Prosthetic knee joint or orthosis knee joint and control method thereof

Abstract

The invention relates to a prosthetic or orthotic knee joint, comprising an upper part (10) and a lower part (20) mounted on the upper part (10) so as to be pivotable about a pivot axis (15), and a resistance device (30) between the upper part (10) and the lower part (20), by means of which resistance device the pivoting capacity of the upper part (10) relative to the lower part (20) can be influenced at least in the flexion direction, comprising a control device (40) coupled to the resistance device (30), by means of which the resistance against the buckling is varied depending on the attitude of the upper part (10) relative to the lower part (20), said control device (40) being configured to lock or intensively damp the buckling movement at a locking angle (alpha) when or before the mechanical end stop (80) is reached.

Description

Technical Field

[0001] The present invention relates to a prosthetic knee joint or an orthotic knee joint, which comprises an upper component and a lower component pivotally mounted on the upper component about a pivot axis, and a resistance device located between the upper component and the lower component, by which the pivoting ability of the upper component relative to the lower component can be affected at least in the flexion direction, and comprises a control device coupled to the resistance device, by which the resistance against flexion is changed according to the attitude of the upper component relative to the lower component. The present invention also relates to a method for controlling such a prosthetic knee joint or an orthotic knee joint. Background Art

[0002] The prosthetic knee joint replaces the knee joint that is missing or no longer present in the human body, and has an upper component and a lower component that are relatively movably mounted about a pivot axis. The pivot axis can be fixed or unfixed. In a simple structure, the prosthetic knee joint has a single spatially defined pivot axis and is formed as a hinge joint, in which a resistance device, such as a linearly acting hydraulic damper, is provided between the upper component and the lower component to affect the pivoting movement about the pivot axis. The prosthetic knee joint can have a locking device for locking the prosthetic knee joint in a desired attitude, especially in the extended attitude, thus forming a locked knee joint.

[0003] The orthosis is used to stabilize or guide the movement of the natural knee joint and can limit the pivoting angle, for example, to prevent the natural knee joint from fully extending or fully flexing for medical reasons. The orthotic knee joint is provided in an orthosis that spans the natural knee joint in the worn state. The orthotic knee joint also has an upper component and a lower component, on which struts or other components are mounted, through which the orthotic knee joint is fixed to the thigh or the calf. Usually, the knee orthosis has two orthotic knee joints, one on the inner side of the natural knee joint and the other on the outer side. In order to affect the pivoting movement of the thigh to the calf, a resistance device or a damper is provided inside or outside the orthosis, which acts between the upper component and the lower component of the orthosis.

[0004] To support movement, an active actuator can be provided on an orthosis and a prosthesis, for example formed as an electric motor or an accumulator, to support flexion or extension in specific situations. The accumulator or actuator can also be configured to resist the corresponding movement and be mounted on the orthosis or prosthesis. The movement of the upper part relative to the lower part affected by the resistance device or actuator can be adjusted according to specific situations or loads. For example, this is achieved by a control device that activates, deactivates or modulates an actuator based on sensor values, where the actuator belongs to or is part of the resistance device, and changes the parameters of the resistance device to provide the required resistance. The actuator can be a relay through which a control valve can be switched between two states. The electric motor can move the regulating valve to the required position to generate the required resistance in, for example, a flow channel. The electromagnet can generate the required magnetic field to change the viscosity of the magnetorheological fluid, thereby generating the resistance required to resist displacement. The control device has a microprocessor or data processing device for processing sensor data in a timely manner (especially in real time) and using it as a control basis. In principle, the pivot or pivot ability between the upper part and the lower part can also be completely blocked by the resistance device.

[0005] Due to their structural design, prosthetic knees and orthotic knees have a predetermined maximum pivot angle in both the extension direction and the flexion direction. A mechanical end stop is provided at the end of the maximum pivot ability, which prevents further movement of the upper part and the lower part in the extension direction or the flexion direction. Especially during rapid movement, there may be a problem that the prosthetic components are not braked or hit the mechanical end stop at high speed, which will cause the prosthetic knee or orthotic knee to bear high impact forces. This is uncomfortable for the user of the artificial knee and may also damage the orthosis or prosthesis, especially the mechanical components of the prosthetic knee and orthotic knee. To prevent the lower part from hitting the mechanical extension end stop or flexion end stop hard, a mechanical damper is provided, such as an elastomeric element, which becomes effective due to solid damping when approaching the mechanical end stop and converts the kinetic energy of the movement.

