Exoskeleton and method of operation thereof

Abstract

An exoskeleton for a human body for assisting and / or expanding the range of movement and movement of a human body and a method of operating and manipulating such an exoskeleton are disclosed. The exoskeleton is provided with a plurality of sections and associated connecting joints, and the exoskeleton can be operated in a walking mode and a rolling mode. The lower leg sections and / or the knees or the second connecting joints are associated with motor-driven wheels which are inactive in a walking mode of the exoskeleton and are located at a distance from the ground and / or the foot sections of the exoskeleton when the human body stands on the ground or moves by walking and / or stepping and / or climbing and / or running movements, and the motor-driven wheel is started in a rolling mode of the exoskeleton and / or is driven by the motor and is in contact with the ground.

Description

Technical Field

[0001] The present invention relates to an exoskeleton for humans for supporting and / or extending the range of motion and movement of humans, and methods of operating and manipulating such an exoskeleton. Background Art

[0002] Exoskeletons that are attached to parts of the human body can be used for a variety of purposes, such as enabling a person to perform activities that would be impossible without the exoskeleton, or that can only be performed to a limited extent, such as lifting heavy objects or other strenuous physical activities. The use of exoskeletons can often prevent overuse injuries of the human body that are caused or result from physical labor, and make certain activities possible in the first place, for which physical strength and / or physical endurance would not be sufficient under normal circumstances.

[0003] If exoskeletons are generally considered a special type of machine that supports people's movements, the term also covers other devices, such as various prostheses, but also wheelchairs. If prostheses work with motor support, they can also be considered a special type of exoskeleton. Electric wheelchairs also have many things in common with exoskeletons, such as the human-machine interface and the input devices required to transmit movement requests from the person sitting in the wheelchair to the machine.

[0004] Although a wide variety of designs of motor-assisted prostheses, exoskeletons and wheelchairs are known, sometimes with different combinations of typical features and capabilities of the respective categories, the concept of a universal assistive device for people with limited motor skills due to, for example, paralysis, which would satisfy different movement and mobility requirements to the same extent is particularly lacking in practice.

[0005] While the primary purpose of a wheelchair is to provide a degree of personal mobility to a physically challenged person, the motivations for using an exoskeleton can go much further. For example, an important primary motivation for wearing and using an exoskeleton is to enable a physically challenged person to walk again, such as a partially or fully paraplegic, a stroke victim, the elderly, or anyone else whose ability to walk is at least limited. Summary of the invention

[0006] Therefore, it can be considered that the main purpose of the present invention is to expand the range of movement types and / or variations of exoskeletons supporting human walking without requiring expensive conversion work or time-consuming replacement of the machinery capable of supporting or enabling the movement.

[0007] The objects of the invention are achieved by the subject-matter of the independent claims. Characteristic features of preferred further embodiments of the invention can be found in the dependent claims.

[0008] Therefore, in order to achieve the above-mentioned objects, the present invention proposes an exoskeleton for a human body, which is used to support the movements of a human body and / or to extend the range of movement and mobility of a human body by the features of independent claim 1. If here and in the context of the following description, the movement support of a person wearing an exoskeleton according to the invention is mentioned only in very general terms, it should be clear at this point that this can also mean the restoration of a previously non-existent or lost walking ability of the person wearing the exoskeleton. For example, a paralyzed person who was previously able to regain a certain degree of personal mobility by using a wheelchair can now also walk upright, climb stairs or overcome other obstacles by using an exoskeleton according to the invention.

[0009] The exoskeleton according to the present invention comprises: at least one torso module, which is used to support the torso of a person wearing the exoskeleton and is anchored to the torso of the person; two thigh sections, which are adjacent to the torso module and are each hinged to the torso module; a calf section, which is adjacent to the thigh section and is each hinged to the thigh section; and a foot section, which is adjacent to the calf section and is each hinged to the calf section and each supports and receives the foot of the relevant person.

[0010] Furthermore, the exoskeleton is provided with a first connection joint with an associated first drive motor for articulation and / or motorized movement support between the torso module and the individual thigh segments when the exoskeleton is attached to a corresponding human body and is located approximately in the hip joint region of the human body.

[0011] Furthermore, when the exoskeleton is placed on a person or human body and is ready to enter walking mode, the second connecting joint with the associated second drive motor for articulation and / or motorized movement support between the respective thigh segment and the respective associated lower leg segment is located approximately in the knee joint area of ​​the person or human body.

[0012] Furthermore, when the exoskeleton is attached to a human body, the third connecting joint for the articulated connection between the respective lower leg section and the respective associated foot section is located approximately in the ankle region of the human body.

[0013] An exoskeleton as defined here is therefore firstly an exoskeleton which is connected to the torso and legs of a human body and whose articulated sections are accordingly configured to surround, support or guide the legs of the human body and is therefore able to provide assistance or support for the legs within the normal range of motion of the legs or to first enable at least some usual leg movements.

[0014] The calf section and / or the knee joint are associated with motor-driven wheels, which are inactive in the walking mode of the exoskeleton and are located at a distance from the ground and / or the foot section of the exoskeleton when the human body is standing on the ground or moving through walking and / or stepping and / or climbing and / or running movements. In the rolling mode of the exoskeleton, the wheels are also activated and / or driven by the motor and in contact with the ground.

[0015] The basic structure of the exoskeleton according to the invention is characterized in that additional wheels are provided, each of which has an electric motor drive, but the wheels are not used in the walking mode of the exoskeleton. Moreover, the wheels are inactive in the walking mode of the exoskeleton and are not in rolling contact with the ground, so that they are essentially inactive in the area between the ankle and the knee joint (optionally also directly at the knee joint). If the exoskeleton is to be switched to rolling mode because the person equipped with or wearing the exoskeleton wants to move faster than in the walking mode, the wheels come into contact with the ground and the electric motor drives are activated.

