Orthopedic technical device

Abstract

The invention relates to an orthopedic device comprising an upper part (100) and a lower part (200) movably mounted on the upper part, said lower part being coupled to an actuator (30) which moves the lower part relative to the upper part, said actuator having an electric motor (40), an energy storage device (50) and a control device (60), wherein a first switch (62) is arranged between the energy storage device and the electric motor, which switch is coupled to the control device and switches a supply voltage (Us) of a motor controller (66) of the electric motor between an output voltage (Uo) of the energy storage device and a voltage converter (80), the supply voltage varies with respect to the output voltage.

Description

Technical field

[0001] The present invention relates to an orthopedic technical device, which includes an upper part and a lower part movably mounted on the upper part, the lower part being coupled to an actuator that moves the lower part relative to the upper part, wherein the actuator has an electric motor, an energy storage device and a control device. Background art

[0002] Orthopedic technical devices particularly include prostheses, orthoses and exoskeletons. A prosthesis substitutes, as far as possible in terms of shape and / or function, a limb or body part that is absent or no longer present. The simplest prostheses have a purely cosmetic function or complete a limb, for example, substituting a distal phalanx. For more complex prosthesis devices, multiple prosthesis components are connected to each other and fixed to each other, particularly pivotally connected to each other via joints.

[0003] In order to influence the relative movement between prosthesis components, locking devices have been developed, with which the extended prosthetic knee joint can be locked and unlocked, so that the prosthesis user can sit down. Drive devices have been developed to transmit the movement of the shoulder to a prosthetic hand via a cable, so that objects can be grasped and held. In order to influence the movement behavior, dampers (especially hydraulic dampers) and energy storage devices (especially in the form of springs) are installed on the respective components. One of the purposes of this is to achieve the best possible function and, if necessary, as natural a movement process as possible.

[0004] In order to support or slow down the movement of prosthesis components, drive devices are integrated into the prosthesis, thus forming an active prosthesis. There are also corresponding designs for passive and active orthoses or exoskeletons connected to existing limbs. Cross-joint orthoses and exoskeletons can also be equipped with springs, accumulators and / or electric drive devices.

[0005] In order to control passive and active prostheses, orthoses and exoskeletons, control devices are installed on the orthopedic technical device, which generate control signals according to sensor values or stored sequences to activate, deactivate or modulate the drive device or change the resistance, for example, by opening or closing valves, releasing or blocking the energy stored in the energy storage device, switching on, off or modulating an electric motor or similar devices.

[0006] In active orthopedic technical devices with an electric drive device, the energy storage device usually consists of a battery or accumulator. In an electric drive device, the required supply voltage is proportional to the rotational speed of the drive device, and the torque of the drive device is also proportional to the motor current. Therefore, the maximum values of the current and voltage of the energy supply device determine the maximum torque and maximum rotational speed of the drive device.

[0007] In order to be able to provide high torque and high rotational speed for driving an orthopedic device, a correspondingly large energy storage device or an electric motor must be used. Since this increases the weight of the orthopedic device, the increase of the energy storage device and / or the motor is limited. An electric motor is an electromechanical switch that converts electrical energy into mechanical energy. In particular, an electric motor can be understood as a DC motor, an AC motor, a piezoelectric actuator, a motor acting through the Lorentz force, a reluctance motor, and a thermoelectric actuator. Summary of the Invention

[0008] The object of the present invention is to provide an orthopedic device that can operate with a relatively light energy storage device or whose drive device has a larger working range.

[0009] The above object is solved by an orthopedic device having the features described in the independent claims. Advantageous designs and expansion solutions of the present invention are disclosed in the dependent claims, the description and the drawings.

