Orthopedic joint device and control method thereof

Abstract

The invention relates to an orthopedic joint device, comprising: an upper part (10) and a lower part (20) which are mounted on one another so as to be pivotable relative to one another about a pivot axis (15); and passive resistance means (30) arranged between the upper part (10) and the lower part (20) and arranged to provide resistance against pivoting of the upper part (10) relative to the lower part (20), in which motor drive means (60) are arranged between the upper part (10) and the lower part (20), the motor drive is configured to cause, support or hinder pivoting of the upper part (10) relative to the lower part (20).

Description

TECHNICAL FIELD

[0001] The invention relates to an orthopedic joint device having an upper part and a lower part, which are pivotably mounted on each other about a pivot axis, and a hydraulic damper arranged between the upper part and the lower part, which is configured to provide a resistance against pivoting of the upper part relative to the lower part and has a housing with a cylinder in which a piston is movably mounted and which divides the cylinder into two chambers between which at least one flow-technical connection is formed in which at least one adjustable valve is arranged. The invention also relates to a method for controlling such an orthopedic joint device. BACKGROUND

[0002] Orthopedic joint devices, in particular orthoses, exoskeletons or prostheses, have an upper part and a lower part which are articulated on the upper part. For orthoses and exoskeletons, the upper part and the lower part are fixed on a still present limb, for example by means of a shell, a belt, a strap, a sleeve or other fixation means. By means of orthoses and exoskeletons, movements can be guided, pivoting about a joint axis can be limited, pivoting movements can be prevented or the alignment of the limbs to each other can be supported and fixed. Furthermore, orthoses can be equipped with a damping device to dampen the pivoting movement about the joint axis. The damping device can be equipped with a control device, so that a variable flexion and / or extension direction damping can be provided depending on sensor data. It is also known to assign a force storage device to the upper part or the lower part, so that a movement support can be achieved by releasing stored energy from the force storage device.

[0003] Prostheses are used to replace missing or no longer present limbs and to provide functionality as close as possible to that of a natural limb. Furthermore, prostheses are intended to provide a natural appearance as close as possible to that of a natural limb to the prosthesis user. Prosthesis upper parts are for example configured as a prosthesis socket or an assembly fixed on a prosthesis socket, wherein the prosthesis socket is used for fixation to a limb or a residual limb. Prosthesis joints, for example a prosthesis knee joint, a prosthesis ankle joint or a prosthesis elbow joint, connect the upper part with a lower part, which in turn can have further prosthesis assemblies, for example a lower leg tube, a prosthetic foot or a prosthetic hand.

[0004] In orthoses, exoskeletons and prostheses, in particular of the lower limb, but also of the upper limb, dampers, in particular hydraulic dampers or other resistance devices, are arranged between the upper part and the lower part, which provide different resistances in different states or movement situations on the basis of sensor data. Such resistance devices are usually configured as linear actuators, which provide a defined resistance against flexion and / or extension movements. The resistance is changed by changing the position of a valve. When the flow cross-sectional area is reduced, the corresponding movement resistance increases. Such control valves for stand phase damping can be adjusted electromechanically by means of a servo valve or mechanically by means of a throttle, for example.

[0005] Furthermore, orthoses, exoskeletons, and prostheses with motor-driven mechanisms are known in the prior art, i.e., so-called active orthoses or prostheses, in which movement is initiated, supported, or braked by activating, deactivating, or modulating the drive mechanism. For this purpose, electrical energy stored in a battery or accumulator is converted into mechanical energy. The motor-driven mechanism can also be used to influence the motion behavior between components of the orthose or prosthesis within the range of a generator circuit, such as braking pivoting movements.

[0006] To alter the resistance in a hydraulic damper, a proportional valve is used, thereby influencing movement in the buckling and / or extension directions. Proportional valves are expensive to manufacture, require separate servo motors, transmissions, brakes, and corresponding valve bodies, and have high maintenance requirements. Summary of the Invention

[0007] The objective of this invention is to provide an orthopedic joint device and its control method, which enables the orthopedic joint device to operate simply, sustainably, and cost-effectively.

[0008] This task is accomplished by an orthopedic joint device having the features of the independent claim and a method for controlling such an orthopedic joint device having the features of the parallel claim. Advantageous embodiments and extensions of the invention are disclosed in the dependent claims, the specification, and the drawings.