[0016] Optionally, in the exoskeleton according to the invention, third drive motors can also be assigned to the third connecting joints for motorized movement support of the articulated connection between the respective calf segment and the respective associated foot segment. However, these third drive motors should not be regarded as a mandatory feature, because instead of using such third drive motors at the articulated connection between the respective calf segment and the respective associated foot segment, an alternative embodiment can also be envisaged, in which passive movement control can be envisaged in the corresponding foot joints of the exoskeleton, which support the usual walking movement in a manner similar to the joint design in a foot prosthesis and act in a manner similar to a human foot.

[0017] However, the present invention is not limited to the above three joints or exactly three drive motors. The exoskeleton may also include more than three joints or more than three drive motors to increase the number of degrees of freedom of the lower limbs accordingly.

[0018] In a first embodiment of the exoskeleton according to the invention, the motor-driven wheels are assigned to the knee joint and / or are located in the vicinity of the knee joint. In this first variant, each wheel is firmly anchored, i.e. directly in the region of the knee joint or in the vicinity of the knee joint, i.e. where the thigh section and the shank section are each connected to one another in an articulated manner.

[0019] In this first variant, the second connecting joint of the exoskeleton and the motor drive wheel assigned to and / or located near the second connecting joint are not connected to each other, and when the exoskeleton is in walking mode and the human body stands on the ground or moves by walking and / or stepping and / or climbing and / or running movements, the first drive motor is assigned to the wearer's knee joint and follows the knee movement during the walking and / or stepping and / or climbing and / or running movements of the human body and / or supports the knee movement in a motorized manner by the second drive motor.

[0020] As will be explained in more detail below, a second drive motor associated with the second joint or knee joint can support the knee joint when the exoskeleton is in walking mode and can also serve as a drive motor for the drive wheels when the exoskeleton is in rolling mode.

[0021] In addition to the walking mode, the exoskeleton also has the above-mentioned rolling mode, which, in a first embodiment of the exoskeleton described herein, is characterized in that the second joint and the motor-driven wheels assigned to and / or located near the second joint are together at a distance from the knee joint of the human body. Furthermore, in this rolling mode of the exoskeleton, the wheels associated with the second joint are in contact with the ground and each wheel is driven by a motor. Furthermore, in the rolling mode, the human body connected to the exoskeleton is in a sitting position.

[0022] The rolling pattern ensures that the thigh section is aligned approximately vertically, while the calf section, to which the thigh section is hinged, is aligned approximately horizontally. From the torso module, the thigh section continues to point downward in the vertical direction, but is no longer parallel to the thigh of the person wearing the exoskeleton, and therefore no longer travels along the outside of the thigh, since the person is in a sitting position and the thigh is aligned approximately horizontally.

[0023] At the end of the vertically aligned thigh section is a driven wheel and a second joint, which establishes an articulated connection with the shank section. In the rolling mode of the exoskeleton, these shank sections are aligned approximately horizontally and close to the ground and continue to be articulated to the third joint, because the foot of the human body usually continues to stand on the foot section or is associated with the foot section of the exoskeleton in the rolling mode.

[0024] Furthermore, in a first embodiment of the exoskeleton, the shank section is preferably equipped with non-driven support rollers which are in contact with the ground when the shank section of the exoskeleton is aligned approximately horizontally in rolling mode and the foot section is at least slightly lifted off the ground. The support rollers are obviously located in the region of the shank section which is in each case closer to the third joint than to the second joint, since a sufficient distance to the driven wheels located at the second joint is necessary for the stabilizing effect of the support rollers.

[0025] Optionally, the support rollers may have a steering mechanism to make the exoskeleton (also used as a wheelchair) steerable in rolling mode. However, in case the support rollers are loosely mounted and rotatable about a vertical axis, steering can also be achieved by a variably driven drive wheel, which can initiate a steering pulse by varying the drive power and / or the reduction power.

[0026] Preferably, in a first embodiment of the exoskeleton, an adjustable seating surface can be assigned to the torso module for a human body in a sitting position, so that the human body using the exoskeleton in rolling mode is in fact sitting in a wheelchair formed by the exoskeleton entered into rolling mode and can be moved in a rolling manner by the exoskeleton or can be moved in a rolling manner with the help of the exoskeleton.

[0027] Thus, a first embodiment of the exoskeleton may have the feature that a human body connected to the exoskeleton can change from a standing position to a sitting position and vice versa. In the sitting position of the human body required for the rolling mode, the thigh section and the calf section are separated from the thigh and calf of the human body respectively while starting the seat surface arranged on the torso module, so that not only the posture of the human body is in a sitting position, but the human body actually sits on the correspondingly positioned seat surface to rest. Although in the walking position, the drive wheels and the optional but preferably available support rollers are not in contact with the ground and have no function; in the rolling mode, the drive wheels and the support rollers are in rolling contact with the ground. Whether the thigh and calf of the human body equipped with and connected to the exoskeleton are connected or should be connected to the calf section or thigh section of the exoskeleton depends on the specific configuration of the exoskeleton and, if necessary, also depends on additional measures for stabilizing the lower limbs in the walking mode of the exoskeleton, and additional measures for preventing uncontrolled yielding or buckling when necessary. However, a tight and stable connection between the torso module and the torso of the human body wearing the exoskeleton usually prevents the legs from collapsing or buckling.

[0028] In a second embodiment of the exoskeleton according to the invention, which differs in structure in certain respects from the first embodiment, the motor drive wheels are assigned to the calf section and can also be adjusted in its longitudinal direction, which means that vertical adjustment can be made along the longitudinal direction of the calf section of the exoskeleton when the human body is standing upright.