[0006] In addition, prostheses and orthoses are designed to help users complete daily activities. For prosthetic knees and orthotic knees, the main applications are sitting, standing, walking and the transitions between them. In addition, there are many activities that deviate from these states or usage purposes, such as daily housework, picking up dropped items, shopping, etc. Engaging in occupations related to pets or young children also requires some actions that may be challenging for users of prosthetic knees and orthotic knees. The users of prostheses or orthoses usually do not bend forward but have to kneel. Since this is relatively strenuous, compensatory actions will be performed or such activities will be avoided, thus limiting the quality of life. Summary of the Invention

[0007] The object of the present invention is to provide a prosthetic knee joint or an orthotic knee joint and a method for controlling such a knee joint, so that an improvement in comfort and an additional range of applications can be brought to the user.

[0008] This object is achieved by a prosthetic knee joint or an orthotic knee joint, which comprises an upper part and a lower part pivotally mounted on the upper part about a pivot axis, and a resistance device located between the upper part and the lower part, by means of which the pivoting ability of the upper part relative to the lower part can be influenced at least in the flexion direction, and then a control device, which is coupled to the resistance device and by means of which the resistance against flexion is changed according to the attitude of the upper part relative to the lower part, wherein the control device is configured to lock or enhance-damp the flexion movement at a locking angle when or before reaching a mechanical end stop. When reaching the locking angle, before reaching the mechanical end stop, the resistance device is sensor-dependently activated, deactivated or modulated to lock or enhance-damp the flexion movement, which either prevents reaching the mechanical end stop or damps the impact of reaching the mechanical end stop to such an extent that the prosthetic knee joint or the orthotic knee joint is not damaged or the mechanical load is reduced. An increased flexion resistance is already provided before reaching the mechanical end stop, but it can also be set so that the mechanical end stop can still be reached, but at a reduced speed, in particular a significantly reduced speed.

[0009] At a locking angle preferably located before the mechanical end stop, the resistance against flexion by means of the resistance device reaches a maximum, in particular at this locking angle, the flexion movement is prevented before reaching the mechanical end stop.

[0010] In one embodiment, the control device is configured to increase the flexion resistance up to locking over a predetermined angular range before reaching the locking angle. The locking angle is determined or calculated in the control device, or a predetermined locking angle is monitored. If the joint angle of the upper part relative to the lower part exceeds the threshold of this angular range (for example, the lower part is 15° closer to the locking angle during the flexion movement), the resistance is increased before reaching the locking angle, so that the flexion speed is gently reduced by increasing the flexion resistance over this angular range. Preferably, the closer the lower part is to the locking angle, the greater the flexion resistance becomes by means of the resistance device.

[0011] In one configuration, the control device is coupled to at least one sensor for detecting the joint angle between the upper and lower components or for detecting the orientation of the upper component in space, and is configured to change the resistance through the resistance device based on the sensor value or sensor values of the sensor or these sensors. This change occurs particularly after a threshold value of the joint angle is reached. Additionally or alternatively, the change in resistance is based on the duration during which the joint angle remains unchanged, the detected orientation of the upper component in space, and / or a locking command. This change particularly results in an increase in resistance until flexion is blocked. Thus, due to the locking command, the resistance can be increased to the maximum at any angular position and further flexion movement can be blocked. Similarly, locking can be performed when the static state persists for a certain period of time (i.e., the position of the upper component relative to the lower component remains unchanged). The resistance is also increased at a predetermined orientation or when a predetermined joint angle is reached, and if necessary, until locking. This enables the user to perform activities such as squatting or kneeling more easily, because the user can load the knee joint that is blocked in the flexion direction in the flexion direction, and a support or bearing is generated through locking, so that there is no longer a need to apply a moment to extend the knee joint through muscles. In addition, assistance can also be provided during standing up by an active drive and / or the muscles of the healthy limb.

[0012] To unlock the locked knee joint, the control device is coupled to at least one sensor for detecting an unlocking signal, and the locking is released through the unlocking signal. The unlocking signal can be a manual signal issued through a button, a switch, etc. Alternatively, a specific movement, a specific force curve, a change in state or orientation (such as the orientation of the upper component) or a change in orientation can cause the prosthetic knee joint or the orthotic knee joint to unlock. For example, if the upper component moves relative to the lower component by more than a specific pivot angle in the extension direction, this can be interpreted as a signal to release the locking of the resistance device for flexion movement.