[0009] The orthopedic joint device comprises: an upper part and a lower part, which are pivotally mounted on each other about a pivot axis; and a passive resistance device arranged between the upper and lower parts, wherein the resistance device is configured to provide resistance to the pivoting of the upper part relative to the lower part. The invention proposes that the valve be constructed as a switching valve having at least two switching positions, wherein at least one switching position is a partially open switching position, and a motor drive device arranged between the upper and lower parts, the motor drive device being configured to induce, support, or impede the pivoting of the upper part relative to the lower part. For a purely passive orthopedic joint device, the effect of the relative motion of the upper and lower parts is achieved by converting kinetic energy into heat energy. To adapt this effect to their respective motion behaviors or motion patterns, the valve needs to be constructed as a proportional valve and relatively complex control is required for each valve using a servo motor. An active orthopedic joint device that relies solely on a motor to influence relative motion requires a large motor or a large transmission device to be able to fully and independently withstand the forces that arise. The device of this invention significantly simplifies the complex structure of purely passive dampers or purely active actuators used in orthopedic joint devices, without sacrificing the ability to respond precisely and adaptively to their respective motion conditions or states. To modify the corresponding resistance around the pivoting resistance provided by the resistance device, a motor drive is configured or connected to the orthopedic joint device to influence pivoting motion. The motor drive can be engaged at specific times, states, or locations, either as a drive to input additional energy into the motion or as a brake to convert kinetic energy into heat or electricity during generator operation. If the motor drive is engaged as a drive, it can support existing motion or be used to counteract motion. Similarly, one of the components of the orthopedic joint device can be removed from a static state. In either case, additional torque is generated in the joint, either a driving torque or a braking torque. The motor drive allows for fine adjustment of the damping behavior of the hydraulic damper (which can be designed as a linear or rotary damper).

[0010] In one configuration, the resistance device has a housing with a cylinder in which a piston is movably mounted and divides the cylinder into two chambers, forming at least one flow-technical connection between the two chambers. At least one valve, particularly an adjustable valve, is arranged in this flow-technical connection. In one configuration, the valve is configured as a switching valve with at least two switching positions, wherein at least one switching position is a partially open switching position. A partially open switching position specifically refers to a switching position different from a fully open or fully closed switching position. The switching valve switches between multiple discrete states, switching at least between two switching positions, such as fully open or fully closed, and partially open or partially closed switching positions. This is achieved, for example, by movement or simple switching between the respective positions, such as by activating a coil without activating a motor. Thus, the orthopedic joint device can be locked in the fully closed position to prevent flexion and extension, and the frequently needed motion resistance can be provided in the partially open switching position. To modify the corresponding resistance around this pivoting resistance, a motor drive is configured or connected to the orthopedic joint device to influence the pivoting movement.

[0011] In one configuration, the valve is constructed as a multi-way valve having a closed switching position, an open switching position, and at least one partially open switching position. In a configuration where the multi-way valve is constructed as a 3-way valve, in the open switching position, the hydraulic damper can follow substantially undamped during pivoting motion, thereby generating negligible drag torque in the joint. In this switching position, the orthopedic joint device operates as an active joint when the actuator is activated to apply torque in the joint (whether as a drive or as a brake). In the fully locked switching position, relative displacement between the upper and lower components is impossible. In the partially open switching position (the opening degree may be adjustable), the actuator resists or supports the damping of the hydraulic damper during the corresponding operation.

[0012] In one configuration, the partially open switching position has a 50% smaller flow cross-sectional area compared to the fully open switching position, resulting in moderate damping between the fully open and fully closed states. Around this central position, the motion behavior is then altered by an actuator. The flow cross-sectional area can be adapted to the specific application or user. For example, if experience indicates that a particular damping torque or force is frequently required (e.g., high damping in an artificial knee joint against flexion), a corresponding reduction in the flow cross-sectional area can be preset for the partially open switching position. If the resistance device (e.g., a hydraulic damper) requires less damping or resistance in most cases, it is reasonable to increase the flow cross-sectional area or control variable accordingly and set it to the value expected to be most frequently used.

[0013] In one configuration, a valve is provided for each chamber of the resistance device, thus influencing both extension and flexion movements as the upper component pivots relative to the lower component. With each switching valve having three switching positions, combined with the respective actuator activity, a resistance device with unresisted, fixed damping, and locking functions can be provided for each direction of motion. This allows for a wide range of damping or support adjustment simply and independently of the direction of motion.

[0014] In one configuration of the orthopedic joint device, a parallel check valve is configured for the valve, or each valve, to ensure that hydraulic fluid return is possible even when the switching position is closed or only partially open, upon reversal of the direction of movement. This avoids complex switching operations to ensure unobstructed hydraulic fluid return during reversal of the direction of movement.

[0015] In one configuration, each chamber is provided with a switching valve with different opening switching positions so as to adapt to different standard values ​​of hydraulic resistance for the corresponding direction of motion.