[0029] In a second embodiment of the exoskeleton according to the invention, the motor-driven wheels associated with the shank section are inactive in the walking mode of the exoskeleton and are also in a raised position between the foot section and the knee joint, which is at a distance from the ground and / or the foot section of the exoskeleton. Thus, when the exoskeleton is in the walking mode, the wheels are inactive. The upper end position of the motor-driven wheels is typically located on the outside of the shank of the human body or the exoskeleton, for example, it may be approximately in the middle of the shank section.

[0030] However, in the rolling mode of the exoskeleton, the motor-driven wheels are activated and in contact with the ground, so that the wheels in the lowered position lift the foot section off the ground, so that only the wheels are in contact with the ground. The lower end position of the motor-driven wheels can preferably be approximately at the height of the ankle of the human body or at the height of the third articulation joint. This lower end position can particularly refer to the suspension area or the drive shaft of the wheel, because the wheel, which can be approximately 15 to 30 cm in diameter, in this case reliably contacts the ground due to its size, while there is a sufficient distance of several centimeters between the lower support plate of the foot (here usually referred to as the foot section) and the ground.

[0031] Since the second embodiment of the exoskeleton is unable to ensure an upright posture of a human wearer of the exoskeleton without additional support wheels, in this second embodiment, at least in the rolling mode of the exoskeleton, the motor-driven wheels can be connected to an electronic control device, which can provide balance control to stabilize the upright posture of the exoskeleton and the human body supported and / or assisted by the exoskeleton.

[0032] Optionally, however, additional supporting rollers may be provided so that a total of four wheels or rollers are in contact with the ground in rolling mode and the stability of the exoskeleton and the person carrying the exoskeleton can be ensured.

[0033] In the rolling mode of the exoskeleton, it is not intended to strongly flex the hip and / or knee joints, but rather to aim for and stabilize a substantially upright posture, so that when the driven wheel starts and makes rolling contact with the ground, the allowed articulation angle of the second connection joint in the rolling mode of the exoskeleton is preferably minimized and can reasonably be an angle of only a few degrees.

[0034] Furthermore, when the driven wheel starts and makes rolling contact with the ground, the allowed articulation angle of the first connection joint can also be minimized in the rolling mode of the exoskeleton.

[0035] For both embodiments described herein, it should also be noted that a geared motor or other drive motor can be arranged in the first joint, the second joint, and possibly the third joint, which can provide motor support for the desired extension or flexion around the knee joint and the hip joint, or can first provide the corresponding extension or flexion around the knee joint and the hip joint.

[0036] At least with regard to the second embodiment, if necessary, the stability of the entire movement sequence can be supported by using additional arm crutches, for example, if stairs need to be climbed. However, the use of arm crutches can also effectively support and / or promote normal walking movements.

[0037] It should be clarified that the terms "walking", "stepping", "climbing" and / or "running" as used herein are intended to cover all conceivable types of movement in which a person equipped with an exoskeleton either stands on two legs in a walking mode or performs a type of walking or movement that corresponds to human walking in the broadest sense. Climbing up and down stairs, ladders, ramps, etc. is also included in this definition, as the person adopts an upright posture.

[0038] In order to achieve the above-mentioned objectives, the present invention also proposes a method for operating and manipulating an exoskeleton according to one of the above-mentioned embodiments, in which method, when the human body stands on the ground or moves by walking and / or stepping and / or climbing and / or running, the motor-driven wheels associated with the calf segment and / or knee joint are inactive in the walking mode of the exoskeleton and are brought to a position at a distance from the ground and / or the foot segment of the exoskeleton, and the wheels are in contact with the ground in the rolling mode of the exoskeleton and are started and / or driven by the motor in the process.

[0039] The method can provide that, when the human body is standing on the ground or moving by walking and / or stepping and / or climbing and / or running movements, the second connection joint of the exoskeleton together with the wheels assigned to the second connection joint and / or located near the second connection joint are assigned to the wearer's knee joint in the walking mode of the exoskeleton and follow the knee movement during the walking and / or stepping and / or climbing and / or running movements of the human body and / or provide motor support for the knee movement by a second drive motor.

[0040] Furthermore, the method may provide that, in a rolling mode of the exoskeleton, the second connection joint and a motor-driven wheel associated with and / or located near the second connection joint are spaced apart from a knee joint of the human body, wherein the wheel associated with the second joint is in contact with the ground and is driven by the motor, and wherein the human body connected to the exoskeleton is in a sitting position.

[0041] An alternative method variant associated with the second embodiment of the exoskeleton according to the invention can provide that the motor-driven wheel associated with the lower leg segment is inactive in the walking mode of the exoskeleton and is in a raised position between the foot segment and the knee joint, which is at a certain distance from the ground and / or from the foot segment of the exoskeleton.

[0042] Furthermore, this method variant can provide that the motor-driven wheels start in a rolling mode of the exoskeleton and come into contact with the ground, wherein the wheels in the respective lowered position lift the foot section off the ground.

[0043] Furthermore, this method variant may provide that, at least in the rolling mode of the exoskeleton, the motor-driven wheels are coupled to control and / or regulation means which provide balance control when the exoskeleton and a person supported and / or assisted by the exoskeleton are in a stable upright position. Furthermore, this optional control and / or regulation means may support the stability of the exoskeleton and prevent it from tipping over during any type of rolling movement.

[0044] It should be explicitly pointed out here that all aspects and embodiments explained in connection with the exoskeleton according to the invention also relate to or can form part of aspects of the method for operating and manipulating an exoskeleton according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions of the exoskeleton according to the invention, this also applies to the method according to the invention. Vice versa, all aspects and embodiment variants explained in connection with the method for operating and manipulating an exoskeleton according to the invention also relate to or can form part of aspects of the exoskeleton according to the invention. Therefore, if certain aspects and / or relationships and / or effects are mentioned at any point in the description or in the claim definitions of the method according to the invention, this also applies to the exoskeleton according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Below, the present invention and its advantages will be explained in more detail by exemplary embodiments with reference to the accompanying drawings. For better illustration, the proportions between the various elements in the figures do not always correspond to the actual proportions, because some shapes are simplified, while other shapes are enlarged relative to other elements.

