] According to the homepage https: / / evomotion.de (accessed on October 11, 2023), this device is intended for patients who have had one of the following diseases / traumas: stroke, multiple sclerosis (MS), cerebral palsy (CP), traumatic brain injury (TBI), incomplete spinal cord injuries.

[0012] According to the aforementioned website, the following are expressly contraindicated: malignant processes in the stimulation area, phlebitis (inflammation of superficial veins) / thrombophlebitis (thrombosis and inflammation of superficial veins), local fractures or lesions, changes in the skin layer or skin injuries in the stimulation area, fundamental loss of walking ability, and pregnancy. Relatively contraindicated throughout the entire duration of the therapy are, among other things, severe obesity, the use of pacemakers or defibrillators, and the presence of metal implants in the area of ​​application. This indirectly precludes the treatment of polyneuropathy, which is normally the typical disease resulting from obesity.

[0013] In other words, this setup is also unsuitable for providing support to patients with polyneuropathy. This is due, among other things, to the stimulation by electrical current, which naturally interacts with a person's nervous system, but can also have negative effects, especially in conjunction with metal implants and pacemakers.

[0014] A system currently on the market, branded as the L300 go by Otto Bock, operates via functional electrical stimulation. This does not lead to regeneration, does not treat polyneuropathy, does not support the muscles in their activities, and does not allow the user to feel any sense of touch.

[0015] The state-of-the-art devices Evomotion, Gait-Q and L100- / L300-Go also activate the muscles by electrical stimulation of the efferent 2nd motor neuron using superficial electrodes = reflex (FES, functional electrical stimulation) with all the stated disadvantages of electrical stimulation.

[0016] Another system for gait improvement using vibration instead of electricity was introduced by RxFunction and launched under the name Walkasins. See https: / / rxfunction.com (accessed October 11, 2023) Walkasins by RxFunction | A Peripheral Neuropathy Device.

[0017] Sensors are mounted on a sole plate that detect gait and generate feedback. This feedback is processed by a controller and transmitted to the user as a signal via tactile vibrators. The sensor and controller are attached to a wristband-like plastic fastening strap and connected to the sole plate with a relatively stiff flat conductor. The images on the aforementioned website under the "our product" section show that the plastic fastening strap is mounted slightly above the ankle to provide feedback to the user's nerves running close to the skin.

[0018] When the user's brain perceives this feedback (via the nerve pathways) from the lower leg, it improves the perception of walking and standing. The company's website describes this, or rather the mechanism of action, as follows: "Walkasins® evaluates balance and delivers specific sensory stimuli to functioning nerves around the lower leg." Elsewhere, this function is stated again as follows: "The Walkasins System is a prosthetic device that replaces part of the function of the nerves in the feet that are used to detect and inform the brain about foot contact with the ground, which is critical for maintaining balance during standing and walking activities."

[0019] This well-known system thus provides an increase in walking stability and stability for a user who has only poor sensory perception in the sole of his foot due to sensory neuropathy.

[0020] The effect is achieved through the device's ability to bypass the damaged nerves and purely through the user's brain's perception of the specific vibration signal. It is thus a nerve replacement via a short section of damaged nerves in the lower leg.

[0021] The disease itself—which causes nerve damage—is not addressed, and this system does not help walking more easily or effectively (in the sense of improved muscle activity). Therefore, this well-known system does not lead to an improvement in mobility or muscle strength. However, it does prevent falls or similar injuries and provides the user with greater security.

[0022] This is where the present invention comes in. Naturally, the present invention also aims to help a patient increase their stability and improve gait stability. However, the invention doesn't stop there. It also aims to positively improve the walking apparatus and thus combat the underlying disease—typically polyneuropathy.

[0023] In contrast to the prior art described above, the invention now takes a completely new approach: Stimulators are intended to address not only nerves, but also, in particular, walking-relevant muscles or muscle areas of the lower leg, both to stimulate them to walk and to support them in this walking function. This not only improves a patient's subjective walking / standing sensation, but also objectively strengthens and improves their walking mechanism. The positive effects of vibratory stimulation on the muscles are also specifically targeted.

[0024] The invention thus provides, on the one hand, gait-phase synchronous muscle stimulation in addition to pure signaling (as with Walkasins®, for example) to the patient or his brain, and, on the other hand, a health-promoting vibration effect on the muscle tissue is exerted, which thus leads to an improvement in the walking apparatus and counteracts the typical course of the disease.

[0025] In addition to improving walking, the invention also promotes tissue regeneration and alleviates neuropathic pain. This results in a sensorimotor reorganization of the patient's body in the lower leg area. At the same time, the patient's reorganization is reduced, which translates into less pain.

[0026] This is achieved according to the invention by combining the following features:

[0027] Limb sensor-stimulator arrangement with a sensor part for attachment in a shoe or in or on a sock or on a cuff with a sensor sole or sensors in the sole of a sock or a cuff - each for a patient's foot, wherein the sensor part comprises sensors in gait-typical sole sections of the sole, and wherein each sole section has at least one sensor each, which is or can be connected via a data connection to at least one controller, and wherein the controller in turn is connected to stimulators / actuators for controlled information transmission to the patient, wherein at least two, preferably four and a maximum of thirteen gait-typical sole sections are formed in the sensor part, each having at least one sensor,which is operatively connected to one or more stimulators via the data connection and the control system, or wherein some of the sensors are each connected to a stimulator, and wherein the first stimulators and the second stimulators or the nth stimulators are designed such that, in the application case, they can be attached to muscle areas on a leg or to other muscle areas of the patient's body - in particular at the upper end of the calf - and can deliver to the patient's body independent, planar muscle stimulation signals - instead of conventional nerve stimulation signals - which are triggered by sensor activities of the sensors, and that each stimulator is designed to stimulate vibration muscles - in the sense of controlling muscles and simultaneously therapeutically intervening on the muscle - for specific muscle groups to which it is assigned.