[0016] In one configuration, the resistance device is constructed as a hydraulic damper, a pneumatic damper, a magnetorheological damper, a dissipative brake, or a locking device. When the resistance device is a hydraulic damper, the provided resistance is changed by altering the flow cross-sectional area at at least one point in the fluid flow, particularly by switching valves. For directional flow resistance, a static or adjustable flow valve can be arranged in parallel with a check valve, resulting in higher resistance in one flow direction than in the opposite direction. In a pneumatic damper, the compressibility of the medium creates a storage effect that can be used to control motion, for example, to provide energy to moving components during the oscillating phase. In a magnetorheological resistance device, resistance variation is achieved by applying or changing a magnetic field to alter the viscosity of the hydraulic fluid. The change or switching of the magnetic field occurs relatively quickly, so the resistance provided by the resistance device can be modified by supplementing or superimposing the force or torque of the drive mechanism. Other dissipative brakes, such as brakes or locking devices based on solid friction that can easily switch between two states, can also be supplemented by a drive mechanism. The heat generation problem can be reduced by the drive system during generator operation, in that the work done is recovered and stored in a return energy storage device.

[0017] Whether the resistance device is configured as a damper, brake, or locking device, its mode of action can be linear or rotary. Linear resistance devices typically have rods such as sliding supports, racks, or piston rods for transmitting force or for being locked or braked in their respective positions. Rotary resistance devices are, for example, rotary brakes, such as disc brakes or drum brakes, rotary hydraulic devices, or rotary pneumatic devices with rotary pistons.

[0018] In one embodiment, the drive unit is configured as an electric motor, directly or via a transmission device, coupled to the upper or lower component. Through the transmission device, even a small motor can generate a relatively large torque at the joint about the pivot axis, influencing the relative movement of the upper and lower components, or causing the upper component to shift relative to the lower component. As the transmission device, gear drives, belt drives, screw drives, friction wheel drives, or combinations thereof can be used. Direct coupling of the drive unit to the upper or lower component saves weight and installation space, and is always advantageous when the drive unit can achieve the desired operating parameters even without a gear ratio or reduction.

[0019] In one embodiment, a control device is configured for the drive and / or resistance device, the control device having a data processing unit to process sensor data. The data processing unit has components necessary for this purpose, such as a microprocessor, storage device, integrated circuit, etc., and is coupled to a power supply, enabling the control device as a component to process and / or store data. The control device is coupled to at least one sensor and is configured to activate, deactivate, and / or modulate the drive and / or resistance device based on sensor values. The control device as a component has interfaces through which data from the sensors is provided to the control device. The interfaces can be wired or wireless, for example, as transceiver devices or as plugs or permanent contacts. The sensors can be connected to the control device wirelessly or wiredly.

[0020] One extended embodiment specifies that the resistance device and the drive device are constructed as modular units and jointly fixed to a mounting point on the upper or lower component. The resistance device and the drive device can have separate housings to increase the surface area available for heat exchange with the environment. This can increase the heat capacity or improve the overall thermal performance of the system.

[0021] In one configuration, a force storage device is arranged in parallel or series with a resistance device and / or a drive device, wherein the force storage device can specifically support or resist the drive device to influence the motion behavior of the orthopedic joint device as needed. If the drive device is supported or its direction of action is resisted, for example by unlocking the force storage device and releasing the energy stored therein, this typically results in a rapid release of the energy stored in the force storage device, thus allowing the resistance device to be influenced very quickly through the combination of the drive device and the force storage device. Therefore, by releasing the force storage device in the same direction as the support or resistance direction, a rapid switching time in resistance changes can be achieved.

[0022] A method for controlling the orthopedic joint device as described above specifies that the drive device is used to influence resistance and operates in parallel with the resistance device (particularly a hydraulic damper, magnetorheological resistance device, brake, or locking device). To avoid unnecessary energy consumption, the drive device is activated and / or modulated only in the partially open or fully open switching position when the resistance device employs a switching valve hydraulic configuration. Operating the drive device when the resistance device is fully activated, i.e., locked, is technically impractical, but to increase the maximum resistance provided, the drive device can be activated or modulated accordingly to resist displacement. For example, this can increase leakage losses or the maximum resistance provided by the passive resistance device that can be provided by the design. In one configuration, the drive device is activated, deactivated, and / or modulated based on sensor data to allow for alteration of the motion behavior of the upper component relative to the lower component during use.

[0023] In one configuration, the drive unit operates in generator mode to increase resistance, and the electrical energy generated in the process is stored in the battery. This reduces the heat generated by the passive resistance device and extends the operating time of the orthotic device.