[0013] In one configuration, the control device is configured to increase the flexion resistance as flexion increases. The increase in resistance is positively correlated with the change in joint angle, and the closer the joint angle is to the locking angle, the greater the resistance. This association can be linear, progressive, or regressive.

[0014] Especially in the case where the resistance device is of a pneumatic or hydraulic configuration, at least one regulating valve or regulating device is provided in the resistance device, which is coupled to an actuator that is activated, deactivated or modulated by a control device. Hydraulic or pneumatic damping devices are already commonly present in prosthetic knee joints and orthotic knee joints to affect the most common or important movements. Via the corresponding control device, the regulating valve or regulating device can be activated via the actuator to set the required resistance, in particular to increase the flexion resistance before reaching the mechanical end stop, and in particular to prevent the joint from moving in the flexion direction before reaching the mechanical end stop. The resistance device can be designed as a linear damper or a rotary damper, and in both forms, the resistance device can be based on a hydraulic or pneumatic principle. Alternatively or additionally, a magnetorheological resistance device can be provided or associated in the hydraulic resistance device. A hydraulic resistance device can be operated using a magnetorheological fluid, the viscosity of which can be additionally changed as required by a controllable electromagnet. In principle, an active drive can also be used as the resistance device.

[0015] In one configuration, the control device specifies parameters stored therein that result in locking or increasing the flexion resistance, wherein the parameters for locking are adjustable in the control device. This makes it possible to define a resistance curve suitable for the patient, the signal duration for locking activation, the unlocking signal, and the position of the locking angle.

[0016] One configuration specifies that the locking angle that prevents further flexion or provides maximum damping by the resistance device is set between 2° and 40° before the mechanical end stop, in particular between 5° and 30°. This also ensures that in the case of continuous loading of the hydraulic resistance device or pneumatic resistance device, possible leaks or delays in the action of the actuator do not result in a hard impact at the mechanical end stop.

[0017] In the method of controlling such a prosthetic knee joint or orthotic knee joint, after reaching a threshold of the joint angle, the flexion resistance is increased as the flexion increases and / or when the joint angle remains unchanged and / or when the upper component remains in the same orientation in space for a predetermined period of time and / or at the locking signal, before reaching the locking angle.

[0018] In one configuration of the method, the resistance increases linearly or progressively as the locking angle is approached. In one configuration, the flexion resistance is increased in an angular range greater than 5° before reaching the locking angle, to have sufficient time or path to increase the damping and reduce the flexion speed.

[0019] In one configuration of the method, the control device is coupled to the foot component, which is mounted on the lower leg tube of a prosthetic knee joint or the lower leg strut of an orthotic knee joint. Unlocking or locking of the prosthetic knee joint or the orthotic knee joint is based on the position and / or load of the foot component. Locking or unlocking of the prosthetic knee joint or the orthotic knee joint is performed according to the way the foot component is loaded, whether there is forefoot loading, whether there is flexion, or whether there is bending of the plantar component or the plantar element. For this purpose, sensors can be provided on the lower component or the foot component, which are coupled to the control device and perform locking or unlocking based on the sensor data, or increase the resistance or reduce the flexion resistance.

[0020] An extended version of the method provides for detecting or determining the position of the center of gravity of the body relative to the supported leg and, during movement, deciding whether to increase the resistance or perform locking based on changes in the center-of-gravity trajectory. For example, the center of gravity of the body is determined or calculated relative to the plantar point or the point of application of the ground reaction force, the ankle pivot, or, for example, the knee joint. Depending on the trajectory of the center of gravity relative to various reference quantities or reference positions, it is possible to distinguish what kind of movement the orthosis or prosthetic user is performing. For example, if the center of gravity remains behind the knee joint axis and behind the ankle joint axis during knee flexion, it can be assumed that the user is sitting down or at least not performing or intending to perform a kneeling movement. Based on this information (which is additional information passed on to the control device), it is then decided whether to initiate or stop locking or increasing the resistance, or initiate other resistance changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Embodiments of the present invention will be explained in more detail below with reference to the drawings. In the drawings:

[0022] Figure 1 A schematic view of a prosthetic limb is shown;

[0023] Figure 2 A schematic view of an orthosis is shown;

[0024] Figure 3 Another schematic view in a flexed state is shown; and

[0025] Figure 4 An application example is shown. DETAILED DESCRIPTION OF THE INVENTION