[0010] An orthopedic technology device having an upper part and a lower part movably mounted on the upper part, the lower part being coupled to an actuator that enables the lower part to move relative to the upper part, wherein the actuator has at least one electric motor, an energy storage device, and a control device. The present invention provides that a first switching switch is installed between the energy storage device and the electric motor, the first switching switch being coupled to the control device and switching the supply voltage of the motor controller between the output voltage of the energy storage device and a voltage converter, the supply voltage being changed, in particular increased, compared to the initial setting. The switching switch is arranged between the motor controller and the energy storage device, the switching switch being arranged in the control device and directly supplying the output voltage of the energy storage device or the increased voltage to the motor controller through the energy storage device. In addition to a certain adjustment speed, an active orthopedic technology device must also be able to apply sufficient torque in order to be able to perform the required movement or action, or in order to be able to affect the movement state in the expected manner. Fast movements are usually carried out at low torque and without high loads, while movements requiring high torque are usually carried out slowly. Through the control device and the switching switch, the output voltage can be directly transmitted to the electric motor in the first switching state, so that a large current is supplied to the electric motor with a relatively low supply voltage (which is equal to the output voltage of the energy storage device). In this way, the electric motor can generate a large torque. If the control device issues a corresponding switching signal, the voltage converter will be switched on or activated. The voltage converter will change, in particular increase or decrease the output voltage from the energy storage device, and supply the increased or decreased voltage to the electric motor as the supply voltage through the motor controller. This increases the rotational speed or possible rotational speed of the electric motor, or increases the maximum rotational speed of the electric motor and at the same time reduces the maximum torque, or reduces the maximum torque and correspondingly increases the maximum torque. The direct connection of the motor controller to the energy storage unit enables an increase in the current in the motor. In this way, the electric motor can generate a high torque at low speeds. If a higher rotational speed is required, the voltage converter will switch to a higher supply voltage. The control device provides a switching signal for setting the supply voltage. The control device can detect an increase in voltage requirement or an increase in motor torque demand and provide the corresponding supply voltage by switching the voltage converter. For example, this can be achieved by analyzing sensors that detect the prosthesis or orthosis component, the environment, and / or the movement, load, state, and / or position of the contralateral side not provided by the patient, or changes thereof. When analyzing the sensors, the future change curve can also be inferred based on the previous signal change curve.

[0011] In one embodiment, the output voltage of the voltage converter can be adjusted dynamically in order to smoothly switch or soft-switch between the provided or required supply voltages. To be able to cover the increased voltage requirements during the various phases of a step, the output voltage of the voltage converter is adjusted as required. This demand-based adjustment minimizes the losses in the voltage converter when the voltage is increased. The dynamic adjustability enables a smooth switch of the supply voltage provided in each case.

[0012] The voltage converter is designed in such a way that it can perform both step-up conversion and step-down conversion, i.e., it can provide an increased voltage or a reduced voltage as the supply voltage. Additionally, in one embodiment, a step-up converter and a step-down converter are also provided in the voltage converter in order to be able to provide the required supply voltage in each case.

[0013] In one embodiment, the voltage converter is bidirectional and has a step-up converter and a step-down converter, or only one converter that can perform both step-up conversion and step-down conversion. Thus, when the motor is in the generator mode and energy is fed back to the battery or the energy storage device, the fed-back voltage can be adjusted. On the one hand, the output voltage of the energy storage device can be increased to a higher level in order to supply power to the motor controller during forward operation; on the other hand, the step-down converter enables reverse operation. In this case, the electric motor operates at a higher supply voltage level in the generator mode. The step-down conversion makes it possible to recharge the electrical energy generated in the motor to the energy storage device in a controlled manner. The generator mode enables the electrical energy to flow back to the energy storage device, and the electrical energy is generated when operating at a higher supply voltage level in the generator mode. In particular, by means of the dynamically adjustable voltage converter, the losses in the step-up converter or the step-down converter when the electric motor steps down or step-up converts the voltage can be reduced.

[0014] In an extended solution, a second switching switch for switching between the step-up converter and the step-down converter is coupled to the control device. This second switching switch is particularly necessary if the output of the voltage converter cannot be deactivated. In this design of the voltage converter, the second switching switch must always be locked when the first switching switch allows passage, or the second switching switch must always allow passage when the first switching switch is locked.

[0015] In the initial setting of the first switching switch, the output voltage of the energy storage device serves as the supply voltage for the motor controller of the electric motor, so that the electric motor initially operates at a lower maximum rotational speed and maximum torque. Only when a corresponding control signal (e.g., based on a sensor) occurs is the supply voltage increased.

[0016] In one embodiment, this switching switch or these switching switches are designed as part of the voltage converter. Thus, this switching can be integrated into the voltage converter partially or completely.

[0017] In one embodiment, the supply line of the motor controller is electrically isolated from the voltage converter and the energy storage device. The switching and the voltage converter can be integrated in whole or in part in the motor controller. In one embodiment, the switching switch can effect a change in the circuit configuration of the energy storage device.

[0018] In an extended embodiment, the voltage converter includes at least one semiconductor switch, wherein at least one of the semiconductor switches can be designed as part of the switching means.

