Orthopedic joint device and control method thereof

Abstract

The invention relates to a method for controlling an orthopedic joint device, comprising: an upper part (10) and a lower part (20), which are pivotably mounted on one another in an articulated manner about a pivot (15); an actuator (30), which is coupled to the upper part (10) and the lower part (20) and influences a pivoting movement of the upper part (10) relative to the lower part (20), the actuator (30) being coupled to a control device (40), the control device is coupled with at least one sensor (50) for detecting state data of the joint device and activates, deactivates or modulates the actuator (30) on the basis of a sensor value of the at least one sensor (50); and at least one bio-signal sensor (60) which detects a muscle activity or actuation of at least one muscle as a bio-signal and transmits it to the control device (40), the actuator (30) being activated, deactivated or modulated on the basis of one or more bio-signals, wherein the resistance of the actuator (30) to the pivoting movement against buckling increases on the basis of the at least one biosignal, and the subsequently increased resistance against buckling decreases on the basis of the sensor value.

Description

Field of the Invention

[0001] The present invention relates to a method for controlling an orthopedic joint device, which orthopedic joint device has: an upper component and a lower component, which are pivotally mounted on one another about a pivot axis; an actuator, which is coupled to the upper component and the lower component and influences the pivoting movement of the upper component relative to the lower component, wherein the actuator is coupled to a control device, which is coupled to at least one sensor for detecting state data of the joint device and activates, deactivates or modulates the actuator based on the sensor values of the at least one sensor; and at least one biosignal sensor, which detects the muscle activity or drive control of at least one muscle as a biosignal and transmits it to the control device, wherein the actuator is activated, deactivated or modulated based on the biosignal. The present invention also relates to an orthopedic joint device, which orthopedic joint device has: an upper component and a lower component, which are pivotally mounted on one another about a pivot axis; an actuator, which is coupled to the upper component and the lower component and influences the pivoting movement of the upper component relative to the lower component, wherein the actuator is coupled to a control device, which is coupled to at least one sensor for detecting state data of the joint device and activates, deactivates or modulates the actuator based on the sensor values of the at least one sensor; and at least one biosignal sensor, which detects a biosignal and transmits it to the control device, wherein the actuator is activated, deactivated or modulated based on the biosignal. Background Art

[0002] Orthopedic joint devices are in particular designed as prostheses, orthoses or exoskeletons for the upper or lower limbs, in particular for artificial ankle joints, artificial knee joints, artificial hip joints, artificial shoulder joints or artificial elbow joints.

[0003] Orthopedic technology joint devices, such as prostheses, orthoses or exoskeletons, enable at least two components to perform a pivoting movement about a pivot axis, so that the upper component can perform a pivoting movement relative to the lower component about this pivot axis. In a prosthesis, the upper component of the joint can be coupled to a prosthetic socket or a terminal implant to fix the lower component and possibly other prosthetic components to the stump. In a lower limb prosthesis, for example, the socket forms a thigh socket, which is coupled to the upper component of the prosthetic knee joint, and the calf component is pivotally mounted with a prosthetic foot thereon. An actuator is provided between the upper component and the lower component, by means of which the relative pivoting movement can be influenced. For a passive actuator, the pivoting movement is influenced or changed by applying a resistance that resists the pivoting movement. This resistance is variable in order to be able to generate an adapted pivoting behavior. For example, this adaptation is based on sensor data, by a specific load, acceleration, movement or state. The passive actuator is in particular a pneumatic or hydraulic resistance, a magnetorheological resistance or other braking devices, by means of which kinetic energy is converted into heat energy. In addition, there are active actuators, by means of which the pivoting movement of the upper component relative to the lower component can also be influenced. A drive, such as a motor or an accumulator, can operate as a brake in a generator mode or a charging mode. Similarly, the pivoting movement can be influenced by the active actuator in such a way that pivoting occurs or the pivoting movement is supported starting from a rest position. By activating the actuator, it is also possible to resist the pivoting movement without reversing the movement. The active actuator also operates as a brake in this case and modulates the pivoting movement.

[0004] Modern control systems envision influencing the pivoting movement via actuators based on sensor values, since the sensors detect state data or movement data of the joint device. Based on the sensor values, the actuators are activated, deactivated or modulated, for example to provide a corresponding resistance when a specific posture, a specific joint angle or a specific load is reached, or to initiate or support the pivoting movement. In addition, the actuators are activated, deactivated or modulated based on bio-signals. A bio-signal is a signal that is detected by at least one bio-signal sensor and transmitted to the control device. The bio-signal is in particular a signal that identifies or represents muscle activity, muscle drive or drive intention (SK1), for example by mechanically detecting changes by means of a pressure cuff or the like, by an electromagnetic sensor that detects an electromyographic signal or a nerve signal, or by an electromechanical sensor that uses ultrasound or a change in length to detect the activity of a patient or user of an orthopedic technology joint device. A sensor for directly or indirectly detecting muscle activity or muscle activation is a bio-signal sensor. Based on the bio-signal transmitted to the control device, the actuators are activated, deactivated or modulated to influence the pivoting movement.

[0005] Certain effects of orthotic joint devices based on sensor data require the user to maintain a specific state or position for a long time. If the joint device is to be locked in a specific position, for example to perform a standing function or a holding function, the corresponding orthotic device must remain stationary or almost stationary in a specific posture for a specific time. Then the control system recognizes that no further movement is expected and locks the joint device. This can be laborious and difficult. Summary of the Invention

[0006] The object of the present invention is to provide an orthotic joint device and a control method therefor, whereby the use of the orthotic joint device by the patient can be simplified and made safer.

[0007] According to the present invention, this object is solved by a method having the features of the main claim and an orthotic joint device having the features of the dependent claims. Advantageous embodiments and developments of the present invention are disclosed in the dependent claims, the description and the drawings.

[0008] The present invention provides a method for controlling an orthotic joint device, which device has an upper part and a lower part that are pivotally mounted on one another about a pivot axis; an actuator that is coupled to the upper part and the lower part and influences the pivoting movement of the upper part relative to the lower part, wherein the actuator is coupled to a control device that is coupled to at least one sensor for detecting state data of the joint device and activates, deactivates or modulates the actuator based on the sensor values of the at least one sensor; and at least one biosignal sensor that detects the muscle activity or drive of one or more muscles as a biosignal and transmits it to the control device, wherein the actuator is activated, deactivated or modulated based on the biosignal or the biosignals. The present invention provides that the influence of the actuator on the pivoting movement, which is intended to resist flexion (i.e., change the flexion resistance), i.e., the change in flexion resistance, increases based on the biosignal, and subsequently the increased resistance to flexion decreases based on the sensor value. The increase in flexion resistance or the enhanced influence of the actuator on resisting flexion of the pivoting movement occurs based on the biosignal, for example by detecting contraction, co-contraction or by deriving nerve signals or by detecting (e.g., of an attached sensor or bushing) length changes electromechanically. Thus, for example, the joint can be locked by contraction or co-contraction. However, when the biosignal disappears, for example due to a decrease in muscle tension, the flexion resistance does not or at least does not have to decrease, but the increased resistance to flexion decreases based on the sensor value, i.e., based on the sensor values configured and provided for detecting the state data of the joint device.