[0026] In Figure 1 the schematic view, a prosthetic knee joint as part of a prosthetic limb is shown, and in Figure 2 an orthotic knee joint as part of an orthosis is shown. The prosthetic knee joint has an upper component 10 and a lower component 20, which are pivotally mounted relative to each other about a pivot 15. In the form of a prosthetic limb, a prosthetic foot 60 is provided at the distal end of the lower component 20, and in the form of an artificial knee joint as an orthotic knee joint (as shown in Figure 2As shown, the lower component 20 is formed as a calf strut on which no foot component is mounted, but an optional foot component 60 (shown in dashed lines) can be mounted. For a knee-ankle-foot orthosis (KAFO), a foot component 60 is mounted on the lower component 20 on which the foot can be placed. However, for a pure knee orthosis, it can also be omitted. In Figure 1 In the form of prosthesis shown, a prosthesis cylinder or other device is mounted or formed on the upper component 10 for accommodating the thigh stump or fixing to the human body. In Figure 2 In the configuration shown, the orthosis is fixed to the leg by fixing devices 101, 201 which are formed, for example, as straps, shells, etc. to removably fix the orthosis to the leg.

[0027] A resistance device 30 is provided between the upper component 10 and the lower component 20 as a linearly acting hydraulic damper. In the illustrated embodiment, the hydraulic actuator 30 has a hydraulic chamber or cylinder which is provided or formed in a housing or body 31. A piston 32 is displaceably mounted in the cylinder. The piston 32 can move longitudinally along the cylinder and is fixed to a piston rod 33 which projects from the housing or body 31. The piston 32 divides the cylinder into chambers which are in fluid communication with each other through hydraulic lines. The body 31 or housing can be pivotally mounted on the lower component 20 at a fixed point 23 to prevent jamming of the piston 32 when the upper component 10 pivots relative to the lower component 20. The end of the piston rod 33 remote from the piston 32 is fixed to the upper component 10, at an upper fixed point 21 in the illustrated embodiment on a bracket for increasing the distance from the pivot 15. During flexion, the piston 32 is pressed downwards, thereby reducing the volume of the flexion chamber and, correspondingly, increasing the volume of the extension chamber, minus the volume of the piston rod 33 that extends in. A motor can be provided in the housing 31 to generate pressure in one of the chambers, which drives a pump (not shown) to apply pressure to the fluid in one of the chambers, thereby moving the piston 32 in the cylinder in one direction or the other. This causes the orthotic device (in the form of a prosthetic leg) to perform flexion or extension movements. The motor for driving the pump is an option and can be used in combination with the linear damper 30 in one embodiment. In principle, for a passive prosthetic knee joint, a driver or motor is not necessary. An alternative configuration of the resistance device is not a linear damper (especially a linear hydraulic device), but a rotary damper (especially a rotary hydraulic device), a magnetorheological resistance device or a motor (e.g. operating in a generator mode). In one configuration, a combination of the above-mentioned multiple resistance devices can also be achieved.

[0028] An actuator 34 is provided inside or on the housing 31 and is coupled to at least one regulating valve 35 by means of which the hydraulic resistance in the resistance device 30 can be changed. The actuator 34 is coupled to a control device 40 which activates, deactivates or modulates the actuator 34 based on sensor values in order to provide an adapted resistance and, if necessary, a hydraulic lock. In the case where the resistance device 30 is configured as a magnetorheological resistance device, the resistance is changed by activating, deactivating or modulating the magnetic field, and in this case the actuator 34 is an electromagnet or a magnetic coil.

[0029] At least one sensor 50 is provided on both the upper part 10 and the lower part 20 for detecting the spatial orientation of the lower part 20 or the upper part 10. In particular, the sensor 50 is provided only on the upper part 10 for detecting the spatial orientation. By means of this sensor 50 (which can be formed, for example, as an IMU - inertial measurement unit), during the use of a prosthetic knee joint or an orthotic knee joint, the spatial angle or the absolute angle relative to a fixed spatial orientation (such as the direction of gravity) is determined. In addition to detecting the spatial attitude as an IMU, the sensor 50 can also detect other state data, in particular state data relating to the artificial knee joint. The state data includes in particular position, angle, velocity, acceleration, force and their curves or changes. The determined spatial angle or other state quantity of the upper part 10 and / or the lower part 20 is compared with a threshold angle. When the threshold stored in the control device 40 for this sensor value or the quantity derived therefrom is reached or exceeded, the actuator 34 is modulated, activated or deactivated in order to change the flow resistance, viscosity, braking force or force resisting a buckling movement in the resistance device 30 (when configured as a hydraulic damper).