[0046] Figure 1A A schematic side view of a human body is shown with a first embodiment of an exoskeleton according to the invention, the exoskeleton being in walking mode.

[0047] Figure 1B A schematic side view of a first embodiment of the exoskeleton converted into a rolling mode is shown.

[0048] Figure 2A A schematic side view of a human body with a second embodiment of an exoskeleton according to the invention is shown, the exoskeleton being in walking mode.

[0049] Figure 2B A schematic side view of a second embodiment of the exoskeleton converted into a rolling mode is shown.

[0050] Figure 3A A perspective view of a human body equipped with an exoskeleton according to a second embodiment is shown, wherein the exoskeleton is in rolling mode.

[0051] Figure 3B A detailed perspective view of the lower section of the exoskeleton is shown with the motor driven wheels in contact with the ground.

[0052] Figure 4A A perspective view of a human body equipped with an exoskeleton according to a third embodiment is shown, wherein the exoskeleton is in rolling mode with additional supporting rollers.

[0053] Figure 4B Shown according to Figure 4A A detailed perspective view of the lower portion of the exoskeleton, which has motor-driven wheels and undriven support rollers, each of which is in contact with the ground.

[0054] The same reference numerals are used to represent elements of the present invention having the same or similar effects. In addition, for the sake of clarity, only the reference numerals necessary for describing the corresponding figures are shown in each figure. The embodiments shown are merely examples of how the present invention is provided and do not represent exhaustive limitations. The features described below should also not be understood as being closely combined with other features of the corresponding embodiment examples, but can be provided or used for this purpose in a general context. DETAILED DESCRIPTION

[0055] Figure 1A and Figure 1B The schematic side view of the human body 8 with a first embodiment of the exoskeleton 10 according to the invention is shown. Figure 1A is in walking mode, while Figure 1B The exoskeleton 10 is shown converted into a rolling mode.

[0056] As already explained above, the exoskeleton 10 shown can be used in particular to support the movements of a human body 8 or to extend the range of movement and mobility of a human body 8, or to enable a person 8 who is unable to walk to walk more or less normally on two legs. The exoskeleton 10 comprises a trunk module 12, which is anchored to the trunk of the human body 8 and supports it, and two thigh sections 14, which adjoin the trunk module 12 at the lower side and are each connected in an articulated manner to the trunk module 12, the upper ends of the thigh sections 14 being connected in an articulated manner to the trunk module 12 and the lower ends being connected in an articulated manner to the calf sections 16. These calf sections 16 are each adjacent to a foot section 18, which is articulated to the calf section 16 and each supports and accommodates the foot of the human body 8.

[0057] In particular, a plate-shaped foot support may be provided so that the sole of a person's foot rests on the foot section 18 .

[0058] because Figure 1A and Figure 1BAs a schematic diagram, the figure does not show the first connection joint 20 with the associated first drive motor 22 for the articulated connection and motorized movement support between the torso module 12 and the individual thigh sections 14, which is located approximately in the hip joint area of ​​the human body in the exoskeleton 10 worn by the human body 8. For example, the two first drive motors 22 can be integrated in the first connection joint 20 respectively and in particular be formed by a geared electric motor or other drive motor suitable for this purpose. In addition, it is advantageous to limit the mobility of the first connection joint 20 at least to a certain extent and adapt it to the perceived body mobility of the human body 8 so that their hip joints or other musculoskeletal systems are not overloaded in any way or damaged in an unreasonable way.

[0059] In addition, a second connection joint 24 with an associated second drive motor 26 is located between each thigh section 14 and each associated calf section 16 for articulated connection and for motorized movement support of knee flexion and extension, and the second connection joint 24 is located approximately in the knee joint area of ​​the human body. Similarly, two second drive motors 26 can be integrated in the second connection joint 24, in particular can be formed by a geared motor. In addition, it is advantageous to limit the mobility of the second connection joint 24 at least to a certain extent and adapt it to the reasonable knee mobility of the human body 8 so that their knee joints are not overloaded or overstressed in any way.

[0060] Finally, the third connecting joint 28 for the articulated connection between the respective lower leg segment 16 and the respective associated foot segment 18 is located approximately in the ankle region or at the height of the human body 8. Optionally, a third drive motor 30 or a geared motor for providing motorized motion support for the articulated connection between the respective lower leg segment 16 and the respective associated foot segment 18 can also be associated with the third connecting joint 28. If such a third drive motor 30 is omitted, it is conceivable to implement passive motion control and / or motion influencing in the corresponding foot joint or third connecting joint 28 of the exoskeleton 10, which supports the usual walking motion in a manner similar to the joint design in a foot prosthesis and acts in a manner similar to a human foot. Suitable passive elements include, for example, appropriately adjusted spring elements, spring mechanisms (possibly with integrated dampers) and the like. In principle, walking motions can be realized in this passively supported manner without the foot segment 18 having to be equipped with a third drive motor 30.

[0061] like Figure 1AAs shown in the schematic side view of , when the human body 8 stands on the ground or moves by walking, stepping, climbing and / or running, the second connecting joint 24 is spatially associated with the knee joint of the exoskeleton 10 in the walking mode shown here, and follows the knee movement during the walking, stepping, climbing and / or running movement of the human body 8 and / or supports the knee movement in a motorized manner via the second drive motor 26.