[0009] In one embodiment, the increased flexion resistance is only reduced again based on the sensor values or based on a combination of sensor values and biosignals. Thus, even when the muscle is continuously activated, the reduction of the flexion resistance and possibly the support of flexion only occur when corresponding status data (such as acceleration, angular position, spatial orientation, relative or absolute position, position change or load, possibly in combination with corresponding biosignals) occur. The load can be a force, a moment, a pressure, a force application point and / or a force arm. The time derivative and the course of change of the status data can also be used for control.

[0010] In one embodiment, the sensor particularly detects the relative movement or the absolute movement of the upper part or the lower part with respect to each other.

[0011] In one embodiment, the increased flexion resistance is maintained independently of the change of the biosignals until at least one sensor signal is detected by the at least one sensor and reaches a defined magnitude due to a movement or a status change. Thus, a threshold is set for triggering the reduction of the flexion resistance, and the reduction is carried out when the threshold is reached, exceeded or fallen below. For example, the upper part and / or the lower part must move at a certain speed, for example pivot, before the flexion resistance is reduced again. It may also be necessary to exceed or fall below a specific load limit in order to trigger the reduction of the flexion resistance. It may also be necessary to exceed or fall below a plurality of limit values. In addition, auxiliary quantities can be calculated from a plurality of input signals, and these auxiliary quantities are in turn compared with one or more thresholds or limit values and trigger the reduction of the flexion resistance. In addition to the threshold-based control, the flexion resistance can be adapted continuously and / or in a plurality of discrete stages based on the sensor values. Alternatively or additionally, for the control using biosignals and / or sensors, algorithms of signal processing, statistics, classification, machine learning and / or artificial intelligence can be applied. A model-based method can also be applied for control.

[0012] In one embodiment, the at least one biosignal triggers an increase in the flexion resistance independently of the state of the orthotic joint device, in particular independently of the position, the load and / or the movement of the joint device or the upper part or the lower part. Thus, in any state of the orthotic joint device, flexion locking or an increase in the flexion resistance can be carried out. This is particularly advantageous in an emergency situation, enabling rapid locking or a rapid increase in the flexion resistance. The natural reflex in an accident situation, for example when tripping, is the muscle tension, in particular the co-contraction. Through this involuntary co-contraction, a strong biosignal is emitted, which can be evaluated as an emergency lock or an emergency response and always triggers an increase in the flexion resistance.

[0013] Alternatively, the biological signal triggers an increase in flexion resistance only when the at least one sensor does not detect movement or a change in state of the upper and / or lower component, or only detects movement or a change in state below a threshold. Alternatively or additionally, the biological signal triggers an increase in flexion resistance only within a specific range of positions, absolute and / or relative angular ranges, for example a specific degree of inclination of the lower leg relative to the thigh or an external reference direction (such as gravity) or within a specific range of knee joint angles. Another or alternative condition is that, for example, a load, in particular an axial load of the upper and / or lower component in the direction of gravity, must be detected before the flexion resistance is increased. Thus, for example, an increase in flexion resistance or locking of the orthotic joint device is only permitted in specific situations, for example when a prosthesis, orthosis or exoskeleton is loaded.

[0014] In one embodiment, the sensor values are assigned one or more thresholds that must be exceeded or fallen below for the control device to reduce the flexion resistance after increasing the resistance.

[0015] The invention also provides an orthotic joint device having: an upper component and a lower component that are pivotally mounted on one another about a pivot axis; an actuator that is coupled to the upper and lower components and influences the pivoting movement of the upper component relative to the lower component, wherein the actuator is coupled to a control device that is coupled to at least one sensor for detecting state data of the joint device and activates, deactivates or modulates the actuator based on the sensor values of the at least one sensor; and at least one biological signal sensor that detects a biological signal and transmits it to the control device, wherein the actuator is activated, deactivated or modulated based on the biological signal or signals. The invention provides that the control device is configured to increase the influence of the actuator against flexion based on the biological signal and to reduce the increased flexion resistance based on the sensor values. The actuator is designed in one embodiment as an active actuator having a drive, for example in the form of an electric motor or a power accumulator, or as a passive actuator acting as a brake or damper.

[0016] The joint device can be arranged or constructed on the lower or upper limb, in particular as an artificial ankle joint, artificial knee joint, artificial hip joint, artificial elbow joint or artificial shoulder joint.

[0017] The at least one sensor for detecting state data or movement data of the orthotic joint device is arranged on the upper and / or lower component and in particular detects spatial orientation, the relative position of the upper and lower components, forces, torques, accelerations, velocities and changes in state.

[0018] A bio-signal is any signal generated in a biological manner that enables the intentional or unintentional control of an orthopedic joint device. The drive control of one or more muscles can be inferred from the bio-signal. For the drive control of one or more muscles, it may also be just the intention of the drive control, especially when the muscle to be driven no longer exists or can no longer be driven, for example due to paralysis. Bio-signals can be electrical signals, such as nerve signals from peripheral nerves, electrical signals during muscle contraction (EMG, electromyogram), but also include signals from the central nervous system. Electrical signals can be detected by tapping electrodes. If the information is encoded in the signal, it can be decoded before the signal is used for control. Bio-signals can be chemical or electro-chemical signals, such as the concentration of substances, the interaction of molecules, or electro-chemical gradients. These quantities can be determined, for example, by the interaction with light (such as absorption or photoexcitation and subsequent emission). Bio-signals can also be the electrical conductivity of tissues and / or body parts. Bio-signals can also be mechanical parameters, such as force, pressure, length, and / or length and its change over time, such as pulse or the length change of a muscle or an intramuscular structure. These quantities can be determined, for example, by pressure sensors in a cylinder or sleeve, which detect the thickening of the muscle during contraction. Length and geometric changes can also be determined by ultrasound. Bio-signals can be detected invasively or non-invasively. Examples of invasive sensors are implanted electromyographic electrodes, electrodes placed around nerves, or needle electrodes in the brain or spinal cord. The signals of invasive sensors can be transmitted wirelessly to the outside to avoid skin perforation. The energy supply can also be realized wirelessly by inductive energy supply. For osseointegrated prosthetic fitting by an endoprosthesis, the connection of the sensor can be made through the implant. It is also possible that the biosensor is partially invasive. For example, magnetic bodies can be implanted invasively into tissues, such as muscles or tendons, and the displacement of the magnetic bodies relative to each other during muscle movement or tension can be detected by an external sensor. It is also possible to use multiple methods in combination or detect different bio-signals, especially to improve the anti-interference ability and the robustness against misidentification. In one embodiment, the control of the orthopedic device is based on at least one bio-signal related to the muscle tension, contraction, and / or movement system activation of the body or intention, especially through electromyogram. Through such bio-signals, the wearer can influence the control. Different filters and signal processing algorithms can be applied to the detected bio-signals, and the resulting quantities are used for control. Thus, for example, it may only be possible to control through bio-signals when the bio-signal meets specific criteria (such as having a certain spectrum or a specific time course). For example, a high-frequency alternating current signal can be low-pass filtered and rectified, and then the signal is used for control. In addition to bio-signals, calculated quantities such as time derivatives, integral quantities, statistical quantities, or frequency domain characteristics can also be used for control.