[0019] In an extended embodiment, the control device is designed such that the supply voltage of the motor controller is increased only when the rotational speed of the electric motor exceeds a threshold value. The supply voltage of the motor controller can depend on the rotational speed of the electric motor, the motor torque, the motor current and / or their time profiles. It is not necessary to measure the rotational speed of the electric motor to determine whether the rotational speed threshold has been reached or exceeded, but it is also possible to measure the rate of change of a degree of freedom coupled thereto and therefrom to conclude whether the motor rotational speed or the rotational speed threshold has been exceeded. Description of the Drawings

[0020] The embodiments of the present invention will be described in more detail below with reference to the drawings. In the drawings:

[0021] Figure 1 A schematic view showing a prosthesis;

[0022] Figure 2 A schematic view showing an orthosis;

[0023] Figure 3 A block diagram showing a voltage supply device;

[0024] Figure 4 A schematic view showing gait data;

[0025] Figure 5 A sample block diagram showing different operating ranges;

[0026] Figure 6 A schematic view showing another circuit diagram;

[0027] Figure 7 Showing Figure 6 The energy- and signal flow in the circuit diagram;

[0028] Figure 8 Showing Figure 6 A variant of. Detailed Description of the Invention

[0029] Figure 1 A schematic view showing an artificial knee joint as part of a prosthesis, Figure 2Schematic view showing an artificial knee joint as part of an orthosis. The artificial knee joint has an upper part 100 and a lower part 200, which are pivotally mounted on each other about a pivot 120. In the case of being designed as a prosthesis, a prosthetic foot 205 is arranged at the distal end of the lower part 200; in the case of designing the artificial knee joint as an orthotic knee joint, as Figure 2 shown, the lower part 200 is designed as a calf splint, on which no foot is arranged, but an optional foot 210 can also be arranged, as shown by the interrupted line. In the case of a KAFO, a foot 210 is arranged on the lower part 200, and the foot can be placed on this foot. However, in order to implement a pure knee joint orthosis, this part can also be omitted. In Figure 1 the prosthetic embodiment shown, a prosthetic sleeve or other device for receiving or fixing the thigh stump to the human body is arranged or formed on the upper part 100. In Figure 2 the embodiment shown, the orthosis is fixed to the leg by fastening means 101, 201, which are designed as, for example, straps, shells or the like, so as to detachably fix the orthosis to the leg. Figure 1 Another difference between the Figure 2 embodiments is that Figure 2 another drive device is provided, in which an electric motor 40 (optionally through a transmission) is coupled to a pulley. Depending on the rotation direction of the motor, the flexion and extension of the knee joint can be achieved or supported by a wedge belt or a toothed belt. A drive design with an electric motor 40 driven by a mechanical force transmission device and parallel damping by a hydraulic damper can also be used for prosthetic knee joints or other prosthetic devices.

[0030] Between an upper part 100 and a lower part 200, an actuator 30 is arranged as a linearly acting hydraulic motor. In the illustrated embodiment, the hydraulic actuator 30 is configured to have a hydraulic chamber or cylinder 11, which is arranged or formed in a housing or base body 10. A piston 12 is movably mounted in the cylinder 11. The piston 12 is movable along the longitudinal extension of the cylinder 11 and is fastened to a piston rod 20, which projects from the housing or base body 10. The piston 12 divides the cylinder 11 into a plurality of chambers, which are fluid-technologically connected to one another via hydraulic lines. The base body 10 or the housing is pivotally mounted on the lower part 200 to prevent the piston 12 from skewing when the upper part 100 pivots relative to the lower part 200. The end of the piston rod 20 facing away from the piston 12 is fastened to the upper part 100, in the illustrated embodiment to a cantilever for increasing the distance from the pivot axis 120. During flexion, the piston 12 is pressed downwards, so that the volume of the flexion chamber decreases (correspondingly, the volume of the extension chamber increases) by the volume of the retracted piston rod 20. In order to generate pressure in one of the chambers, an electric motor 40 is arranged in the housing 10, which drives a pump (not shown) in order to pressurize the hydraulic fluid in one of the two chambers, so that the piston 12 moves in the cylinder in one direction or the other. Thereby, a flexion movement or an extension movement of an orthopedic device in the form of a prosthetic leg is achieved.