[0030] The resistance device 30 in an artificial knee joint is generally used to modulate the flexion movement and the extension movement in order to generate or support an appropriate or desired movement sequence. The extension movement is supported if necessary and preferably braked when the maximum extension is about to be reached in order to avoid a hard impact. The flexion movement is braked or prohibited during the stance phase and the swing phase in order to ensure flexion limitation. In order to be able to drive the actuator 34, an energy store is also assigned to the actuator 34, in particular in the form of a storage battery. The energy store can be arranged directly next to the actuator 34 or at other locations of the orthotic device where there is more available space or which is more advantageous for weight distribution.

[0031] Figure 1 The configuration shown and Figure 2 The difference between the configuration shown and Figure 2A driver 70 is provided, where the motor 70 (possibly through a transmission) is coupled to a pulley. Through a wedge belt or a toothed belt, depending on the rotation direction of the motor 70, flexion or extension of the knee joint can be induced or supported. This implementation method with the motor 70 in parallel damping through a mechanical force transmission device and through a hydraulic damper can also be applied to a prosthetic knee joint. As Figure 1 described, in an orthosis, the resistance device can also be formed by a motor (for example, in a generator mode).

[0032] The direct mechanical coupling of the motor as the resistance device 30 to the upper member 10 and the lower member 20 can be achieved through a force transmission device, for example, through a screw drive, such that instead of the piston rod 33, the nut driven by the motor rotates the screw and moves it into or out of the housing 31. In other embodiments, the motor as the resistance device is coupled to the upper member 10 and the lower member 20 (for example, through a star drive) to induce or brake and affect the displacement of the upper member 10 relative to the lower member 20.

[0033] In addition, a control device 40 and at least one angle detection device as a sensor 50 are provided on the prosthetic or orthotic device. The angle detection device 50 detects the angle between the upper member 10 and the lower member 20, for example, is configured as a direct angle sensor and directly detects the angle. Alternatively, the angle between the upper member 10 and the lower member 20 can be determined by evaluating the sensor data of two spatial attitude sensors 50. Both methods can also be used simultaneously or complementarily. All sensors provided on the prosthetic or orthotic device are coupled to the control device 40, and their sensor values are used as the basis for controlling the actuator 34 of the resistance device 30 (when the resistance device 30 is configured as a damper), or as an input signal for motor control (when the resistance device 30 is configured as a motor). In the case of magnetorheological damping, the sensor values are used to control the magnetic field or its change. Based on the sensor data, especially the spatial attitude and / or angular position and the position, load, orientation, acceleration, and / or deformation data of other components, the actuator 34 is driven, for example, to activate, deactivate, or modulate the motor 70 to reduce or increase the pivot resistance, limit the end stops, and / or generate or support the relative movement between the upper member 10 and the lower member 20.

[0034] Figure 3Schematic illustration of a prosthetic knee joint or an orthotic knee joint in a flexed state, having an upper part 10, a lower part 20 and a resistance device 30 located therebetween. The upper part 10 can pivot relative to the lower part 20 about a pivot 15 against the resistance of the resistance device 30. During this process, the joint angle β between the upper part 10 and the lower part 20 changes. In the illustrated embodiment, the joint angle β is measured on the back side between the upper part 10 and the lower part 20. In the fully extended position, the joint angle β is 180°, and as flexion increases, the joint angle β decreases by the corresponding pivot angle. The pivoting is mechanically limited by a mechanical end stop 80, which is schematically shown and can also be achieved, for example, by reaching the maximum retracted position of the piston rod of the resistance device 30. When the maximum mechanical end stop 80 is reached, the joint angle β2 is minimal. When the lower part 20 reaches a predetermined position (i.e., reaches the locking angle α) before reaching the mechanical end stop 80 (joint angle β2), the resistance in the resistance device 30 increases to prohibit or strongly damp further flexion movement. The detection of the joint angle β is carried out by one or more sensors, as described above. The sensor values are transmitted to a control device 40, which in one configuration is set to increase the resistance in the resistance device 30 before reaching the locking angle α, i.e., from reaching a threshold β1, in order to prevent a hard impact on the mechanical end stop 80. Alternatively or supplementary to automatically increasing the flexion resistance when reaching the locking angle α or a threshold β1 before reaching the locking angle α, the flexion resistance can also be increased based on the determined orientation of the upper part 10 in space, or for example based on a constant joint angle β or other determined movement patterns (which are performed over a specific period of time).