[0028] The invention thus helps patients more easily perform their own muscle activation (via the second motor neuron) through afferent sensory feedback, or the muscles are directly addressed, resulting in an entire sensorimotor control loop with functional sensory feedback. This leads to feedforward. Furthermore, focal vibration therapy with the aforementioned advantages and effects is simultaneously achieved. Appropriately designed embodiments of the invention are applicable not only to humans, but also to other muscular creatures, especially animals such as horses, dogs, etc.

[0029] The sensors used can be of various designs and are quite conventional. Even simple on / off switches are possible. Depending on the sensitivity or mode of action of the sensors, however, information can also be perceived that not only detects normal gait (the rolling motion of the sole of the foot on the ground) but also, for example, ground conditions, as stated by Saphenus® Medical GmbH for the prosthetic systems they have developed for amputees.

[0030] A sock generally refers to footwear that wraps around most of a patient's lower leg. However, it particularly refers to typical socks or support stockings, or similar items.

[0031] According to the invention, at least one sensor is located on the sole plate or in the sole area for each gait line segment. However, in special embodiments of the invention, more than one sensor can be provided as an exception, for example, to detect forces in the transverse direction of the foot or sole, for example, when measuring balance pressure.

[0032] Such systems, including two sensors next to each other in a gait line section, can also be used with preference in cases of disorders of peripheral sensitivity, e.g. paraplegia.

[0033] Typically, stimulation is provided by a sensor on a stimulator for each stimulus. However, in certain clinical situations, several stimulators can be activated simultaneously, for example, all except the one associated with the tibialis anterior.

[0034] The control system is preferably configured to detect a patient's resting position and then switch it off, preventing vibration. This switch-off behavior can preferably be selected / set by the patient or by medical personnel. Similarly, the control system can also activate resting stimulators on a case-by-case basis, for example, to provide a sleeping or resting patient with a calf massage. Such a configuration adds a fourth function to the three main functions: a purely vibrotactile massage function, which many patients find pleasant and is also indicated for typical neuropathic pain.

[0035] The control system is preferably programmed to monitor the gait and detect standstill or continued movement and to stimulate the muscles accordingly.

[0036] From a medical point of view, the following effects can be attributed to the invention: Through focal vibrotactile muscle stimulation, sensorimotor regulatory mechanisms are activated in the muscle, which lead to the execution of known physiological movement sequences.

[0037] At the same time, focal vibration therapy leads to an improvement in blood circulation locally in the muscle tissue, with the formation of new blood vessels (which does not occur with other application sites without significant muscle contact).

[0038] The resulting increased muscle and body activity of the patient leads to an improvement and activation of the metabolism in the medium term.

[0039] Thus, the invention can be attributed a threefold effect: REORGANISATION, REGENERATION, REGULATION.

[0040] As is well known, movement supports the healing process, as does the massage effect of vibration, which is also known as focal vibration therapy - but without connection to sole sensors and without direct control by such sensors.

[0041] The required mode of action of a stimulator for revascularization / blood flow and nutrient supply as well as new vessel formation is essentially identical for all muscle groups and for all stimulators.

[0042] However, with regard to the loss of peripheral sensitivity, the affected muscle / nerve areas may require their own customized muscle stimulation, so that the different stimulators vibrate differently for this task. Typical physical parameters are the frequency, amplitude, and duration of the vibration oscillations.

[0043] This combination approach is completely new in the medical approach to improving walking in polyneuropathic conditions.

[0044] The muscles are directly stimulated / massaged / vibrated. Of course, the nerves also perceive the feedback and transmit this information to the patient's brain (comparable to current state-of-the-art technology); but the essential point of intervention is the various muscles in the calf area, which are directly responsible for walking. This will be discussed in more detail in the figure description.

[0045] Advantageous further developments are set out in the figures and in the dependent patent claims.

[0046] According to a further development of the invention, only two gait-typical sole sections are designed, each with a sensor. One can be positioned at the heel and one in the toe area / big toe of a patient's foot. This design corresponds to a minimal version, but it provides the most important gait data: heel strike and toe push-off. Therefore, a significant improvement can already be achieved with such a design.

[0047] As is well known, the sensors are designed as pressure / force sensors. Alternatively, the sensors can also be designed as motion sensors that measure the spatial position and / or acceleration in their sole section and transmit these values ​​to the controller for controlling the stimulators. An alternative design dispenses with sensors on the sole and places such motion sensors in other areas of the lower leg.

[0048] Motion sensors do not necessarily have to be mounted on a sole plate, but can also be attached to or near other parts of the body, such as the instep or ankle, and at or below the knee. The advantage of such a design is that a sole plate is eliminated. This potentially leads to a longer service life of the device, since sole plates have a limited lifespan depending on the patient's weight and how they are handled.

[0049] Such a setup eliminates the need for a sole plate and prevents wear and tear on the sensors under the patient's sole due to weight or sweat, thus resulting in a cheaper setup. However, the disadvantage of such a modified setup is that the floor surface cannot be determined using such motion sensors.

[0050] In one embodiment of the invention, the sensor sole is located within the sock. It is simultaneously or alternatively designed to be large / long enough that, when worn, it also extends over the muscles of the upper calf to be stimulated. The stimulators are attached, sewn, and / or woven into the textile sock in the area of ​​the muscles of the upper calf to be stimulated. This design is simple and easy to handle.

[0051] A further development of the invention also provides for the use of a sock, wherein the sock has mounting sections for the stimulators, to which the stimulators can be securely fixed relative to the relevant muscle areas. This structure is relatively simple to manufacture and allows the use of suitable stimulators for the respective application or, if necessary, the exchange of stimulators or socks.

[0052] Particularly suitable as mounting sections for the stimulators are sewn pockets on the sock fabric or integrated, preferably knitted pockets.

[0053] Additional positive effects for the patient can be achieved if the textile fabric of the sock is divided into compression sections, as is well known, so that the sock exerts a compression effect on the patient's leg when walking. In combination with the other effects of the invention, this compression effect promotes blood circulation and also achieves a draining massage effect, so that the waste products generated during the formation of new tissue are effectively removed from the tissue, which further aids regeneration.