[0031] In the illustrated embodiment, the actuator 30 is fixed to the lower part 200 by a fastening device 41. On both the upper part 100 and the lower part 200, sensors 70 are arranged for detecting the spatial orientation of the lower part 200 or the upper part 100. For example, the sensor 70 can be designed as an IMU (inertial measurement unit), by means of which the spatial or absolute angle with respect to a fixed spatial orientation (such as the direction of gravity) during the use of the artificial knee joint is determined. Instead of an IMU, the sensor 70 can also record other state data, in particular state data related to the artificial knee joint. In particular, position, angular attitude, speed, acceleration, force and their curves or changes can be recorded as state data. The determined spatial angle or other state variables of the upper part 100 and / or the lower part 200 are compared with a threshold angle. When the threshold (which is stored in the controller for the corresponding sensor value or a variable derived therefrom) is reached or exceeded, the actuator is activated or deactivated in order to change the flow resistance in the actuator 30.

[0032] The actuator 30 in the artificial knee joint is used to adjust the flexion and extension movements to generate or support an appropriate or desired movement process. If necessary, the extension movement is supported and advantageously braked shortly before reaching the maximum extension amount to avoid a hard stop. During the stance phase and the swing phase, the flexion movement is braked or inhibited to ensure that the flexion is limited. To be able to drive the electric motor 40, an energy storage device 50 is also arranged in the actuator 30, in particular an energy storage device in the form of an accumulator or a battery. The energy storage device 50 can also be arranged at another location of the orthopedic device, where there is more space or where it seems advantageous due to the weight distribution.

[0033] In addition to designing the actuator 30 as a hydraulic motor with an electric motor 40 and a pump, the actuator 30 can also directly mechanically couple the electric motor 40 to the upper part 100 and the lower part 200 through a force transmission device, for example through a spindle drive, so that the spindle can be retracted or extended from the housing 11 by rotating the spindle nut instead of the piston rod 20, and the spindle nut is driven by the electric motor 40. In one embodiment, the actuator 30 is coupled to the upper part 100 and the lower part 200 through a transmission device (such as a planetary gear) to achieve the displacement of the upper part 100 relative to the lower part 200. In addition to configuring the orthopedic device as an orthosis, prosthesis or exoskeleton for the lower limb, it can also be configured as an orthosis, prosthesis or exoskeleton for the upper limb. The present invention can also be used for other orthopedic devices that have two relatively movable components, and the relative movement thereof is affected by an electric motor.

[0034] In addition, a control device 60 and at least one angle detection device 70 are arranged on the orthopedic device as sensors. The angle detection device 70 detects the angle between the upper part 100 and the lower part 200 and can be designed as a direct angle sensor that directly detects the angle, for example. Alternatively, the angle between the upper part 100 and the lower part 200 can also be determined by evaluating the sensor data of the spatial position sensor 70. These two methods can also be used simultaneously or complementarily. All the sensors arranged on the orthopedic device are coupled to the control device 60 and their sensor values are used as the basis for controlling the actuator 30. According to the sensor data, in particular the spatial orientation and / or angular position, as well as the position data and the load, orientation, acceleration and / or deformation data of other components, the actuator 30 is controlled, for example to activate, deactivate or adjust the electric motor 40, for example to reduce or increase the pivot resistance, limit the end stop and / or generate or support the relative movement between the upper part 100 and the lower part 200.

[0035] Figure 3A circuit diagram showing the energy storage device 50 supplying voltage to the electric motor 40 is shown. A control device 60 is arranged between the electric motor 40 and the energy storage device 50. The control device has a plurality of components for supplying the required or desired supply voltage Us to the electric motor 40. The output voltage Uo is provided by the energy storage device 50 and is initially supplied to the motor controller 66 without any change. Inside the control device 60, there is a first switching switch 62 and a direct motor controller 66. The latter determines and determines which supply voltage Us or which supply voltage Us must be provided to the electric motor 40 based on data, especially sensor data, in order to achieve the best effect. In the initial setting, the first switching switch 62 is in the on position. In this on position, the output voltage Uo of the energy storage device 50 is directly supplied to the motor controller 66 as the supply voltage Us. Therefore, when the motor voltage is low with the output voltage Uo as the supply voltage Us, the maximum motor current can be supplied to the electric motor 40 through the motor controller 66.