[0062] Figure 1B The schematic side view of shows the rolling mode of the exoskeleton 10 , in which the second joint 24 is spaced apart from the knee joint of the human body 8 . Figure 1A The body connections of the exoskeleton 10 schematically indicated in the figure are released here at least in the thigh area, the calf area and possibly the knee of the person 8 wearing the exoskeleton 10, for example by manually opening corresponding connections or stabilization devices (not shown in detail here). The body connections can include bandages or the like, possibly including foam or other flexible or elastic materials, by which the person 8 is connected to the exoskeleton 10 in walking mode, such as Figure 1A The connection via the body connection such as a bandage can be removed so that the exoskeleton 10 can be changed from walking mode ( Figure 1A ) changes to scroll mode ( Figure 1B ). The bandage can remain attached to the human body 8 so that when the exoskeleton 10 is moved from the Figure 1B The scroll mode switches back to Figure 1A When the user returns to walking mode, the connection with the exoskeleton 10 can be quickly and easily reestablished via the bandage.

[0063] The rolling mode initially provides that the thigh section 14 continues to be aligned substantially vertically, i.e. as in the walking mode ( Figure 1A ), while the calf section 16 articulated therewith is now folded forward by approximately 90° in the second joint 24 and is thus aligned horizontally. Starting from the torso module 12, the thigh section 14 continues to point downward in the vertical direction, but is no longer parallel to the thigh of the person 8 wearing the exoskeleton 10 and therefore no longer extends along the outer side of the thigh, since the person 8 is in a sitting position and the thigh is aligned approximately horizontally. The second joint 24 presents an angle of approximately 90° in the forward direction, which the knee joint of the person 8 cannot follow, since in the human body a locking device prevents the knee joint from being extended beyond a merely slightly hyperextended position.

[0064] In order to make this rolling mode of the exoskeleton 10 work, driven wheels 32 are arranged at the lower ends of the vertically aligned thigh sections 14, which wheels 32 can be particularly associated with the second connection joint 24 and can also be usefully driven by the second drive motor 26 of the second connection joint 24. When the human body 8 stands on the ground or moves by walking, stepping, climbing and / or running movements, the motor-driven wheels or driven wheels 32 are inactive in the walking mode of the exoskeleton 10 and are in a position to maintain a distance from the ground and / or from the foot section 18 of the exoskeleton 10 (see Figure 1A ). In contrast, in the rolling mode of the exoskeleton 10, the driven wheels 32 are activated and driven by the motor and in contact with the ground (see Figure 1B ).

[0065] exist Figure 1A and Figure 1B In the first embodiment of the exoskeleton 10 shown, the motor-driven wheels 32 can be associated with the knee joint or the second connecting joint 24 and / or be located in the vicinity of these joints 24. In this first variant, the wheels 32 are preferably anchored firmly there in each case, so that the rolling mode can be started by a folding movement of the exoskeleton 10 in the second connecting joint 24 while the thigh segment 14 and the shank segment 16 of the exoskeleton 10 are moved away from the leg of the person 8 (and when the body connection between the thigh segment 14 and the shank segment 16 is released or the body connection between the exoskeleton 10 and the thigh segment 14 and the shank segment 16 is released), while the foot of the person 8 continues to stand on the foot segment 18 of the exoskeleton 10 or remains associated with the foot segment 18 of the exoskeleton 10 both in the walking mode and in the rolling mode.

[0066] Furthermore, in the first embodiment of the exoskeleton 10, the shank section 16 is preferably provided with non-driven support rollers 34, which are arranged to rotate when the shank section 16 of the exoskeleton 10 is in the rolling mode (see Figure 1B ), the support rollers 34 are in contact with the ground and the foot section 18 on which the foot of the person 8 rests is at least slightly lifted off the ground. The support rollers 34 are located prominently in the region of the calf section 16 relatively close to the third connecting joint 28 and the foot section 18, so that there is sufficient distance from the driven wheel 32 to achieve the stabilizing effect of the support rollers 34 in the rolling mode. In the walking mode, the support rollers 34 are inactive and protrude backwards from the calf section 16 (see Figure 1A ).

[0067] Optionally, the support rollers 34 may have a suitable steering mechanism to make it easier to steer the exoskeleton 10 (which also serves as a wheelchair 36) in rolling mode. However, in the case where the support rollers 34 are mounted to rotate loosely about a vertical axis, such steerability can also be achieved by a variable drive drive wheel 32, which can introduce steering pulses into the wheelchair 36 by varying the drive power and / or the reduction power, thereby making it steerable.

[0068] like Figure 1B As shown, the torso module 12 has an adjustable seat 38 for a person 8 sitting in a wheelchair 36. Once the exoskeleton 10 is converted to a rolling mode and used as a wheelchair 36, the seat surface 38 can be placed under the hips of the person 8 in the manner shown.

[0069] Figure 2A and Figure 2B A schematic side view of a second embodiment of an exoskeleton 10 according to the invention is shown, in which a human body 8 carries the exoskeleton 10 or is equipped with the exoskeleton 10, wherein Figure 2A The exoskeleton 10 is shown in walking mode, while Figure 2B The second embodiment of the exoskeleton 10 is shown in a rolling mode.

[0070] Figure 2A and Figure 2B as well as Figure 3A , Figure 3B , Figure 4A and Figure 4B The second embodiment of the exoskeleton 10 shown in the further views of FIG. 1 differs in structure from the first embodiment in certain aspects which will be described below in the most important details. The main difference is that the motor drive wheel 32 is associated with the shank section 16 so that the motor drive wheel 32 can be adjusted along the longitudinal extension of the shank section 16, which means that the exoskeleton 10 can be adjusted vertically along the longitudinal direction of the shank section 16 when the person 8 is standing upright.