[0019] In one embodiment, the actuation of one or more muscles is determined and used for control. For example, on a knee prosthesis or orthosis, tapping electrodes can be placed on the front of the thigh to detect the contraction of the quadriceps or biceps femoris, and this bio-signal can be used for control. Control by only one muscle is particularly simple and inexpensive. It is also possible to detect the contraction of multiple muscles, but only the contraction of one muscle or a part of the muscle is used for control. When controlling by multiple muscles, the co-contraction of two or more muscles can be detected, that is, multiple muscles are tense simultaneously, and it is used for control. The co-contraction does not necessarily have to be the contraction of the agonist and antagonist muscles. However, it is also possible to use different muscle activations or different muscles and / or muscle groups for control in different situations, movement phases, or modes. In some movement situations, specific muscles will involuntarily tense, so it is no longer possible to clearly infer whether the resistance should be increased due to muscle activation. In addition, some muscles cross multiple joints, such as extending the hip joint and flexing the knee joint simultaneously, so a knee joint extension moment will necessarily be applied when the hip joint extends. This synergy can be used for particularly intuitive control.

[0020] In one embodiment, methods of machine learning and / or artificial intelligence are applied to the bio-signal, and the continuous or discrete information (such as categories) obtained therefrom is used for control. Through pattern recognition methods, different signal features from one or more bio-signals can be used to infer a specific control intention, such as a specific activation pattern of multiple muscles or distinguishing between intentional and unintentional muscle tension. Therefore, it is only possible to perform an increase and / or decrease in resistance when a specific signal pattern exists. The algorithms of machine learning and / or artificial intelligence can alternatively or complementarily be applied to the change in resistance and thus also to other sensor values.

[0021] In one embodiment, the control performed by means of the at least one biosignal depends on the situation of the orthotic device, the movement pattern, the movement phase, and / or the mode. For example, in a special mode of cycling, the control by means of the biosignal may be different from that in the walking mode. It is also possible that the control depends on the current movement pattern, for example, the control activated during straight walking is different from that during turning, or the control activated during fast walking is different from that during slow walking. The control can also be changed according to the movement phase. For example, the control at the end of the stance phase may be different from that at the beginning of the swing phase. The movement phase can be determined by sensors. It is also possible that in a special mode, movement pattern, or movement phase, no control by means of the biosignal is activated. Finally, the user can temporarily or permanently activate and / or deactivate the control by means of the biosignal via an interface (such as an operating element or an application). The adaptation according to the situation, movement pattern, movement phase, and / or mode can relate both to the criteria for increasing and / or decreasing the resistance based on the biosignal and to the parameters of the resistance increase and / or decrease, such as the sensitivity or the gain of the resistance adaptation (depending on the biosignal), the degree of the resistance adaptation, or the type of the resistance adaptation (such as changes in damping, stiffness, equilibrium position, and / or torque).

[0022] In one embodiment, in addition to the flexion resistance, at least one extension resistance is increased based on the at least one biosignal, if necessary up to locking. The criteria for increasing and decreasing the extension resistance and the control parameters affected may be different from those of the flexion resistance.

[0023] In one embodiment, when actuated by a biosignal, the flexion resistance remains increased. The increase in the flexion resistance means the resistance that would exist without actuation by a biosignal. In the conventional stance function of a prosthetic knee joint, for example, flexion is fully locked during standing, and the flexion resistance is reduced when the prosthesis is unloaded, the knee joint extends, or the leg rotates quickly forward or backward. Although this behavior is advantageous in many cases, it may be disadvantageous in other cases. Therefore, in one embodiment, when actuated by a biosignal, the resistance can be increased or may remain locked, although the flexion resistance should be reduced based on other sensors. In this case, the biosignal overrides the other sensors.

[0024] In one embodiment, the process of increasing and / or decreasing the flexion resistance is time-controlled and / or limited in terms of the rate of change. In particular, when reducing the flexion resistance based on the at least one biosignal and / or other sensors, a sudden reduction in the resistance may be uncomfortable or even unsafe. Accordingly, it is advantageous not to increase or decrease the resistance suddenly, but to proceed continuously at a reduced or limited rate of change, even if the potential biosignal changes at a very high rate or suddenly. For example, the time course of the change between the increased and the normal flexion resistance can be stored and applied in the control, or low-pass filtering can be performed.

[0025] In one embodiment, the change in flexion resistance, in particular the degree of resistance increase and / or decrease, also depends on other quantities, such as quantities detected by sensors, in particular relative angles and limb segment angles, loads and / or their time derivatives and / or courses of change. For example, the increase in flexion resistance can depend on the knee joint angle, the lower leg angle, the pivoting speed or the ankle or knee joint moment.

[0026] The described control method can also be applied to a prosthetic foot or hip joint with an active ankle joint. It is also possible to control multiple axes of the joint, such as flexion and extension as well as adduction and abduction of the hip joint. For a prosthetic foot, it is mainly meaningful to increase the resistance against dorsiflexion during standing. Based on one or more biological signals, the resistance against dorsiflexion can be increased, and when the biological signal disappears, the dorsiflexion resistance does not necessarily have to be forced to decrease, but is based on the sensor values, i.e., the sensor values set for detecting the state data of the joint device. For the hip joint, it is mainly advantageous to increase the resistance against hip flexion during standing. It is also possible to control the resistance of multiple joints simultaneously.