[0035] In addition, a locking command can be transmitted to Figure 1 and Figure 2 the illustrated control device 40 via an input device 90 (such as a switch on the upper part 10) or other input devices (such as a remote control or a microphone with voice recognition) in order to increase the resistance before reaching the locking angle α, or to increase the resistance independently of whether the locking angle α is reached, in particular increasing up to joint locking.

[0036] In addition, in Figure 3In [the device], a foot component 60 is mounted on the lower component 20. The foot component may also be equipped with sensors 50 or coupled to sensors 50, which are in turn coupled to a control device 40 for detecting the load on the foot component 60 or the pivoting or position of the foot component 60 in space or relative to the lower component 20. For example, if a forefoot load combined with a moment in the dorsiflexion direction is detected and at the same time the position of the joint angle β changes, it can be inferred that the user is in a kneeling position, and thus the movement can be automatically locked and blocked by the resistance device 30. Alternatively, in the kneeling position, the artificial knee joint can be locked by operating the operating device 90. The load detected in this position (e.g., the force or moment around the pivot and / or the force or moment acting on the foot component 60 or the foot component relative to the mounting on the lower component) can be used to unlock and allow further flexion. By detecting the corresponding sensor values and correlating the detected values with a specific or assumed situation, the activated flexion lock can be released. The flexion lock can also be released when extension is detected, where extension should preferably always be possible.

[0037] In Figure 4 is shown the artificial orthotic knee joint in the worn state, on whose upper component a resistance device 30 is mounted, which blocks flexion movement at the displayed joint angle β. This blocking can be initiated actively and intentionally by the user by operating a non-displayed actuating element. Alternatively or additionally, it is provided in the control device that the resistance device 30 automatically increases the flexion resistance before reaching the mechanical end stop and blocks flexion or at least damps flexion to such an extent that the lower component does not hard impact the mechanical end stop when reaching the mechanical end stop. When the user is, for example, in a kneeling position for a long time (e.g., to pick up an object or perform activities in a kneeling position), automatic blocking can also be carried out. If the center of gravity of the body is then behind the pivot 15 at this time, the user can support on the orthosis with the resistance device 30 locked. The corresponding behavior can also be achieved in the application of a prosthetic knee joint. In Figure 4 it can be seen that the flexion lock can be used both on the kneeling knee ( Figure 4 in [the figure] is the right knee), and on the lifted and flexed knee ( Figure 4 in [the figure] is the left knee). In particular, by detecting the position of the lower leg (i.e., the lower component) or the load on the foot component, it can be distinguished whether and which joint is being manipulated in what way, i.e., which flexion resistance is increased and whether the lock is applied.

[0038] In orthoses and prostheses, the automatic activation and setting are carried out in such a way that hydraulic locking and an increase in flexion resistance are achieved before reaching the mechanical end stop. In addition, it can be calculated and adapted to a specific patient according to the requirements of the kneeling position, taking into account the trajectory of the respective moment arm changes during flexion.

[0039] By appropriately selecting the threshold value β1, it is also possible to make kneeling easier. For example, if it is recognized by the evaluation sensor 50 that the patient wants to kneel, the threshold value β1 can be determined relatively early before the locking angle α is reached, and a controlled squatting motion can be initiated when the threshold value β1 is reached. This is particularly achieved by the intentional triggering of the corresponding function, that is, by operating a button, switch or, for example, voice input. The device for this can be located on the prosthesis or orthosis, for example on the prosthesis cylinder or the orthosis strut itself, or arranged in a remote control. The remote control can be coupled to the control device wirelessly, for example as an application on a smart device, smartphone, etc. Personal configuration can also be carried out through an application on the smart device, on which an orthosis or prosthesis control program is stored. The speed of knee joint flexion or the speed at which it can be flexed can be adjusted according to the individual patient. Distinguishing whether the patient wants to kneel or perform other activities (such as wanting to sit down) can be achieved by determining the position of the center of body gravity relative to the supported leg. When sitting down, the center of body gravity moves backward after reaching a certain pivot angle β, while when kneeling, the center of body gravity remains in the area of the point of application of the ground reaction force vector in the foot component or in front of it. For example, in this way, it is possible to distinguish whether the patient wants to kneel or sit down.