[0036] If it is detected by the motor controller 66 or other computer - equipped evaluation devices that the rotational speed of the electric motor 40 needs to be increased, for example, to quickly pivot the lower part 200 relative to the upper part 100 in the unloaded state, the motor controller 66 sends a corresponding control signal to the voltage regulator 86. The voltage regulator 86 knows the switch position of the first switching switch 62 and sends corresponding instructions to the first switching switch 62 and the first voltage converter 82 (designed as a boost converter). The boost converter 82 switches the output voltage Uo of the energy storage device 50 to a higher level, and then this intermediate circuit voltage is transmitted to the electric motor 40 as the supply voltage Us through the motor controller 66. Therefore, the control signal of the motor controller 66 provides the instruction for setting the respective required supply voltage Us. Compared with the output voltage Uo, the voltage of the supply voltage Us is higher. The switching to this supply voltage is carried out through the first switching switch 62, and at this time, the first switching switch provides the output voltage of the boost converter 82 as Us. The dynamically adjustable boost converter 82 facilitates the switching process. In this way, soft switching can be carried out between different voltage sources. In addition, the losses inside the boost converter 82 are also reduced. In particular, the output voltage Uo can be increased as the voltage requirement increases, thereby reducing the losses. The output voltage level is only increased to the necessary extent. After increasing the supply voltage Us compared with the output voltage Uo, the maximum motor current decreases, so that although the electric motor 40 can reach a higher rotational speed, it can only provide a lower torque.

[0037] In the illustrated embodiment, the voltage converter is bidirectional and, in addition to the boost converter 82, has a buck converter 84 through which the elevated voltage can be reduced or energy can be obtained from the motion absorbed by the electric motor 40 and returned to the energy storage device 50. For this purpose, the second switching switch 64 is assigned to the voltage regulator 86, so that in the corresponding load states, motion states and energy states, the control device 60 controls the two switching switches 62, 64 via the motor controller 66 and the voltage regulator 86 and, as required, increases the output voltage Uo or resets it to the output level or returns electrical energy to the energy storage device 50 in order to charge from the electric motor 40 in generator mode.

[0038] Figure 4 An example curve showing the relationship between the torque generated by the electric motor on the knee joint axis during the stepping process and the resulting rotational speed. Each circle represents a measurement point. For each step, a graph of the relationship between the corresponding output torque (Newton meters) of the electric motor and the rotational speed per minute (revolutions per minute) was recorded. The relationship between a relatively high output torque of up to -25 Newton meters at a low rotational speed of 10 to -15 revolutions per minute and a high regulation rotational speed of -50 to +60 revolutions per minute at an output torque of not more than ±5 Newton meters was obtained. The application characteristics of the knee joint prosthesis active drive device are that there is a large difference between the high torque and low rotational speed region and the low torque and high rotational speed region. In an electric drive device with an electric motor, the required supply voltage Us is proportional to the rotational speed of the drive device, and the torque of the drive device is also proportional to the motor current. Therefore, the maximum values of the current and the supply voltage Us determine, on the one hand, the maximum torque and, on the other hand, the maximum rotational speed of the drive device. The energy storage system usually consists of a plurality of battery cells of a battery system. With a certain number of battery cells, the large current of the entire system can be optimized by connecting multiple battery cells in parallel, or the high voltage of the entire system can be optimized by connecting the battery cells in series. If high torque and high rotational speed regions are to be achieved simultaneously, more battery cells must be added. This increases the volume of the energy storage system and thus also the weight.

[0039] Figure 5 Shows according to Figure 3Example diagram of gait data of an active knee prosthesis powered by the shown circuit. The figure shows the relationship between the torque generated by the electric motor on the knee joint axis and the resulting rotational speed during the step. Each circle represents a measurement point. The figure shows two operating ranges, and switching between these two operating ranges is performed by switching switches 62 and 64. The vertical rectangle represents the range where the supply voltage Us corresponds to the output voltage Uo, that is, a relatively high torque can be achieved at relatively low rotational speeds. The horizontal rectangle represents the area where the electric motor 40 operates when the supply voltage Us is higher than the output voltage Uo, so that a higher maximum rotational speed can be obtained, but the maximum torque will decrease. The vertical rectangle shows the operating range where the electric motor 40 can obtain the maximum output current at the output voltage Uo, thus covering the range of high torque. The horizontal operating range represents the voltage range increased by the voltage regulator 86 and the boost converter 82 while reducing the maximum current. In this way, a high rotational speed can be covered at relatively low torque. The overlapping range of these two regions is advantageously covered by the vertical operating range, directly conducting the output voltage Uo without an intermediate connecting converter 82.

[0040] The voltage converters 82 and 84 are dynamically adjustable; during the stage of increasing the motor voltage, the buck converter 84 switches the electrical energy generated by the movement of the electric motor 40 during generator operation into the corresponding voltage for charging the energy storage device 50. During the stage when the motor voltage Us is lower than the output voltage Uo and the voltage converter 84 is not activated, when there is a direct connection to the energy storage device 50, the electric motor 40 can charge the energy storage device 50 through the motor controller 66. Even when the voltage drops when the energy storage device 50 is unloaded, the boost can keep the performance of the orthopedic device unchanged in terms of the achievable rotational speed.