[0027] In one embodiment, the flexion resistance is increased by one or more pulses of the at least one biological signal. Here, only a short-term actuation is performed through the biological signal. When the biological signal disappears, the flexion resistance first remains, and subsequently the decrease in resistance is based on the sensor values.

[0028] In one embodiment, the flexion resistance is increased based on at least one biological signal in the unloaded state of the orthopedic device. This is very useful, for example, when the leg with a prosthetic knee joint needs to be repositioned (e.g., getting into a car). Without the increased flexion resistance, when the leg is lifted forward, the knee joint will flex due to the gravity acting on the lower leg and the foot.

[0029] In one embodiment, when a specific angle range, load and / or speed is exceeded, or after a defined time, the flexion resistance increased by the biological signal will decrease again. For a leg prosthesis or orthosis, for safety reasons, for example, when it is detected that the leg tilts particularly strongly backward or forward, or rotates particularly quickly backward or forward, it is meaningful to reduce the flexion resistance of the knee joint. At particularly high loads, for safety reasons, it may also be meaningful to reduce the flexion resistance to prevent overloading of the body connection or the body itself. In this case, the user may involuntarily control through the biological signal, which makes it necessary to reduce based on the sensor signal.

[0030] In one embodiment, during continuous actuation by a biosignal, the increased flexion resistance is only partially reduced based on the sensor. The flexion resistance is only fully reduced to the corresponding resistance level when the actuation by the biosignal is also reduced. With this control, the flexion resistance can be partially maintained increased by biosignal actuation, although it should be reduced to a greater extent based on other sensors.

[0031] The increase in flexion resistance can start from a high, non-locking resistance level, which is advantageous, for example, for a leg prosthesis to stand upright stably on different ground surfaces and ground slopes or during the stance phase of gait. It can also start increasing from a very low or minimum resistance level, such as the resistance present in the swing phase of a leg prosthesis or an unloaded leg prosthesis. When the flexion resistance is increased by biosignal control, it can be reduced back to the starting level based on sensor data. Alternatively or additionally, it can be reduced to a minimum flexion resistance. This is particularly advantageous at the end of the stance phase or during unloading of a leg prosthesis or orthosis to easily initiate the swing phase or actively support the flexion movement. Even when the biosignal is continuously activated, the reduction can be based on the state data of the prosthesis or orthosis determined by the sensor, such as based on the forward tilt of the calf and the load on the front foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Embodiments of the present invention will be described in detail below with reference to the drawings. In the drawings:

[0033] Figure 1 A schematic diagram of an orthopedic joint device is shown;

[0034] Figures 2 to 6 Different usage scenarios are shown;

[0035] Figure 7 A schematic diagram of a control function is shown;

[0036] Figures 8 to 12 Different control schemes are shown;

[0037] Figure 13 The correlation between the biosignal and the resistance parameter is shown;

[0038] Figure 14 A schematic diagram showing the increase in resistance is shown; and

[0039] Figure 15 Another usage scenario is shown. DETAILED DESCRIPTION

[0040] In Figure 1In the figure, an orthopedic joint device of a lower limb prosthesis type is shown schematically. The orthopedic joint device has an upper component 10 and a lower component 20, which are pivotally mounted on one another about a pivot axis 15. In order to influence the relative pivoting movement of the upper component 10 relative to the lower component 20 about the pivot axis 15, an actuator 30 is provided on the upper component 10 and the lower component 20, which in the illustrated embodiment is designed as a hydraulic damper. In an alternative embodiment, the actuator 30 can be an active actuator having a drive, such as an electric motor, an accumulator or other types of drives, for influencing the pivoting movement of the upper component 10 relative to the lower component 20. In the illustrated embodiment, the actuator 30 is designed as a passive actuator and provides resistance to the flexion movement and possibly also to the extension movement. The actuator 30 is coupled to a control device 40, which in the illustrated embodiment is arranged on the lower component 20. The control device 40 is coupled to sensors 50, which are arranged on the upper component 10 and / or the lower component 20. The sensors 50 detect state variables of the joint device, such as position, orientation, force, torque, acceleration or the attitude of the components in space or relative to one another, where multiple sensors can be used to detect the required state variables of the orthopedic joint device. The sensors 50 are coupled to the control device 40 and transmit the corresponding sensor data or sensor signals to the control device 40, where, based on the sensor values or sensor data, the actuator 30 changes its ability to influence the pivoting movement or pivotability of the upper component 10 relative to the lower component 20. For example, the flexion resistance and / or the extension resistance is changed according to the sensor values. For this purpose, regulating valves or throttling devices are used. In an alternative embodiment, the magnetic field can be changed to change the viscosity of the magnetorheological fluid. For a mechanical braking device, the braking force can be increased or decreased to produce an adapted resistance behavior of the actuator 30. For an active drive having at least one electromechanical actuator, a resistance to movement or support for the movement can be applied by means of current and voltage. In addition to applying torques and torque curves, trajectories can be tracked or system characteristics (such as impedance or admittance control) can be simulated by means of control algorithms and sensor information about the pivoting movements of the upper and lower components. For example, the behavior of a linear or nonlinear spring, a damper or inertia, or a combination of multiple characteristics can be simulated, so that the pivoting movement against flexion can be influenced. Such drive control provides a high degree of flexibility. By such control, the pivoting movement can also be actively supported. When a torque or force is applied by the actuator without pivoting occurring (for example because external and internal forces are in equilibrium), a resistance to the pivoting movement is also applied. By means of the actuator, energy storage devices, such as hydraulic spring energy storage devices, can also be activated and deactivated, the transmission ratio of the drive can be changed, and / or they can be engaged or disengaged. These types of drives can also be used to influence the pivoting movement. The resistance is the force and torque applied by the actuator to influence the pivoting movement. The resistance can oppose the pivoting movement, but can also support the pivoting movement, i.e., act in the pivoting direction.

[0041] A biosignal sensor 60 is constructed or fixed (e.g., on a prosthetic socket or brace) on the upper component 10. These biosignal sensors are configured to detect muscle activity or the actuation of one or more muscles and generate biosignals, which are transmitted to the control device 40. The biosignal sensors 60 (which may be configured as tap electrodes) are coupled to the control device 40 either conductively or wirelessly and transmit the corresponding signals to the control device 40, which also activates, deactivates, or modulates the actuator 30 based on the biosignals to change the resistance or affect the movement behavior or mobility between components.