[0054] The stimulators are usually designed as vibrators and preferably feature vibration-conducting, elastic plastic plates, which, when applied, transmit vibrations across a wide area to the affected muscle areas. This creates a muscle-specific stimulation effect, unlike the pure nerve stimulation achieved with point-based vibrators.

[0055] The vibration-conducting elastic plastic plates are preferably provided with an anti-slip structure on at least one of their surfaces, which, when inserted, rests against the fabric of the sock. This ensures that maximum vibration energy is transmitted to the muscles.

[0056] The useful size of the vibration-conducting elastic plastic plates requires a contact surface of at least 2 cm 2 , preferably at least 4 cm 2 , in particular at least 16 cm 2Silicone has proven to be the most cost-effective material, and the vibrators are preferably embedded in it.

[0057] In principle, any shape of plastic plate is suitable, but rectangular, and particularly square, plastic plates offer the advantage of a directed massage effect, which is beneficial for massaging muscles over a large area. A typical thickness of a plastic plate is 2-8 mm, preferably 5 mm, with the thickness of the plates being related to the vibration frequency. The thicker and larger the plastic plates, the greater the dampening, especially of higher frequencies. A thickness of 5 mm has therefore proven to be optimum for the intended vibration range. A simple arrangement on the patient is achieved with a further development of the invention in that at least two stimulators are arranged as a stimulation array and are preferably mounted on a common elastic plastic plate. This plastic plate includes a vibration-damping separating joint to prevent crosstalk.

[0058] Of course, such an array can also include all stimulators, which leads to a manageable structure.

[0059] As an alternative to such a setup, at least two stimulators are arranged as a stimulation array on a garter or cuff and / or in the upper part of a sock. This means that there is no shared plastic plate, but rather a fabric layer. This prevents crosstalk because the stimulators do not touch each other.

[0060] According to the invention, the vibration frequencies emitted by the stimulators range between 30 Hz and 240 Hz and can be adjusted for the patient or by the patient if necessary. The frequencies between 60 Hz and 120 Hz are particularly effective.

[0061] The amplitudes of the vibration oscillations are preferably between 0.1 mm and 2 mm, in particular between 0.2 mm and 1 mm, since such vibration amplitudes on the one hand produce a good signaling effect, but on the other hand also result in a clear focal massage effect.

[0062] Motor control is positively influenced, as are locomotion, pain, nerves and blood vessels, while negative effects are avoided.

[0063] The stimulation frequency can be selected based on various criteria. A typical design involves the stimulators operating at a preferably adjustable, identical stimulation frequency, while the stimulators are spatially separated from each other. However, it is also conceivable to operate all stimulators at different stimulation frequencies, with the frequencies of the stimulators being sufficiently different that a patient can perceive the differences. In this design, it is not so important that the stimulators are spatially well separated.

[0064] Alternatively, the stimulators can each vibrate with a unique vibration that is beneficial to the body or the muscle group in question. This setup achieves maximum muscle regeneration.

[0065] In other words: The arrangement of, for example, four stimulators along a garter belt, with virtually the same vibration frequency on all of these vibrators, results in a patient feeling their own gait or foot rolling motion virtually around the garter belt – with a simple signal – one after the other. Or the stimulators emit different frequencies. For example, four vibrators are attached to the "garter belt," which act at different locations, affecting the underlying tissue and, of course, signaling the nerves.

[0066] Typically, the number of sensors and vibrators will be equal. However, it may also be advantageous to have more sensors than vibrators for computational situation detection. The control system then converts the sensor input to the vibrator signal output. For example, there may be thirteen sensors in thirteen sole sections of the sole plate, yet only four or five vibrators are available for the muscle areas.

[0067] According to a further development of the invention, each stimulator provides a combination of frequency, amplitude, and thus signal profile for transmission to the patient's muscles. This is done in such a way that, based on the sensory perception of the various ground characteristics—as measured by the sensors or the control system—the patient is provided with comprehensible and helpful signals. The sensor technology is optionally supported by an algorithm that is based at least on empirical data stored in a database containing patterns of different ground surfaces while walking. This leads to safer gait, especially on difficult terrain or when walking backward.

[0068] Any perceptible signal formations can be represented by the following properties of the vibration signals: shape of the signal (pulse, ramp, wave, knock, tremble).

[0069] This allows the patient to distinguish between ground characteristics, such as sand, gravel, asphalt, etc. This improves walking comfort.

[0070] Likewise, in the application case, the control system can create vibration pauses between vibration emissions in order to transmit information obtained by the sensors in coded form during the pause time and make it available to the patient.

[0071] It's always important to remember that breaks between vibration blocks are also beneficial. The exact ratio between vibration duration and intermittent breaks still needs to be determined on a case-by-case basis.

[0072] As an alternative to the previous development, the control system could also be designed in such a way that, using software support, it derives information about the ground conditions from the sensor signals and transmits this information to the patient via different frequency outputs to the stimulators. For example, it is conceivable to provide the patient with the following information: e.g., firm ground with a relatively low frequency; unsafe, slippery ground with a relatively high frequency.

[0073] The stimulators preferably comprise - as is known per se - electromagnetic vibrators embedded in vibration pads made of RTV silicone and having the following physical properties: Tensile strength: 3-12 N / mm 2 , preferably approx. 6.5 N / mm 2Shore A hardness after 24 hours: 20-80 ShA, preferably approx. 42 ShA; Elongation at break: 150-700%, preferably 350% ± 20%. Vibration pads can also be understood as the plastic sheets mentioned above, but the pads are primarily understood as integrated, plug-in and detachable components that can be easily removed, e.g., when the sock needs to be cleaned. RTV stands for room-temperature-vulcanizing silicone.