[0071] like Figure 2A As shown, in the walking mode of the exoskeleton 10, the motor-driven wheel 32 associated with the shank section 16 is inactive and in a raised position that is spaced from the ground and / or from the foot section 18 of the exoskeleton 10, between the foot section 18 and the second joint 24 or the knee joint of the human body 8. Thus, in the walking mode of the exoskeleton 10, the wheel 32 is inactive. The upper end position of the motor-driven wheel 32 is generally located on the outside of the shank of the human body 8 or the outside of the shank section 16 of the exoskeleton 10, for example, it can be approximately located in the middle of the shank section.

[0072] At this point it should be noted that other identical or similar elements of the second embodiment variant of the exoskeleton 10 are used in conjunction with Figure 1A and Figure 1B The same reference numerals as in the above are used and will not be explained here again, but only in Figure 2A The second embodiment variant explained in the following is explained only insofar as it is significantly different from the first variant.

[0073] like Figure 2B As shown, the motor-driven wheels 32 are started in the rolling mode of the exoskeleton 10 and each wheel is in contact with the ground, wherein the wheels 32 in their respective lowered position lift the foot section 18 off the ground so that only the wheels 32 are still in contact with the ground. The lower end position of the motor-driven wheels 32 present in this case can preferably be approximately at the height of the ankle of the human body 8 or at the height of the third connection joint 28 of the exoskeleton 10. This lower end position can particularly refer to the suspension area or the drive shaft of the wheels 32.

[0074] The wheel axle is obviously located approximately in the area of ​​the body center of gravity of the human body 8 or at least in the area close to this center of gravity.

[0075] The diameter of the wheel 32 may be within a reasonable range of approximately 15 to 30 cm so that the wheel 32 can reliably contact the ground in rolling mode due to its size, while there is ample distance of several centimeters between the lower support plate of the foot (generally referred to herein as the foot section 18) and the ground.

[0076] Since the exoskeleton 10 is unable to ensure an upright posture of a human wearer of the exoskeleton 10 without additional support wheels (see Figure 1A and Figure 1B ), therefore in this second embodiment, the motor driven wheels 32 may preferably be coupled to electronic control and / or regulation means, at least in the rolling mode of the exoskeleton 10, which may provide balance control for a stable upright posture of the exoskeleton 10 and of the human body 8 supported or assisted by the exoskeleton 10. When referring here to a stable upright posture of the exoskeleton 10, this does not only mean a resting mode in which the human body 8 stands still with the aid of the exoskeleton 10, even if the wheels 32 are in contact with the ground and the foot sections 18 are lifted off the ground. In a driving mode in which the driven wheels 32 and the exoskeleton 10 are rolling, the upright posture may also be maintained with the aid of the electronic control and / or regulation means.

[0077] The electronic stabilization device is not shown in detail here, since it is part of the drive control of the entire exoskeleton 10 and its drive wheels 32 in rolling mode.

[0078] In the rolling mode of the exoskeleton 10, its motion control does not obviously allow the hip and / or knee joints to bend significantly, but rather aims at a substantially upright posture and maintains stability, so when the driven wheel 32 is started and rolls to contact the ground, the allowed articulation angle of the second joint 24 in the rolling mode of the exoskeleton 10 is preferably minimized, and may be only a few degrees. In addition, when the driven wheel 32 is started and rolls to contact the ground, the allowed articulation angle of the first joint 20 in the rolling mode of the exoskeleton 10 can also be minimized.

[0079] therefore, Figure 2A and Figure 2B The exoskeleton 10 according to the second embodiment shown in FIG. 1 is maintained in an upright orientation without providing a simulated wheelchair 36 (see FIG. 1 ). Figure 1B ) function to switch to scroll mode.

[0080] Figure 3A and Figure 3B Indicates a quick shift of the wheel 32 from the walking mode ( Figure 2A ) to scroll mode ( Figure 2B ) and the option of reverse conversion. For example, the wheel suspension 40 can be suspended on a linear guide 42 respectively, which allows a linear movement of the wheel suspension 40 between two end positions along the longitudinal extension direction of the respective lower leg section 16. Such a linear guide 42 is to be understood only as an exemplary possibility for allowing the mobility of the wheel suspension 40 between the two different end positions already described. For example, it is also conceivable to provide an eccentric action mechanism or other mechanism or mechanism suitable for ensuring the mobility of the wheel suspension 40 between different end positions.

[0081] In a first variant of the exoskeleton 10, the wheels 32 or their wheel suspensions can be locked in two end positions by means of linear guides 42, which can be locked automatically, semi-automatically, by means of corresponding manual actuation by the user. Thus, if the user or person 8 wants to switch from walking mode to rolling mode, he / she can release the locking means and then lift one leg by flexing it at the knee joint and possibly also at the hip joint and lift the foot section 18 off the ground, while the other foot remains on the ground. This type of movement can be assisted by the use of crutches.

[0082] The wheel suspension 40 suspended on the linear guide 42 allows it or the wheel 32 arranged thereon to fall downward due to gravity when the foot is lifted and can then be locked in this lower position. The other foot can then be lifted in the same way after unlocking the wheel suspension 40 so that the wheel suspension 40 also causes the wheel 32 to fall downward.

[0083] Preferably, this phase of switching to rolling mode can be stabilized, in particular by using the support arm crutch.

[0084] Conversely, in order to change from rolling mode to walking mode, the locking device of the linear guide 42 for the wheel suspension 40 can be released so that the person 8 falls downwards together with the exoskeleton 10 until the foot section 18 reaches the ground. In this case, the compression spring 44 on the outside of the calf section 16 can ensure that the impact caused thereby is weakened, because the compression spring 44 counteracts the weight of the person 8 and thus reduces and attenuates the impact shock when reaching the ground.