[0042] Different from the design of an orthopedic joint device as a prosthetic limb, it can also be designed as an orthosis, where the lower component 20 is not a calf component but a calf brace fixed to an artificial knee joint. The upper component 10 is then a thigh brace, and they can be fixed to the thigh by corresponding fixing means (such as straps, shells, or sleeves). The biosignal sensors 60 can be individually fixed to the thigh or other muscle groups and can also be arranged on the fixing means. The orthopedic joint device can also be designed as an exoskeleton, as a special form of an orthosis. Instead of the illustrated embodiment of the lower limb orthopedic joint device, the orthopedic joint device can also be formed for the upper limb, such as an artificial shoulder joint or an artificial elbow joint for a prosthetic arm, or an orthosis or exoskeleton for the arm.

[0043] The activation, deactivation, and possible modulation of the actuator to affect the pivoting movement or pivoting ability of the joint device are performed based on at least one biosignal of the biosignal sensor in such a way that when there is a corresponding biosignal, the influence on the pivoting movement or pivoting ability against flexion is increased. Affecting the pivoting movement is also understood as locking the pivoting movement, so that the lower component 20 is locked relative to the upper component 10 and no relative movement occurs between the two components and cannot occur. Therefore, the influence on the pivoting ability of the upper component 10 relative to the lower component 20 can be manifested as locking the joint in the flexion direction or increasing the flexion resistance. This influence is performed by passive or active actuators. In order to be able to reduce the increased flexion resistance of the joint device again, this is based on the sensor value, that is, the value transmitted by this sensor 50 or these sensors 50 to the control device 40, possibly in combination with or depending on the biosignals. Such control of the orthopedic joint device (e.g., of the lower limb) is particularly advantageous and meaningful for the standing function, in which flexion (e.g., knee flexion) should be hindered or locked.

[0044] In Figure 2The user of an orthopedic joint device is shown, the orthopedic joint device having an upper part 10 and a lower part 20, the upper part having a prosthetic socket and the lower part being in the form of a calf part with a prosthetic foot fixedly attached thereto distally. The upper part 10 is pivotable relative to the lower part 20 about a pivot 15. As Figure 1 shown, an actuator is arranged in the lower part 20 and is fixed to the upper part 10 at its upper end. The user of the orthopedic joint device is in a squatting position in which both legs are weight-bearing. It is known from the prior art that, when a bent, stationary standing state is recognized by detecting the knee joint angle, the resistance to flexion is increased until a relaxed standing can be achieved. For example, this is achieved by locking the knee joint or by applying an extension moment. In order to signal to the control device that the corresponding function should be activated, the user has to exhibit a predefined standardized behavior and hold the orthopedic joint device in a specific state, for example adopt a quiet equilibrium position. For this purpose, the extension moment has to be increased and it may be necessary to partially unload the side equipped with the orthopedic device. In certain postures (such as the shown squat, high load on the support side or forefoot load), it is difficult or even impossible to adopt such a posture. Therefore, it is sometimes difficult for the user to meet the prerequisites required for activating the standing function in the traditional way. This is particularly difficult when the position is unstable and requires good coordination and effort.

[0045] The proposed method provides for the activation of the standing function (accompanied by an increased resistance to flexion) to be recognized by at least one biosignal detected by one or more biosignal sensors and transmitted to a control device. By means of one biosignal or a plurality of biosignals, it is possible to stop or slow down the flexion movement in the case where the user is unable to adopt the necessary equilibrium position within a certain time. Sometimes, it is only possible to adopt a quiet standing position or to make it easier to adopt a standing position by activating or modulating the actuator based on at least one biosignal. Once the desired position has been reached, the increased resistance to flexion can remain activated even if the at least one biosignal is no longer present. Thus, the user can stand and remain more easily in the shown squatting position.

[0046] In Figure 3Another usage scenario of the orthopedic joint device is shown, namely going down stairs. When the prosthetic foot lands on a lower step, it is particularly difficult or even impossible to stop the movement and maintain a quiet standing position because a high flexion moment is applied around pivot 15 and stability cannot be achieved through the prosthetic foot as the prosthetic foot only lands on the leading edge of the lower step with the heel. The prosthetic foot will roll on the edge of the step. It is impossible or extremely difficult for the user to activate the standing function in the traditional way in this situation. By activating a bio-signal (such as muscle contraction or muscle co-contraction), the bio-signal sensor or tapping electrode detects the corresponding sensor value and transmits it to the control device, and an increased flexion resistance is applied to the knee joint flexion or further flexion, possibly until the joint is locked. Such control and the increase in resistance to flexion can occur dynamically when walking on stairs, especially when decelerating or stopping on stairs or slopes; alternatively or additionally, it also applies to simply standing on an edge, a steep slope, such as a protrusion, a stone, a high place or a platform. The increase in flexion resistance is completed in Figure 3 the right-hand illustration. By moving the cared-for side with the orthopedic joint device again, the increased flexion resistance or joint lock can be released and the orthopedic joint device can be operated in other modes. If the drive by bio-signals ends at a time point when the cared-for side is not yet fully stationary and the criteria for activating the traditional standing function are not met, the resistance will decrease again as the drive by bio-signals weakens.

[0047] In Figure 4 another application possibility is shown, where the user of the orthopedic joint device is in a bent position, as shown in Figure 4 the left-hand illustration. In some cases, the body position changes while the knee joint angle remains unchanged, for example, the user bends further forward. In traditional control methods, the standing function that has been taken will first be deactivated, resulting in a decrease in flexion resistance. This occurs based on specific sensor values and other parameters, such as only when the knee joint extends, the upper or lower part moves quickly or is fully unloaded. By driving the actuator with bio-signals, the standing function can be kept activated and have an increased resistance during the movement of the upper body or the upper or lower part, even if the sensor signals would cause deactivation or drive. As shown on the left side of the figure, the user is initially in a relaxed bent position. During the change in the upper body position, the orthopedic joint device is driven by bio-signals, for example, by the contraction of the thigh muscles, which is detected in the form of an electrical signal by the bio-signal sensor or tapping electrode and transmitted to the control device as a bio-signal. The orthopedic joint device remains in the standing function. When the thigh muscles relax, no more bio-signals act on the control device, but the resistance remains high through the actuator because the user is still in a stationary standing position. Only when the cared-for side moves, the standing function will be released and the flexion resistance will be reduced by the actuator.