[0074] As already stated above, a construction according to the invention can also be improved by means of a compression stocking. However, this application also relates to a compression stocking per se, which comprises sensors and feedback vibrators connected to the sensors via a control system. The sensors are arranged in the sole region and the feedback vibrators are fixed in the calf region of the compression stocking. During operation, the feedback vibrators vibrate at a frequency between 30 Hz and 240 Hz depending on the sensor input, in order to exert a controlled massage on a patient's foot in addition to compression.

[0075] Such a compression stocking is superior to all previously known and, through the principles outlined above, has multiple benefits for patients with polyneuropathy or similar disorders of their gait organs. The combination of compression and vibration therapy creates the first wearable lymphatic drainage system with all the additional benefits described above.

[0076] Mechanical stimulation of piezoelectric energy, e.g., through focal vibration therapy, can have a positive effect on the regeneration of valves and vessel walls of the lymphatic system (e.g., Choi, D., Park, E., et al., 2022. Piezoelectric-Regulated Mechanotransduction Controls Flow-Activated Lymphatic Expansion. Circ. Res. 131, E2-E21.) https: / / www.ahajournals.org / doi / full / 10.1161 / CIRCRESAHA.121.3205657rfr _dat=cr_pub++0pubmed&url_ver=Z39.88-2003&rfr_id=ori :rid: crossref.org (accessed on October 11, 2023). Compression therapy is achieved by socks that integrate sensors and actuators and also have the properties of classic compression stockings. The combination of vibration and compression therapy can therefore be seen as a gentle form of lymphatic drainage, especially because it also produces the pumping effect mentioned above via the smooth muscle cells along the vessels (e.g. von der Weid PY, Zawieja DC).Lymphatic smooth muscle: the motor unit of lymph drainage. Int J Biochem Cell Biol. 2004 Jul;36(7): 1147-53. doi: 10.1016 / j.biocel.2003.12.008. PMID: 15109561.) https: / / www.sciencedirect.com / science / article / abs / pii / S135727250300431X ?via = ihub (accessed October 11, 2023).

[0077] The invention thus also relates to a method for assisting the walking of a muscular animal, in particular a human. This explicitly applies not only to sick individuals in the context of medical treatment, but also to healthy humans or animals with a comparable walking device.

[0078] In this case, using a limb sensor stimulator arrangement with at least two sensors that sense walking and a controller with which walking data from the sensors can be read in and the stimulators can be controlled, gait-specific sensory data is recorded in gait-specific sole sections of the sole area of ​​a user's leg using the at least two sensors and this data is converted in the controller of the limb sensor stimulator arrangement into control data for the at least two vibrotactile stimulators in such a way that these at least two vibrotactile stimulators stimulate muscles or muscle areas of the upper calf of the user's leg to walk depending on the gait-specific sensory data - in the sense of muscle controlling, wherein the at least two stimulators are attached in the area of ​​the upper calf of the user's leg in order to address the corresponding muscle areas of the upper calf there.

[0079] Furthermore, the invention also relates to a computer program that, as a computer program product within the scope of the control system, is suitable for improving walking. It comprises commands that, when the method is executed by a controller of a limb sensor-stimulator arrangement, cause the controller to execute a method, in particular the method according to claim 20, comprising: receiving gait-specific sensory data that is detected by at least two sensors of the limb sensor-stimulator arrangement, in particular gait-specific sensory data in the form of pressures or forces; converting the gait-specific sensory data into control data for at least two vibrotactile stimulators along the pressure load detected by the sensors by the computer program product;Translated / converted into vibration patterns (frequency, amplitude, time) and forwarded to the at least two stimulators located in the upper calf area of ​​a user's leg; so that the at least two vibrotactile stimulators stimulate muscles or muscle areas of the upper calf to walk depending on the gait-specific sensory data – in the sense of muscle-triggering vibrotactile stimulation.

[0080] The invention is characterized by the following effects. It has already been given a product name: WINGO.

[0081] Wingo follows the bionic principle: This means that development is based on human neurophysiology and the technology adapts to nature. According to the principles of rehabilitation medicine, lost functions are replaced and weakened functions are strengthened.

[0082] For the first time, gait phase-synchronized sensorimotor feedback and feed-forward stimulation (vibration therapy via Piezol and Piezo2) achieves pain relief (remedy effect), while at the same time improving safety when walking (risk of tripping in the case of forefoot drop - often called death by the edge of the carpet), increasing mobility and making active movement easier, especially walking (assistive device effect).

[0083] Wingo has been developed to suit the sensorimotor control circuits and uses human neurophysiological systems and processes to exert its effect not only on the muscles but also on the central nervous system. Through therapy or application to the patient, appropriate stimuli are set, which become relevant stimuli through gait phase-synchronized muscle stimulation (remedy effect).

[0084] The facilitated active physical exercise promotes muscle building. This has a positive effect on blood sugar metabolism (blood sugar spikes are avoided) and helps with metabolic diseases, weight loss, and joint arthrosis (a medicinal effect).

[0085] The effect of focal vibration therapy supports the regeneration of blood vessels and peripheral nerves. The intermittent vibration signals generated during walking promote circulation and laminar blood flow. This has a positive effect on the endothelial cells of the vascular walls and promotes the sprouting of fine blood vessels (healing effect).

[0086] Further advantages, features and details of the invention will become apparent from the following description, in which embodiments of the invention are described with reference to the drawings.

[0087] The list of reference symbols, like the technical content of the patent claims and figures, is part of the disclosure. The figures are described coherently and comprehensively. Identical reference symbols indicate identical components; reference symbols with different indices indicate functionally identical or similar components.

[0088] They show:

[0089] Fig. 1 shows the cross-section through a human lower leg in the area of ​​the upper calf, where the stimulators according to the invention vibrotactilely attack or stimulate the muscle areas.

[0090] Fig. 2 shows the arrangement of four sensors under a patient's left foot, e.g. on a sensor sole in top view.

[0091] Fig. 3 shows the arrangement of two sensors under a patient's left foot, e.g., on a sensor sole in a top view. Fig. 4 shows the lower part of a sock according to the invention with an inserted sensor sole in a side view.