[0085] The linear guide 42 can then be locked again, thereby resuming the walking mode. Figure 3A and Figure 3B In this variation, the wheel 32 cannot reach Figure 2A The height at the calf section 16 indicated by the schematic representation of . Without further motorized support, the wheels 32 are approximately maintained at a certain height in walking mode, at which they can at most be just above the foot section 18. However, alternatively, the motorized support in the linear guide 42 can ensure that the wheels 32 are raised and kept away from the ground. In such an embodiment, it is not absolutely necessary for the wheels 32 to be spaced apart from the ground in walking mode. Therefore, it is also entirely possible that both the wheels 32 and the foot section 18 are in contact with the ground in walking mode. If this is the case, it can be provided that the wheels 32 in contact with the ground in walking mode are fixed or even locked in their respective rotational positions.

[0086] In an alternative variant, also refer to Figure 3A and Figure 3B A compression spring 44 which supports the corresponding linear guide 42 in a suitable manner and pretensions it in one direction can also optionally ensure that the wheel 32 can reach the lower end position by releasing the corresponding locking mechanism under the action of the restoring force of the released compression spring 44 and that a rolling mode of the exoskeleton 10 can be established by lifting the foot section 18 off the ground.

[0087] The electrically drivable drive in the linear guide 42 can pull the individual drive wheels 32 upwards to the upper end position to establish the walking mode, so that the foot section 18 rests on the ground again. The advantage of this mechanism is that the electrically drivable drive of the linear guide 42 can be designed to be relatively weak, because the compression spring 44 (see Figure 3B ) is supported by the weight of the human body 8 connected to the exoskeleton 10. In contrast, when the exoskeleton 10 is lifted off the ground, most of the actuation force required to lower the wheels 32 is applied by the compression springs 44, so that the linear guides 42 do not need to apply further motorized actuation force or may only need to apply a small amount of additional motorized actuation force to establish the rolling mode.

[0088] In rolling mode, the wheel suspension 40 is preferably locked in the lower end position so that rolling does not introduce instabilities that might be introduced into the rolling exoskeleton 10 by the compliant compression springs 44 causing the linear guides 42 to deflect, especially when traveling on uneven ground. Alternatively, however, such a spring effect may be desirable and allowed in the design, although in this case, a damping effect exerted on the linear guides 42 may be desirable.

[0089] Figure 4A and Figure 4B A modification of the second embodiment of the exoskeleton 10 is shown, in which additional smaller supporting rollers can be arranged under the foot section 18, so that in rolling mode a total of four wheels 32 or rollers 46 are in contact with the ground and can provide stability for the exoskeleton 10 and the person 8 carrying the exoskeleton.

[0090] In this variant, the driven wheels 32 are pivoted to the rear so that they are located behind the heel area of ​​the foot section 18 and can, together with the support rollers 46 arranged below the foot section 18 , ensure that the exoskeleton 10 is positioned sufficiently stable when moving on the wheels.

[0091] The present invention has been described above in conjunction with preferred embodiments. However, those skilled in the art will appreciate that the present invention may be modified or altered without departing from the scope of protection of the following claims.

[0092] Reference numerals list 8 people, human body 10 Exoskeleton 12 Torso Modules 14 Thigh section 16 Calf section 18 Foot Sections 20First joint 22 First drive motor 24 Second connection joint 26 Second drive motor 28Third joint 30 Third drive motor 32 wheels, driving wheels, driven wheels 34 Support rollers 36Wheelchair 38 seats 40 wheel suspension 42 linear guides 44 Compression spring 46 Support rollers

Claims

1. An exoskeleton (10) for a human body (8), which is used to assist the movement of the human body and / or extend the range of movement and mobility of the human body, the exoskeleton (10) comprising at least: - a torso module (12) which supports the torso of the human body (8) and is anchored to said torso, - two thigh sections (14) connected to the trunk module (12) and articulated thereto, - two calf sections (16) which adjoin the thigh section (14) and are each connected to the thigh section (14) in an articulated manner, and - foot sections (18), each of which adjoins the calf section (16) and is each connected to the calf section (16) in an articulated manner, and each foot section supports and receives a foot of the human body (8), wherein, when the exoskeleton (10) is attached to the human body (8), a first connection joint (20) with an associated first drive motor (22) for articulating and / or motorized motion support between the torso module (12) and the respective thigh segment (14) is approximately located in the hip joint area of ​​the human body (8); wherein, when the exoskeleton (10) is attached to the human body (8) and is ready for walking mode, a second connection joint (24) with an associated second drive motor (26) for articulating and / or motorized motion support between the respective thigh segment (14) and the respective associated calf segment (16) is approximately located in the knee joint area of ​​the human body (8); and wherein, when the exoskeleton (10) is attached to the human body (8), a third connection joint (28) for articulating and / or motorized motion support between the respective calf segment (16) and the respective associated foot segment (18) is approximately located in the ankle joint area of ​​the human body (8), And wherein the motor drive wheel (32) is associated with the calf section (16) and / or the knee joint or the second connecting joint (24), and when the human body (8) stands on the ground or moves by walking and / or stepping and / or climbing and / or running, the motor drive wheel (32) is in an unactivated state in the walking mode of the exoskeleton (10) and is located at a certain distance from the ground and / or the foot section (18) of the exoskeleton (10), and the motor drive wheel (32) is activated and / or driven by the motor and in contact with the ground in the rolling mode of the exoskeleton (10).

2. An exoskeleton according to claim 1, wherein a third drive motor (30) is assigned to the third connecting joint (28) for providing motorized movement support for the articulated connection between the respective lower leg segment (16) and the respective associated foot segment (18).

3. An exoskeleton according to claim 1 or 2, wherein the motor drive wheel (32) is associated with the knee joint or the second joint (24) and / or is located near the knee joint or the second joint (24) of the human body (8).