[0041] Figure 6 Shows the circuit diagram of the motor controller, as Figure 3 an alternative to the shown motor controller, where the same reference numerals represent the same components. In Figure 7 , each energy flow is represented by a continuous arrow. The energy storage device 50 supplies energy to the motor 40, or the energy storage device 50 is supplied with energy during the generator operation of the motor 40. In this design, the control device 60 also has a first switching switch 62 and a second switching switch 64, where the second switching switch 64 is optional. The motor controller 66 is regulated or controlled by the motor regulator 88, and this motor regulator is in turn connected to the voltage regulator 86 and exchanges control signals. The exchange of control signals is represented by a dashed arrow. The motor regulator 88 also has an impact on the motor controller 66.

[0042] Figure 7The uppermost arrow in [description] indicates the energy flow in generator mode or reverse operation mode, in which the electric motor 40 is driven. The electrical energy generated by the electric motor 40, for example, when the prosthesis or orthopedic joint is braked, is fed back to the energy storage unit 50. If there is high current and low voltage, the transmission can be carried out without an intermediate voltage converter. Conversely, in traditional operation, as shown by the second arrow above, the energy is directly supplied from the energy storage device 50 to the electric motor 40 without change (with downshifting if necessary), so when the current is large, a relatively low supply voltage is applied to the motor 40.

[0043] The third arrow from top to bottom shows the energy flow of the drive device, where the motor 40 requires a higher or greater supply voltage or motor voltage. Electrical energy is conducted from the energy storage device 50 through the control device 60 to the corresponding voltage converter 84 to generate a higher motor voltage during forward operation. Conversely, in reverse operation with an increased motor voltage (as shown by the lowermost arrow), the electrical energy generated in generator mode is transmitted from the electric motor 40 through the buck converter 82 and then to the energy storage device 50.

[0044] Figure 8 illustrates Figure 6 a variant in which the motor regulator 88 is designed as an integral part of the motor controller 66.

[0045] In principle, the energy supply can also be completely separated from the motor controller 66 or the motor 40.

Claims

1. An orthopedic technology device, which includes an upper component (100) and a lower component (200) movably mounted on the upper part, the lower component being coupled to an actuator (30), the actuator moving the lower component (200) relative to the upper component (100), wherein the actuator (30) has an electric motor (40), an energy storage device (50) and a control device (60). Characterized in that A first switching switch (62) is arranged between the energy storage device (50) and the electric motor (40), the first switching switch being coupled to the control device (60) and switching the supply voltage (Us) of the motor controller (66) of the electric motor (40) between the output voltage (Uo) of the energy storage device (50) and a voltage converter (80), and the supply voltage (Us) is changed relative to the output voltage (Uo).

2. The orthopedic technology device according to claim 1, Characterized in that The output voltage of the voltage converter (80) can be dynamically adjusted.

3. The orthopedic technology device according to claim 1 or 2, Characterized in that The voltage converter (80) can both step-up convert and step-down convert or has a step-up converter (82) and a step-down converter (84).

4. The orthopedic technology device according to claim 3, Characterized in that A second switching switch (64) for switching between the step-up converter (82) and the step-down converter (84) is coupled to the control device (60).

5. The orthopedic technology device according to any one of the foregoing claims, Characterized in that In the initial setting of the first switching switch (62), the output voltage (Uo) of the energy storage device (50) serves as the supply voltage (Us) of the motor controller (66) of the electric motor (40).

6. The orthopedic technology device according to any one of the foregoing claims, Characterized in that The switching switches (62, 64) are configured as parts of the voltage converter (80).

7. The orthopedic technology device according to any one of the foregoing claims, Characterized in that The voltage converter (80) includes at least one semiconductor switch and at least one of the semiconductor switches is configured as a switching switch (62, 64).

8. The orthopedic technology device according to any one of the foregoing claims, Characterized in that The control device (60) is configured such that the supply voltage (Us) of the motor controller (66) is increased only when the rotational speed threshold of the electric motor (40) is exceeded.

9. The orthopedic technology device according to any one of the foregoing claims, Characterized in that The supply voltage (Us) of the motor controller (66) or the electric motor (40) is related to the motor speed, motor torque, motor current and / or their time curves.

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