[0092] Fig. 5 shows the structure according to Fig. 4, however, symbolically in plan view and omitting the sock shaft, so that only the insole of the sock is visible.

[0093] Fig. 6 shows a complete sock according to the invention with an array of stimulators and an electronics / control in the upper calf area.

[0094] Fig. 7 shows a variant of Fig. 6, in which the electronics / control is arranged below the upper calf on the side of the shaft and is connected to the stimulators in the area of ​​the upper calf.

[0095] Fig. 8 symbolically shows the triple mode of operation of the invention next to a sole plate according to Fig. 5.

[0096] Fig. 9 symbolically shows the mode of operation of the invention using a gait cycle of a patient.

[0097] Fig. 10 shows a diagram for the acquisition of sensor data (five different ones) and subsequent gait-synchronous excitation of the stimulators (five).

[0098] Fig. 11 shows an alternative sensor sole with only two larger-area sensors, which essentially covers the entire sole section in question.

[0099] Fig. 12 shows a sensor arrangement with thirteen sensors, which are arranged not only along the gait line (longitudinal direction of the sole) but also transversely to it (sensor pairs).

[0100] Fig. 13 shows a cuff for attaching sensors to the patient’s foot.

[0101] Fig. 14 shows a variant of the cuff in Fig. 13.

[0102] Fig. 15 shows the emerging control loop Feedback > Feedforward.

[0103] Fig. 16 shows an embodiment of a sock or stocking designed according to the invention.

[0104] Fig. 17 shows an exemplary embodiment of an actuator / stimulator / vibrator pad designed according to the invention. Fig. 18 shows another view of an actuator / stimulator / vibrator pad designed according to the invention.

[0105] Fig. 19 shows an exemplary embodiment of a stimulator array designed according to the invention.

[0106] Fig. 20 shows an example of a garter belt according to the invention with actuators / stimulators.

[0107] Fig. 21 shows an example of an embodiment of vibration pads according to the invention.

[0108] Fig. 1 shows a cross-section through a human lower leg in the upper calf area, where the stimulators according to the invention vibrotactilely engage or stimulate the muscle areas. This primarily concerns the lateral gastrocnemius muscle. The final shape of the calf results from the medial and lateral heads of the gastrocnemius, which are located in the posterior, upper half of the lower leg.

[0109] Fig. 2 shows a top view of the arrangement of four sensors 4a-4d under a patient's left foot on a sensor sole 30a. The gait-typical sole sections 3a-3d, in which the sensors 4a-4d are mounted, can be seen. When taking a step, a foot typically rolls over these gait-typical sole sections. Section 3b does not necessarily correspond to a gait line. On the other hand, it is located in a transverse axis of the foot with section 3c. Thus, electronics that receive input from the two sensors 4b and 4c can provide information about the equilibrium state or any tipping behavior of the foot and transmit corresponding signals to the user / patient.

[0110] Fig. 3 shows the arrangement of two sensors 4a, 4d under a patient's left foot, e.g., on a sensor sole 30b in a top view. This is the minimum sensory equipment required to effectively track and sense gait. Fig. 4 shows a side view of the lower part of a sock 2 according to the invention with a sensor sole 30 inserted into a double sock bottom 33 of the sock 2. A seam 32 indicates that the sensor sole 30 is sewn through the double sock bottom 33 to hold the sensor sole 30 in place. Similarly, this structure could also be designed without a sensor sole 30 but with discrete sensors 4, with the individual sensors 4 being fixed in the double sock bottom 33 by means of a seam 32. See also Fig. 5.

[0111] Fig. 5 shows the structure according to Fig. 4, but symbolically in plan view and omitting the sock shaft, so that only the insole or the double sock bottom 33 of the sock 2 is visible.

[0112] Fig. 6 shows a complete sock 2a according to the invention with an array 22a of stimulators 7 and an electronics / control unit 6a in the upper calf area of ​​the sock 2a. The control unit 6a is designed to also include a stimulator 7 (to save space). It has a user interface 34 on which patients and / or assistants can make adjustments.

[0113] Fig. 7 shows a variant of Fig. 6, in which the electronics / control 6b is arranged below the upper calf on the side of the shaft and is connected via sensor lines 31 to the stimulators 7 in the area of ​​the upper calf.

[0114] Fig. 8 symbolically shows the triple mode of operation of the invention next to a sole plate according to Fig. 5.

[0115] In a specific embodiment, the following muscles are assigned to the following sensors 4 of a sensor sole 30 and / or actuators 7 of a stimulation array 22 or positions as shown in the other figures:

[0116] Peroneus soleus: sensor 4a, actuator 7a (side-front)

[0117] Lateral Gastrocnemius: Sensor 4b, Actuator 7b (posterior)

[0118] Medial Gastrocnemius: Sensor 4c, Actuator 7c (lateral-posterior) Tibialis Anterior: Sensor 4d, Actuator 7d (front)

[0119] Fig. 9 shows in more detail symbolically the mode of operation of the invention based on a gait cycle of a user or patient, indicating the stimulator activity.

[0120] In Fig. 9, the upper part symbolically shows the activity states of the stimulators 7. A black dot indicates full activity, a gray / hatched dot indicates half activity, and a missing dot indicates no activity. Accordingly, the reference symbols of the preferred stimulators 7 are indicated symbolically at the dots.

[0121] Fig. 10 shows a diagram for the acquisition of sensor data (five different ones) and the subsequent gait-synchronous stimulation of the stimulators 7 (five). This diagram symbolically shows a gait cycle of a user or patient, indicating the measured forces (pressures) at the individual sensors 4 of the sensor sole 30 in conjunction with the stimulator activities calculated and controlled via the controller.

[0122] The invention created a completely new medical product category. It adheres to bionic principles, meaning the gait machine or gait support was modeled as closely as possible on the principles of human gait. During walking, the control system detects the gait phases based on the sensor output and, via the 7 stimulators, stimulates the corresponding muscle groups in the upper calf of the user / patient. Supporting the user with targeted stimulation in synchronization with the gait cycle.