4. An exoskeleton according to claim 3, wherein the second connecting joint (24) of the exoskeleton together with the motor-driven wheel (32) assigned to the second connecting joint (24) and / or located near the second connecting joint (24) is assigned to the wearer's knee joint in the walking mode of the exoskeleton (10) when the human body (8) stands on the ground or moves by walking and / or stepping and / or climbing and / or running movements, and follows the knee movement during the walking and / or stepping and / or climbing and / or running movements of the human body (8) and / or provides motor support for the knee movement through the second drive motor (26).

5. An exoskeleton according to claim 3 or 4, wherein the second connection joint (24) of the exoskeleton together with the motor-driven wheel (32) assigned to the second connection joint (24) and / or located near the second connection joint (24) maintains a distance from the knee joint of the human body (8) in the rolling mode of the exoskeleton (10), -in, The wheel (32) associated with the second joint (24) is in contact with the ground and is motor-driven, and - wherein the human body (8) connected to the exoskeleton (10) is in a sitting position.

6. The exoskeleton according to claim 5, wherein in the rolling mode of the exoskeleton (10), the thigh section (14) is oriented approximately vertically and the shank section (16) hingedly connected to the thigh section (14) is oriented approximately horizontally.

7. An exoskeleton according to claim 5 or 6, wherein the calf section (16) is particularly provided with non-driven support rollers (34), which are in contact with the ground when the calf section (16) of the exoskeleton (10) in the rolling mode is aligned approximately horizontally and the foot section (18) is at least slightly lifted off the ground.

8. An exoskeleton according to any one of claims 5 to 7, wherein the torso module (12) is associated with an adjustable seating surface (38) for a human body (8) in a sitting position.

9. The exoskeleton according to claim 1 or 2, wherein the motor drive wheel (32) is assigned to the lower leg section (16) and is arranged adjustably in the longitudinal direction of the lower leg section (16).

10. An exoskeleton according to claim 9, wherein the motor-driven wheels (32) associated with the shank segments (16) are inactive in the walking mode of the exoskeleton (10) and are in a raised position between the corresponding foot segment (18) and the corresponding knee joint or second connecting joint (24), which is at a certain distance from the ground and / or from the foot segment (18) of the exoskeleton (10).

11. An exoskeleton according to claim 9 or 10, wherein the motor-driven wheels (32) are activated and in contact with the ground in a rolling mode of the exoskeleton (10), wherein the wheels (32) in each lowered position lift the corresponding foot segment (18) off the ground.

12. An exoskeleton according to claim 11, wherein the motor-driven wheels (32) are connected to a control and / or regulation device, at least in the rolling mode of the exoskeleton (10), which control and / or regulation device is capable of providing balance control of a stable upright position of the exoskeleton (10) and a human body (8) supported and / or assisted by the exoskeleton (10).

13. An exoskeleton according to claim 11 or 12, wherein in the rolling mode of the exoskeleton (10), when the motor-driven wheel (32) is started and in rolling contact with the ground, the allowed articulation angle of the second connection joint (24) is minimized.

14. An exoskeleton according to any one of claims 11 to 13, wherein in the rolling mode of the exoskeleton (10), when the motor-driven wheel (32) starts and rolls in contact with the ground, the allowed articulation angle of the first connection joint (20) is minimized.

15. A method for operating and manipulating an exoskeleton (10) according to any one of claims 1 to 14, in which method, when a human body (8) is standing on the ground or is moving by walking and / or stepping and / or climbing and / or running movements, the motor-driven wheels (32) associated with the calf segment (16) and / or the knee joint or the second connecting joint (24) are inactive in the walking mode of the exoskeleton (10) and are brought off the ground and / or away from the position of the corresponding foot segment (18) of the exoskeleton (10), wherein: The wheels (32) are in contact with the ground in the rolling mode of the exoskeleton (10) and are thereby activated and / or driven by a motor.

16. A method according to claim 15, wherein the second connecting joint (24) of the exoskeleton (10) together with the wheel (32) assigned to the second connecting joint (24) and / or located near the second connecting joint (24) is assigned to the wearer's knee joint in the walking mode of the exoskeleton (10) when the human body (8) stands on the ground or moves by walking and / or stepping and / or climbing and / or running movements, and is assigned to the knee movement and / or the walking movement of the human body (8) during the walking and / or stepping and / or climbing and / or running movements of the human body (8), and follows the knee movement during the walking and / or stepping and / or climbing and / or running movements of the human body (8) and / or provides motor support for the knee movement through the second drive motor (26).

17. The method according to claim 15 or 16, wherein the second joint (24) together with the motor-driven wheel (32) associated with and / or located near the second joint (24) is spaced apart from the knee joint of the human body (8) in the rolling mode of the exoskeleton (10), -in, The wheel (32) associated with the second joint (24) is in contact with the ground and is driven by a motor, and - wherein the human body (8) connected to the exoskeleton (10) is in a sitting position.

18. A method according to claim 15, wherein the motor-driven wheel (32) associated with the calf segment (16) is inactive in the walking mode of the exoskeleton (10) and is in a raised position between the corresponding foot segment (18) and the knee joint or the corresponding second connecting joint (24), which is at a distance from the ground and / or from the foot segment (18) of the exoskeleton (10).

19. The method of claim 15 or 18, wherein the motor-driven wheels (32) are activated and in contact with the ground in a rolling mode of the exoskeleton (10), wherein the wheels (32) in a lowered position lift the foot section (18) off the ground.

20. A method according to claim 19, wherein the motor-driven wheels (32) are connected to a control and / or regulation device, at least in the rolling mode of the exoskeleton (10), which control and / or regulation device is capable of providing balance control for a stable upright position of the exoskeleton (10) and a human body (8) supported and / or assisted by the exoskeleton (10).

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