[0048] Figure 5 Another situation is shown, in which a user of an orthopedic joint device is pulling an object not shown. Starting from the bent posture shown in the left illustration, the person takes a step backward with the uninjured healthy leg to pull an object located in front of him or to apply a pulling force. The traditional standing function is deactivated here because the cared-for side rotates backward, i.e., the lower component 20 performs a pivoting movement around the ankle joint axis in the rearward, posterior direction. However, if a bio-signal is transmitted to the control device through a bio-signal sensor, the standing function can be intentionally kept activated during the backward movement or the backward pivoting of the lower component 20 around the ankle joint axis. The activation by the bio-signal can also be kept at the position shown in the right illustration. For example, when the person wants to ensure that the standing function remains activated despite the movement of the components of the joint device. Only when the bio-signal no longer exists and the person is no longer standing quietly will the increased resistance to flexion movement be reduced again. However, if the person stands quietly again, the activation by the bio-signal can be ended to achieve a relaxed standing. This can reduce the cognitive burden and muscle burden of the person. It is also possible to activate or keep activated the standing function through bio-signal control, although it is usually not possible to activate it based on the remaining sensor data at this position. For example, if there is a condition that the calf component must be vertical or tilted forward in the walking direction to activate the standing function with increased flexion resistance, then this will prevent the provision of the standing function at the Figure 5 position shown in the right illustration. Through the claimed method, the remaining conditions can be overdetermined by the bio-signal, and the resistance to flexion can be increased based on the higher priority caused by the bio-signal.

[0049] Figure 6 Another situation is shown, in which a lateral movement occurs in the frontal plane. In the illustrated embodiment, the person takes a step to the left while the cared-for right side remains standing. Traditional control does not respond to movements in the frontal plane, so even in similar situations, the standing function with increased flexion resistance can be set through bio-signals. For example, when dynamically changing the direction from forward movement to a combined forward and lateral movement, it makes sense to increase the flexion resistance of the lateral movement through bio-signals in order to be able to push off from the cared-for side. At the end of the standing phase, even though controlled by bio-signals, the flexion resistance of the knee joint may be reduced based on other sensors to initiate the swing phase or support the flexion movement into the swing phase.

[0050] Figure 7The basic functional block diagram of the control is shown. The biological signal B and additional information X from sensors or data sources (such as sensor signals regarding state variables, internal states, or external data) are processed by the control C, which is stored in and located in the control device. The control C of the control device then drives the actuator 40. The traditional information X is usually kinematic quantities, such as knee joint angle, limb segment angle, range of motion, distance, length, and leg direction, speed, acceleration, etc., as well as dynamic quantities, such as force, torque, force arm, force application point, etc. In addition, the external information X can come from setting devices, applications, other prosthetic components, or the data cloud. The biological signal B is, for example, data regarding muscle tension, derived or detected by electromyography sensors, ultrasound, magnets, pressure sensors, direct nerve sensors, etc. The control C in the control device generates an input quantity for the actuator 40, thereby generating a control quantity, such as regarding joint position, valve position, opening or closing of the valve, speed, torque, current, stiffness, damping, impedance, etc.

[0051] Figure 8 An embodiment of the control for increasing the flexion resistance is schematically shown in Figure 1 The sensor value input quantity X of the sensor 50 according to Figure 8In the right-hand illustration, two states of the actuator and their conditions are depicted. The first state AL represents the state in which the actuator 40 exhibits normal resistance behavior, i.e., has low flexion resistance or is in the "open" state. The actuator state AH corresponds to the state with increased resistance, possibly a locked actuator that prevents flexion. For the case where the biological signal B is greater than the threshold β1 and the value of the sensor value or conventional quantity X is within the range that would typically cause the activation of the standing function (symbolized by the expression <ξ), the actuator switches from the state AL with low flexion resistance to the state AH with high flexion resistance. Thus, the control is activated only when the conditions of the state sensor 50 for the sensor value X and the biological signal B of the biological signal sensor 60 are simultaneously satisfied. That is, the system is, for example, in a sufficiently stationary and loaded state, and in addition, there is actuation via the biological signal B. Deactivation, i.e., switching from the state AH to the state AL, occurs when one of the two conditions is no longer met. Thus, if there is no longer a biological signal B of sufficient magnitude or intensity, or the sensor value or state data X exceeds the threshold ξ, the flexion resistance is reduced again. Such an implementation may be meaningful, for example, in special modes such as cycling, where an unexpected increase or maintenance of resistance is particularly undesirable. Represented in the curve, at time point t1, the orthopedic joint device is in a stationary state and there is no biological signal B. The resistance of the actuator 40 is accordingly low, as shown by curve A. Between time points t1 and t2, the biological signal B increases, for example, through the tension of the thigh muscles. Accordingly, the resistance A provided by the actuator 40 also increases, where the increase in resistance can be proportional to the muscle signal. At time point t3, the state of the orthopedic joint device changes sufficiently, which is indicated by the rise in the value X. Accordingly, the resistance provided by the actuator 40 decreases, although the biological signal B is still present.

[0052] In an embodiment according to Figure 8 the biological signal B is overdetermined or vetoed by the sensor value X.

[0053] In Figure 9 a variant of the control is shown, where deactivation (i.e., the reduction of flexion resistance) occurs only when there is no actuation via the biological signal B and the other conditions for the joint device via the state data X are no longer met. Activation according to Figure 9 the upper right illustration depends only on the biological signal B. In the lower right illustration, the activation of the actuator 40 occurs when the biological signal B is sufficient or the sensor value X for the state data of the orthopedic joint device is in the magnitude range in which the standing function is activated and the flexion resistance is increased.

[0054] At time point t0, the orthopedic technology joint device configured as a leg orthosis or prosthetic leg is in forward motion and there is no actuation via the biosignal B. Between time points t0 and t1, the actuation A via the biosignal B increases. Although the leg continues to rotate forward (which usually does not cause the activation of the standing function based on the sensor values of the state data X), the resistance is increased according to curve A by activating the actuator 40. By increasing the flexion resistance, the movement between the upper and lower components is reduced and stopped, and the movement of the orthopedic technology device is braked, which can be seen from the decrease in the sensor values of the state data X. The biosignal B decreases after the braking and joint locking are completed, for example by muscle relaxation, so that starting from time point t2, the intensity of the biosignal B decreases. The increased flexion resistance remains unchanged, which is obtained from the constant elevation process of curve A. The person can stand relaxed. When the joint device moves again (which can be seen from the rising values of the X curve), the resistance against flexion decreases, which is represented by the decreasing curve A.