[0123] This utilizes the principle of sensory substitution. This means that one sensory modality can be replaced by another. Specifically, the interrupted sensorimotor control loop of the muscles and muscle-controlling nerves is closed again. When walking with the device, users receive sensory information again, and their muscles are directly supported / stimulated. The core of the device is thus gait-synchronous muscle stimulation, which applies and utilizes bionic principles.

[0124] The interrupted sensorimotor control loop is closed again. Users receive sensory information while walking, along with direct muscle control.

[0125] This breaks the "vicious spiral." DSPN patients leave without a second thought.

[0126] However, the invention is not limited to patients. It also supports healthy individuals in walking by stimulating muscle activity and, as mentioned above, effectively supporting metabolism and reorganization through the massage effect.

[0127] Sensors 4 on the sole of the foot record even the smallest movement and transmit it to the foot muscles via stimulators 7. These, in particular, consist of four flat vibration actuators 7, which are assigned to the four relevant anterior and posterior muscle groups: 1x actuator anterior (tibialis anterior) and 3x actuators posterior (peroneus soleus, lateral gastrocnemius, and medial gastrocnemius).

[0128] When a user / patient begins to walk, the four stimulators / actuators 7 are activated according to the different phases of the muscle movement.

[0129] If the pressure load is greater, the vibration intensity (amplitude) is greater; if the pressure load is lower, e.g. in the preswing phase, the vibration intensity is also lower.

[0130] Gradually, the user perceives these stimuli while walking, just like a user with intact nerves, and this peripheral sensitivity is regularly transferred to the muscular components and ultimately to the brain. The effect of natural walking occurs. This, in turn, activates the healing powers inherent in walking, so that the application of the invention helps patients sustainably improve their walking ability.

[0131] Fig. 11 shows an alternative sensor sole 30b with only two larger-area sensors 4a and 4d, which essentially covers the entire relevant sole section. The gait line is thus depicted only with the beginning (heel 10) and the end (big toe 13). Such a large-area sensor 4 can also be constructed as a matrix. For example, it can be a woven fabric of conductive yarns that touch each other more or less depending on the pressure applied. In this respect, such a large-area sensor 4 can also provide more data than just pressure or no pressure and, if necessary, can influence the control system accordingly.

[0132] Fig. 12 shows a sensor arrangement with thirteen sensors 4, which are arranged not only along the gait line (longitudinal direction of the sole), but also transversely to it (sensor pairs).

[0133] In contrast to Fig. 11, the maximum number of sensors that can be used is shown here. Preferably, not every sensor 4 is assigned a stimulator 7, but rather the controller 6 is instructed to derive the gait pattern from the thirteen sensors and, from this, to control, for example, four or five sensors 4.

[0134] The advantage of a larger number of sensors 4 is that the movement and, above all, the surface 27 can be analyzed more precisely, so that more information can be provided to the user / patient than with only a few sensors. Fig. 3 and Fig. 11 show the smallest possible number of sensors. With the arrangement shown in Fig. 3, pure on / off switches can typically be used. This allows the patient to be signaled only for the gait function of the heel or toe. Or, only the front or back muscle area of ​​the calf can be addressed by means of the stimulators 7. Fig. 13 shows a foot cuff 35a for attaching sensors 4 to the patient's foot 17. This foot cuff 35a has cutouts 36 on the upper foot.

[0135] Fig. 14 shows a cuff 35b without any cutouts.

[0136] Fig. 15 shows the control loop Feedback > Feedforward formed according to the invention.

[0137] This symbolizes the following statement: The invention closes the gap in the sensorimotor control circuit that occurs in peripheral polyneuropathy. The individual phases of human gait are recorded at the sole of the foot and, according to the inventive principle of gait-synchronous muscle vibration stimulation, transmitted to the muscle groups of the upper calf required for each gait phase.

[0138] Through this restoration of the lost peripheral sensitivity, various regulatory and control mechanisms are activated in the ascending / afferent limb of the sensorimotor control circuit at the various levels of the nervous system (periphery, spinal cord, brain), which lead to a reorganization in the nervous system (synaptic and cortical reorganization).

[0139] The switching and activation in the various levels of the central nervous system (thalamus, ARAS) leads to an improved control in the descending / efferent FEEDFORWARD limb of the sensorimotor control circuit due to an improved representation of peripheral structures (feet) in the sensorimotor cortex through the lifelong learning ability of the brain (synaptic / cortical plasticity).

[0140] With the correct stimulation (at the right time, in the right place, in the right order, in the right way), the application of the bionic healing and aid device according to the invention results in the following four effects: - Correct control of the muscle groups for the walking apparatus (support when walking),

[0141] - REORGANISATION / NERVOUS SYSTEM;

[0142] - REGENERATION / MUSCLE TISSUE;

[0143] - REGULATION / METABOLIZATION Stimulation.

[0144] Fig. 16 shows a stimulator array 22 with four stimulators 7 that do not touch each other and can be placed around the patient's leg 19. The first stimulator 7d is assigned to the tibialis anterior (anterior). The other three (posterior) stimulators 7a, 7b, and 7c are assigned to the personeus soleus, lateral gastrocnemius, and medial gastrocnemius, respectively. This array 22 is, for example, attached or attachable in the upper region 16 of a stocking 35 or support stocking 29, in particular in the calf region, for example sewn on, embroidered, with snap fasteners, buttoned, tied, etc. The broken lines drawn in the figure correspond to the seams 32. In addition to a stocking 35 for slipping into, this can also be designed entirely or partially along the leg 19 with a fastener (e.g. zipper, Velcro fastener, etc.).