[0040] The locking angle α can also be adjusted according to the detected situation and according to the trigger command triggered by the manipulation device. Usually, a joint angle β of approximately 35° to 45° is reached when kneeling, and it makes sense to lock above this angle. Therefore, if the patient wishes, the locking angle α can also be set, for example, when the joint angle β is 45°. The flexion resistance is increased shortly before the locking angle α is reached, and further flexion is blocked when the locking angle α is reached. Different from sitting down, after reaching the maximum resistance to support the sitting motion, the flexion resistance is not reduced to make sitting down easier, but the locking is continued to increase or initiated to transfer the body weight or load through the orthosis or prosthesis.

Claims

1. A prosthetic knee joint or orthotic knee joint, comprising: An upper part (10), a lower part (20) pivotally mounted on the upper part (10) about a pivot (15), and a resistance device (30) located between the upper part (10) and the lower part (20), by means of which the pivoting ability of the upper part (10) relative to the lower part (20) can be influenced at least in the flexion direction; a control device (40), which is coupled to the resistance device (30) and by means of which the resistance against flexion is changed according to the attitude of the upper part (10) relative to the lower part (20), characterized in that the control device (40) is configured to lock or enhance the damping of the flexion movement at a locking angle (α) when or before reaching a mechanical end stop (80).

2. The prosthetic knee joint or orthotic knee joint according to claim 1, characterized in that, The control device (40) is configured to increase the flexion resistance over a predetermined angular range until locking before reaching the locking angle (α).

3. The prosthetic knee joint or orthotic knee joint according to claim 1 or 2, characterized in that, The control device (40) is coupled to at least one sensor (50) for detecting the joint angle (β) between the upper part (10) and the lower part (20) or the orientation of the upper part (10) in space, and is configured to change the resistance through the resistance device (30) based on the sensor value, in particular starting from reaching a threshold value (β1) of the joint angle (β) and / or the duration (t1) of an unchanged joint angle (β) or the orientation of the upper part (10) and / or a locking command, and increase the resistance until locking.

4. The prosthetic knee joint or orthotic knee joint according to claim 1 or 2, characterized in that, The control device (40) is coupled to at least one sensor (50) for detecting an unlocking signal, and the locking is released by means of this unlocking signal.

5. The prosthetic knee joint or orthotic knee joint according to claim 2 or 3, characterized in that, The control device (40) is configured to increase the flexion resistance as the flexion increases.

6. The prosthetic knee joint or orthotic knee joint according to one of the preceding claims, characterized in that, At least one regulating valve (35) or regulating device is arranged in the resistance device (30), and this regulating valve or regulating device is coupled to an actuator (34), which is activated, deactivated or modulated by means of the control device (40).

7. The prosthetic knee joint or orthotic knee joint according to one of the preceding claims, characterized in that, The resistance device (30) is formed as a linear damper or a rotary damper, in particular a hydraulic device, a pneumatic device, a magnetorheological resistance device or a drive.

8. The prosthetic knee joint or orthotic knee joint according to one of the preceding claims, characterized in that, The parameters for locking can be set in the control device (40).

9. The prosthetic knee joint or orthotic knee joint according to one of the preceding claims, characterized in that, The locking angle (α) is set between 2° and 40° in front of the mechanical end stop (80), in particular between 5° and 30°.

10. A method for controlling a prosthetic knee joint or an orthotic knee joint according to one of the preceding claims, characterized in that, After reaching the threshold value (β1) of the joint angle (β), the flexion resistance is increased before reaching the locking angle (α) as the flexion increases and / or when the joint angle (β) is unchanged or the orientation of the upper part (10) in space is unchanged for more than a predetermined period of time and / or at a locking signal.

11. The method according to claim 10, wherein The resistance increases linearly or progressively.

12. The method according to claim 10 or 11, characterized in that, The flexion resistance is increased over an angular range greater than 5° before reaching the locking angle (α).

13. The method according to any one of claims 10 to 12, characterized in that The control device (40) is coupled to a foot part (60), and locking and / or unlocking is carried out based on the attitude and / or load of the foot part (60).

14. The method according to any one of claims 10 to 13, characterized in that Detect or determine the position of the center of gravity of the body relative to the supported leg, and decide whether to increase the resistance or carry out locking based on the trend of the center of gravity during movement.

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