[0055] The conditions for switching from state AL to state AH are shown in the upper right illustration, i.e., when the biosignal B is large enough and has sufficient quality to perform the actuation of the actuator to switch to increased resistance. If the biosignal B subsequently decreases or disappears, i.e., biosignal B < β2, the state of increased flexion resistance will be maintained. Similarly, if there is again a biosignal B greater than β3, i.e., there is sufficient signal quality for actuation, this state will also be maintained. The flexion resistance only decreases and enters state AL when the orthopedic technology joint device moves again without simultaneous actuation via the biosignal, i.e., the state value X > ξi, i.e., outside the range that would usually cause the activation of the standing function with increased flexion resistance. In the lower right illustration, the increase in flexion resistance is only performed when one of two conditions is met, i.e., the biosignal B is greater than the threshold β (which justifies the actuator control) or the sensor value is in the range that would usually cause the activation of the standing function and an increase in flexion resistance. Unlocking or reducing the flexion resistance only occurs when the sensor value regarding the state data X of the joint device is outside the range that would usually cause an increase in flexion resistance, for example when the entire prosthetic leg is lifted and pivoted and there is no simultaneous actuation via the biosignal.

[0056] At Figure 10The control of a special mode is shown. The special mode can be, for example, a special function for cycling, in which a periodically repeated movement is performed. In this mode, the increase in resistance may be effected only by the biosignal B. At time point t1, the biosignal B increases (e.g., by an increase in muscle contraction) until time point t2. The biosignal B remains at a level higher than that at time point t1. As the biosignal B increases, the activation of the actuator occurs concomitantly with an increase in the flexion resistance, which is shown in the middle curve A. Even when the muscle tension decreases from time point t2 until time point t4 and remains at a level higher than the threshold, the flexion resistance remains at the increased level. The increase in resistance may also be triggered by the quality of the biosignal B, e.g., by a distinct pulse or over the duration of the biosignal B. The quality condition of the biosignal B is used to prevent an unexpected increase in the flexion resistance. The resistance decreases only when the biosignal B reappears above a certain level again at time point t4 and may decrease again. Accordingly, the movement also changes, which can be seen from the value of the status data X. These data can be used to activate other control strategies or other control modes. For example, when cycling, these switches can be used to stand up and stand on the pedals. Only the pedal movement or vibration should not be decisive for activating or deactivating the increased resistance.

[0057] In Figure 11 a variant of the control according to Figure 9 is shown, in which the locked position or the increased flexion resistance is represented by the high values of curve A. There is no actuation by the biosignal B. A person using an orthopedic joint device, for example, in a relaxed flexed position, can now predict a situation via the biosignal B in which the resistance of the conventional control will decrease, e.g., when the status data X will cause unlocking or a decrease in the flexion resistance. In the case where the resistance has already increased at time point t0, actuation is effected by the biosignal B, and then the movement of the orthopedic joint device is performed (which is represented by the rising and falling curves in the upper curve X between time points t1 and t2), during which movement the resistance remains high, which is represented by the constant trend of curve A. When the movement ends at time point t2, the biosignal B can also decrease, which occurs in the time period between time points t2 and t3. The condition for decreasing the flexion resistance based on the sensor value also remains within the range where unlocking does not occur after time point t2, so that for a lower limb orthopedic joint device, the locked position or the standing function remains. The flexion resistance continues to remain high and unlocking does not occur.

[0058] In Figure 12 another control variant is shown, in which the flexion movement is represented by the knee joint angle φk. The knee joint angle φk is shown in the upper diagram. At the start of the control, the actuator A has a normal or low resistance behavior. There is no biosignal B, and the knee joint is in a sufficiently extended position. When the orthopedic joint device (e.g.,Figure 3 The prosthetic form shown is placed down onto the next step, and the artificial knee joint flexes controllably under load (this occurs during the time period between time points t0 and t1). To reduce the flexion, starting from time point t1, a first biological signal B at an elevated level (e.g., medium-intensity muscle drive) is input to the control to achieve medium resistance. This resistance builds up from time point t1 and is maintained until time point t2. This enables the flexion movement to be slowed down controllably without sudden stop. At time point t2, the movement should stop. For this purpose, the biological signal B is increased during the time period between time points t2 and t3, for example, by maximum contraction of the corresponding muscle. Thus, the resistance A provided by the actuator is increased to the maximum extent, the change in the knee joint angle φk is slowed down, and thus the movement stops at time point t3. At time point t4, when the knee joint flexion has completely stopped and the standing function is installed, the biological signal B can be ended, i.e., the muscle tension or muscle drive can be reduced. The resistance through the actuator remains at a high level until a corresponding release signal is input to the control.

[0059] As a supplement or alternative to simple threshold-based control, a continuous transition between resistances can be achieved. The criteria may be partially met and result in a partial increase or decrease in resistance.

[0060] In Figure 13 different relationships between the biological signal B and the resistance parameter P are shown. The drive of the biological signal B increases the resistance behavior of the actuator, where different parameters P that can affect the resistance behavior. This will be further described in Figure 14 . The manner of influence can be continuous or proportional, i.e., as the activation of the muscle or the biological signal B increases, a greater resistance is provided, as shown in the left-hand illustration in Figure 13 . The relationship between the biological signal B and the resistance parameter P does not have to be linear. Alternatively, the adaptation can be binary, i.e., once the biological signal B reaches a specific threshold or multiple specific thresholds, a predefined increase in resistance is performed. This is shown in the middle illustration in Figure 13 . Similarly, the adaptation of the resistance parameter P can have a saturation region, so that a further increase in the drive of the biological signal B does not result in a further increase in resistance. This is shown in the right-hand illustration in Figure 13 . Different types of adaptation can also be combined with each other. Similarly, different types of adaptation can also be applied differently in different situations, for example, binary switching during cycling and proportional adaptation during standing.

[0061] In Figure 14In this case, different types of resistance increase are shown using spring and damping behavior as examples, where the change in the resistance torque T with the knee joint angle φi is plotted. The resistance torque T resists movement or is applied with movement to influence the pivoting movement. For spring behavior, the equilibrium position can be changed by the biological signal B. When generating a torque that extends the knee joint (which is achieved by resisting the flexion of the spring behavior), the equilibrium position of the spring can be moved towards a smaller knee joint angle when actuated by the biological signal B. At the same knee joint angle φi, there is then a higher knee joint extension torque. Similarly, the spring stiffness can be changed, as shown in Figure 14 the middle figure. For damping behavior, the damping coefficient can be increased with actuation by the biological signal B. For non-linear characteristics, correspondingly multiple coefficients need to be changed, or the corresponding characteristic curve needs to be shifted towards higher torques. Thus, the increase and / or decrease of the resistance can also be an increase and / or decrease of the stiffness, the equilibrium point, the damping, and / or the like. Other parameters of such characteristics can also be adapted to achieve a resistance change, such as progression. Multiple characteristics can also be combined, such as bouncing and damping behavior. Instead of or in addition to the knee joint angle, φ can be other pivoting degrees of freedom of the orthotic device, to which a resistance is applied or whose pivoting movement is influenced by an actuator. Alternatively, it can also be other states of the orthotic device detected by sensors, such as the absolute angle or load of the upper or lower component. Of course, the torque or the force applied by the actuator (resisting or conforming to the pivoting movement) can also be directly influenced by the biological signal, especially in a proportional relationship, which corresponds to a decrease and / or increase of the resistance.