[0145] Preferably, the sensor sole 30 is also attached or attachable to the same stocking 35. The controller 6 can also be attached to the stocking 35, or a corresponding holder can be provided for it. Preferably, sensors 4, actuators 7, controller 6, and / or their connections 31 could be designed so that they can be removed from the stocking 35, so that the stump 35 can be washed without them. The holder can be designed, for example, in the form of pocket-like receptacles (e.g., sewn-on), wherein these pockets 9 are preferably at least partially closable or elastically enclose the sensors / actuators.

[0146] In another embodiment, the stimulator array 22 and the sensor sole 30 can also be arranged in a similar manner on separate parts (socks, bandages, bands, garters, etc.). Fig. 17 and Fig. 18 show a forehead ulator / actuator 7 designed as a flat actuator / stimulator / vibrator pad 28 in a top view and an oblique view, as is preferably used by the invention. It essentially consists of a plastic plate 14, for example made of silicone, into which an electromagnetic vibrator 37 is installed centrally. This is controlled / driven by the controller (not shown) via electrical connections 38. Its surface is profiled (longitudinal ribs), which, together with the slightly protruding vibrator 37, provide good support in the fabric of a cuff or sock, which is advantageous because more energy can be delivered to the organism via the contact surface 20.

[0147] Fig. 19 shows a stimulator array 22 composed of actuators 7 and vibrator pads 28 according to Figs. 17 and 18. In this embodiment, the four vibrator pads 28 are interconnected by non-vibration-conducting plastic bridges 39, otherwise separated from each other by a separating joint 23.

[0148] Fig. 20 shows a garter 25a with actuators / stimulators 7. The garter 25a or cuff 25b is constructed to fit precisely over the upper part of the calf of a user / patient's leg 19 and sits there elastically. It has pockets 9 into which the actuators 7 are inserted and preferably secured by stitching. The connection to the controller 9 is as previously shown. The garter 25a is not connected to the sock 2—apart from a possible wired connection between the controller 6 and the sensors in the sock or sole.

[0149] Fig.21 shows typical vibration pads 28, as they can be inserted and fixed in pockets 9 according to Fig.20 on a cuff 25 or according to Fig.16 on a sock 2.

[0150] As will be apparent to those skilled in the art, the embodiments and approaches shown or described here in various figures can also be combined and interchanged in accordance with the invention in a manner different from that shown. List of reference symbols: 1a sensor part, 2a, 2b sock, 3a, 3b, 3c, 3d sole section, 4a, 4b, 4c, 4d sensor, motion sensor

[0151] Data connection, 6a, 6b Control, 7a- 7d, 7n Stimulator / actuator, vibrator, feedback vibrator, 8a, 8b, 8c, 8d Muscle groups, muscle areas of a patient

[0152] Pockets, 9a knitted pockets 0 heel 1 compression sections 3 toe 4 plastic plates 5 structure 6 surfaces 7 patient foot 8 fabric 9 leg, patient leg 0 contact surface 2, 22a stimulation array 3 joint 4a, 24b vibration areas 5a, 25b garter, cuff 6 upper part 7 substrate 8 vibration pads 9 compression stocking 0, 30a, 30b, 30c sensor sole 1 sensor lines 2 seam 3 double sock bottom user interfacea, 35b foot cuff release

Claims

Patent claims 1. A limb sensor-stimulator arrangement with a sensor part (1) for attachment in a shoe or in or on a sock (2) or on a cuff with a sensor sole (30) or sensors (4) in the sole of a sock (2) or a cuff - each for a patient's foot (17), wherein the sensor part (1) comprises sensors (4) in gait-typical sole sections (3) of the sole (30), and wherein each sole section (3) has at least one sensor (4) each, which is or can be connected via a data connection (5) to at least one controller (6), and wherein the controller (6) is in turn connected to stimulators / actuators (7) for controlled information transmission to the patient, characterized in that at least two, preferably four and a maximum of thirteen gait-typical sole sections (3) are formed in the sensor part (1), each having at least one sensor (4),which is operatively connected via the data connection (5) and the controller (6) to one stimulator (7) or to several stimulators (7a, 7b, 7n) each, or wherein some of the sensors (4) are connected to a stimulator (7) each, and wherein the first stimulators (7a) and the second stimulators (7b) or the nth stimulators (7n) are designed such that, in the application case, they can be fastened to muscle areas (8) on a leg (19) or to other muscle areas (8) of the patient's body (12) - in particular at the upper end of the calf - and can emit to the patient's body (12) independent, planar muscle stimulation signals - instead of conventional nerve stimulation signals - which are triggered by sensor activities of the sensors (4), and that each stimulator (7) vibrates and stimulates the muscles - in the sense of controlling the muscles and simultaneous therapeutic intervention on the muscle - for specific Muscle groups (8) to which it is assigned., 2. Limb sensor stimulator arrangement according to claim 1, characterized in that two gait line-typical sole sections (3) are formed with a sensor (4a, 4b) each, one (4a) being arranged on the heel (10) and one (4b) in the toe area / big toe (11) of a patient's foot (17).

3. Limb sensor stimulator arrangement according to claim 1 or 2, characterized in that the sensors (4) are designed as pressure / force sensors (4) and / or that the sensors (4) are designed as movement sensors (4a) which measure the spatial position and / or the acceleration in their sole section (3) and transmit these values to the controller (6) for controlling the stimulators (7).

4. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that the sensor sole (30) is arranged in the sock (2) and / or that this sock (2) is designed to be so large / long that, when worn, it also extends over the muscle parts (8) to be stimulated, wherein the stimulators (7) are attached, sewn and / or woven into the textile sock (2) in the region of the muscle parts (8) to be stimulated.

5. Limb sensor stimulator arrangement with a sock (2) according to claim 3 or 4, characterized in that the sock (2) has mounting sections for the stimulators (7), to which the stimulators (7) can be fixed in a non-slip manner relative to the relevant muscle areas (8).

6. Limb sensor stimulator arrangement with a sock (2) according to claim 4, characterized in that the mounting sections for the stimulators (7) are sewn pockets (9) on the sock fabric (18) or integrated, preferably knitted pockets (9a).