[0062] In Figure 15Another use case of the orthotic joint device is shown, namely repositioning the leg being cared for. In the starting position shown on the left, the user is in a slightly bent posture. The standing function of the orthotic device is activated and provides corresponding resistance to knee flexion and dorsiflexion. For repositioning, unload the side being cared for, place the leg forward (in this case on a heel edge as shown in the right illustration), and then reload. When unloading or pivoting, the traditional standing function is deactivated and the resistance at the knee or ankle is reduced. Assuming the position shown in the right illustration and loading the prosthesis is very difficult because it is a very unstable position and both the knee joint and the ankle joint will experience strong flexion moments. However, if bio-signals are transmitted to the control device via bio-signal sensors (such as tapping electrodes), the standing function can be intentionally kept activated during unloading and repositioning (in this case mainly pivoting around the hip joint). After repositioning and loading, the drive control via bio-signals can be removed from this quasi-static situation while the standing function remains activated. This is possible because the reduction in resistance is based on sensor data, especially sensor data regarding the state of the orthotic device. In the shown repositioning scenario, it is advantageous to not only increase the resistance to flexion, but also increase the resistance to knee extension and / or ankle plantar flexion based on bio-signals, up to locking if necessary. When the bio-signal disappears after repositioning, the resistance to extension and / or plantar flexion can be reduced again.

Claims

1. A method for controlling an orthopedic joint device, the orthopedic joint device having: an upper member (10) and a lower member (20), the upper member and the lower member being pivotally mounted on each other in an articulated manner about a pivot (15); an actuator (30) which is coupled to the upper member (10) and the lower member (20) and influences the pivoting movement of the upper member (10) relative to the lower member (20), wherein the actuator (30) is coupled to a control device (40) which is coupled to at least one sensor (50) for detecting status data of the joint device and activates, deactivates or modulates the actuator (30) based on the sensor values of the at least one sensor (50); and at least one biosignal sensor (60) which detects the muscle activity or actuation of at least one muscle as a biosignal and transmits it to the control device (40), wherein the actuator (30) is activated, deactivated or modulated based on one biosignal or a plurality of biosignals, characterized in that, The resistance of the actuator (30) to flexion against pivoting movement increases based on at least one biometric signal, and subsequently the increased resistance to flexion decreases based on a sensor value.

2. The method according to claim 1, characterized in that, The increased flexion resistance decreases only based on a sensor value or based on a combination of a sensor value and at least one biometric signal.

3. The method according to claim 1 or 2, characterized in that The sensor detects the absolute movement of the upper part (10) or the lower part (20) or the movement relative to each other.

4. The method according to any one of the preceding claims, characterized in that, The increased flexion resistance remains independent of changes in the biometric signal until the at least one sensor (50) detects at least one sensor signal of a defined magnitude due to movement, load, and / or state changes.

5. The method according to any one of the preceding claims, characterized in that, The biometric signal triggers an increase in the flexion resistance independently of the position, load, and / or movement of the joint device or the upper part (10) or the lower part (20).

6. The method according to any one of claims 1 to 4, characterized in that The biometric signal triggers an increase in the flexion resistance only when the at least one sensor (50) does not detect a change in the position, movement, or state of the upper part (10) and / or the lower part (20), or detects a change in the position, movement, or state of the upper part (10) and / or the lower part (20) below a threshold, and / or detects a load on the upper part (10) and / or the lower part (20) above a threshold, especially an axial load against the direction of gravity.

7. The method according to any one of the preceding claims, characterized in that, Before starting the decrease in flexion resistance, the sensor value must exceed or fall below a threshold.

8. The method according to any one of the preceding claims, characterized in that, Although driven by the at least one biometric signal, the flexion resistance is decreased based on at least one sensor signal from the at least one sensor (50), which is of a defined magnitude due to movement, load, and / or state changes.

9. The method according to any one of the preceding claims, characterized in that, The degree of increase and / or decrease in flexion resistance changes based on position, movement, load, state changes, mode, and / or movement phase.

10. The method according to any one of the preceding claims, characterized in that, The at least one biometric signal is an electromyographic signal, which is detected especially by implanted electrodes or surface-attached electrodes.

11. The method according to any one of the preceding claims, characterized in that, The flexion resistance increases to locking.

12. The method according to any one of the preceding claims, characterized in that, The flexion resistance decreases based on at least one sensor value to below the initial resistance level before increasing the flexion resistance, especially in the terminal stance phase.

13. The method according to any one of the preceding claims, characterized in that, In at least one mode or at least one movement phase, the drive of a muscle or a muscle group is detected and used for control.

14. The method according to any one of the preceding claims, characterized in that, In at least one mode or at least one movement phase, the co-contraction of at least two muscles or muscle groups is detected and used for control.

15. The method according to any one of the preceding claims, characterized in that, The flexion resistance increases continuously with an increase in muscle activation and / or decreases continuously with a decrease in activation, and / or the flexion resistance is digitally driven by muscle activation.

16. An orthopedic joint device, comprising: an upper component (10) and a lower component (20), the upper component and the lower component being pivotally mounted on each other in an articulated manner about a pivot axis (15); an actuator (30) coupled to the upper component (10) and the lower component (20) and influencing the pivotal movement of the upper component (10) relative to the lower component (20), wherein the actuator (30) is coupled to a control device (40) which is coupled to at least one sensor (50) for detecting state data of the joint device and activates, deactivates or modulates the actuator (30) based on the sensor values of the at least one sensor (50); and at least one biosignal sensor (60) which detects a biosignal and transmits it to the control device (40), wherein the actuator (30) is activated, deactivated or modulated based on the biosignal, characterized in that, The control device (40) is configured to increase the influence of the actuator (30) against flexion based on a biometric signal and decrease the increased flexion resistance based on a sensor value.

17. The orthopedic joint device according to claim 16, characterized in that, The orthopedic joint device is configured as a lower limb joint device, especially an orthotic hip joint, a prosthetic hip joint, an orthotic knee joint, a prosthetic knee joint, an orthotic ankle joint, a prosthetic ankle joint, or is configured as an upper limb joint device, especially an artificial elbow joint or an artificial shoulder joint, an orthosis, a prosthesis, or an exoskeleton.

18. The orthopedic joint device according to claim 16 or 17, characterized in that, The at least one sensor (50) is arranged on the upper part (10) and / or the lower part (20).

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