7. Limb sensor stimulator arrangement with a sock (2) according to one of the preceding claims, characterized in that the textile fabric (18) of the sock (2) - as known per se - is divided into compression sections (11), so that the sock (2) exerts a compression effect when applied to the patient's leg (19).

8. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that the stimulators (7) are designed as vibrators (7) and preferably have vibration-conducting elastic plastic plates (14) which, in the case of application, bring about a planar vibration transmission to the relevant muscle areas (8).

9. Limb sensor stimulator arrangement according to claim 8, characterized in that the vibration-conducting elastic plastic plates (14) have at least on one of their surfaces (16) an anti-slip structure (15) which, in the inserted state, is supported against the fabric (18) of the sock (2).

10. Limb sensor stimulator arrangement according to claim 8 or 9, characterized in that the vibration-conducting elastic plastic plates (14) have a contact surface (20) of at least 2 cm 2 , preferably at least 4 cm 2 , in particular at least 16 cm 2 and / or consist of silicone, in which the vibrators (21) are preferably embedded.

11. Limb sensor stimulator arrangement according to claim 8 or 9, characterized in that the shape of the plastic plates (14) is rectangular, in particular square and / or that the thickness of a plastic plate (14) is 2-8 mm, preferably 5 mm.

12. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that at least two stimulators (7) are arranged as a stimulation array (22) and are preferably mounted on a common elastic plastic plate (14), wherein this plastic plate (14) preferably comprises a vibration-inhibiting separating joint (23) in order to separate the two vibration areas (24a, 24b) of the two vibrator-stimulators (7).

13. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that at least two stimulators (7) are arranged as a stimulation array (22) on a garter (25a) or on a cuff (25b) and / or in the upper part (26) of a sock (2), avoiding direct contact between the stimulators (7).

14. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that the vibration frequencies emitted by the stimulators (7) are between 30 Hz and 240 Hz, in particular between 60 Hz - 120 Hz and / or that the amplitudes of the vibration oscillations are between 0.1 mm and 2 mm, in particular between 0.2 mm and 1 mm.

15. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that all stimulators (7) operate with a preferably adjustable, identical stimulation frequency, wherein the stimulators (7) are spatially separated from each other, or that all stimulators (7) operate with different stimulation frequencies, wherein the frequencies of the stimulators (7) are so different that a patient can perceive the differences, or that all stimulators (7) vibrate with a vibration that is unique to them and useful for the organism or the muscle group 16. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that each stimulator (7) provides a combination of frequency, amplitude and thus signal curve for signaling to the patient's muscles in order to transmit comprehensible and helpful signals to the patient in perception of the various ground properties - as they can be measured by the sensors (4) or by the control (6).

17. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that in the application case, vibration pauses are applied by the controller (6) between vibration outputs in order to transmit coded information obtained by the sensors (4) during the pause time and to make it available to the patient 18. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that the control (6) is constructed in such a way that it derives information about the ground conditions from the sensor signals and transmits this information to the patient by different frequency outputs to the stimulators (7) as information about the ground (27).

19. Limb sensor stimulator arrangement according to one of the preceding claims, characterized in that the stimulators (7) comprise electromagnetic vibrators (7) embedded in vibration pads (28) made of RTV silicone and having the following physical properties: Tensile strength: 3-12 N / mm 2 , preferably approx. 6.5 N / mm 2 Shore A hardness after 24 hours: 20-80 ShA, preferably approx. 42 ShA; elongation at break: 150-700%, preferably 350% ± 20%.

20. Limb sensor stimulator arrangement preferably according to one of the preceding claims, characterized in that a compression stocking (29) has sensors (4) and feedback vibrators (7) which are connected to the sensors (4) by means of a controller (6), wherein the sensors (4) are arranged in the sole region and the feedback vibrators (7) are fixed in the calf region of the compression stocking (29) and wherein the feedback vibrators (7) vibrate at a frequency between 30 Hz and 240 Hz in operation as a function of the sensor input in order to exert a controlled massage on a patient's foot (17) in addition to the compression.

21. A method for assisting the walking of a muscular living being, in particular a human, using a limb sensor-stimulator arrangement, preferably according to one of the preceding claims; with at least two sensors which sense the walking and at least two vibrotactile stimulators (7), and with a controller (6) with which walking data from the sensors can be read in and the stimulators (7) can be controlled, characterized in that gait-specific sensory data are recorded in gait-line-specific sole sections (3) of the sole region of a leg (19) of a user by means of the at least two sensors and that this data is converted in the controller (6) of the limb sensor-stimulator arrangement into control data for the at least two vibrotactile stimulators (7) so that these at least two vibrotactile stimulators (7) - depending on the gait-line-specific sensory data - muscles orStimulate muscle areas (8) of the upper calf of the user's leg to walk - in the sense of muscle-controlling, wherein the at least two stimulators (7) are attached in the area of the upper calf of the user's leg in order to address the corresponding muscle areas (8) of the upper calf there.

22. A computer program product comprising instructions which, when the method is executed by a controller (6) of a limb sensor-stimulator arrangement according to one of the preceding claims, cause the controller (6) to execute a method, in particular the method according to claim 20, comprising: receiving gait line-specific sensory data which is detected by at least two sensors (4) of the limb sensor-stimulator arrangement, in particular gait line-specific sensory data in the form of pressures or forces; converting the gait line-specific sensory data into control data for at least two vibrotactile stimulators (7) along the pressure load detected by the sensors by the computer program product; translated / converted into vibration patterns (frequency, amplitude, time);and forwarding the control data to the at least two stimulators (7), which can be arranged in the region of the upper calf of a leg (19) of a user; so that the at least two vibrotactile stimulators (7) - depending on the gait-line-specific sensory data - stimulate muscles or muscle areas (8) of the upper calf to walk - in the sense of muscle-controlling vibrotactile stimulation.

23. Use of a device according to the preamble of claim 1 for carrying out a method according to claim 21.

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