[0024] In one configuration, the resistance varies depending on the rotational speed of the drive unit during generator operation because the electromechanical drive unit has the characteristic that its energy recovery capability depends on the rotational speed and the required braking torque. The resistors and drive unit are then controlled such that the resistance torque provided by the resistance device is set according to the rotational speed of the drive unit to correspond to the optimal recovery operating point.

[0025] In one configuration, the resistance device switches between two discrete states, with the drive mechanism activated, deactivated, or modulated before and / or after the switch to affect the resistance. During the switch between the two states (especially discrete states), characteristics (particularly resistance) can change abruptly or very rapidly. Such sudden increases or decreases are undesirable in many cases, and a controlled transition between states is generally preferred. To compensate for or reduce potential abrupt changes, the drive mechanism is activated, deactivated, or modulated before and after the switch to achieve a smooth transition in the resistance curve.

[0026] Especially in configurations where the resistance device is a linearly acting resistance device (e.g., a linear damper), the transmission ratio between the resistance of the resistance device and the torque generated around the pivot axis is not constant, but depends on the current configuration, particularly the pivot angle. To compensate for or amplify this variation in transmission ratio, the drive mechanism is activated, deactivated, or modulated to influence the resistance according to the pivot angle.

[0027] In one configuration, the drive mechanism continuously influences the pivoting motion of the resistance or orthopedic joint device, particularly throughout the use of the resistance device. The drive mechanism can either resist the resistance device (i.e., support the motion) or support the resistance device (i.e., brake or impede the pivoting motion in addition to the resistance device).

[0028] In one configuration, the resistance device is set to maximum resistance, and in particular, the pivoting motion between the upper and lower components is locked (especially mechanically or hydraulically), and then the drive is deactivated to avoid energy consumption. Attached Figure Description

[0029] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are shown below.

[0030] Figure 1 A schematic diagram of a prosthetic leg is shown.

[0031] Figure 2 The hydraulic circuit diagram is shown.

[0032] Figure 3 Histograms for buckling damping and extension damping are shown.

[0033] Figure 4 A histogram showing the modulation range of the driving device is displayed.

[0034] Figure 5 A variant with orthotics is shown.

[0035] Figure 6 The curve showing how torque changes over time is shown.

[0036] Figure 7 A schematic diagram illustrating discrete-state modulation is shown.

[0037] Figure 8 A diagram illustrating faster switching times is shown.

[0038] Figure 9 This diagram illustrates the dynamic increase.

[0039] Figure 10 A schematic diagram showing the expanded scope is provided.

[0040] Figure 11 A schematic diagram of a module with a resistance device and a drive device is shown.

[0041] Figure 12 This demonstrates compensation for changes in the transmission ratio.

[0042] Figure 13 This shows the energy dissipation.

[0043] Figure 14 A schematic diagram of energy recovery is shown.

[0044] Figure 15 Various control and regulation structures are shown.

[0045] Figure 16 Illustrations showing variations of the joint device.

[0046] Figure 17 A detailed view of the power storage device is shown.

[0047] Figure 18 An embodiment of a progressive force storage device is shown.

[0048] Figure 19 A detailed illustration of the power storage device is shown. Detailed Implementation

[0049] Figure 1 A schematic diagram of an orthopedic joint device as part of a prosthetic leg is shown, comprising a thigh tube as an upper component 10 and a lower leg component as a lower component 20. The upper component 10 and lower component 20 are pivotally connected to each other about a pivot axis 15. A prosthetic foot is arranged on the lower leg component. A resistance device 30, schematically represented as a hydraulic damper 30, is arranged between the upper component 10 and lower component 20, providing or being able to provide resistance against pivoting in both extension and flexion directions. In the illustrated embodiment, the hydraulic damper 30 is configured as a linear damper and has a housing 32 in which a cylinder 34 is constructed. Inside the cylinder 34, a piston 36 is arranged on a piston rod 33, dividing the cylinder 34 into two chambers. A flow-technical connection is constructed between the chambers, which will be described in detail later. The hydraulic damper 30 is mechanically coupled to the upper component 10 at its proximal end on the piston rod 33 via a first fixed point 31. The housing 32 is mechanically coupled to the lower component 20 at the distal end of the hydraulic damper 34 via a second fixed point 37. The flow resistance within the hydraulic connection between the two chambers is adjustable as the piston 36 moves within the cylinder 34, allowing for motion damping adapted to specific conditions. Additionally, a drive unit 60 is arranged between the upper component 10 and the lower component 20, designed to induce, support, or impede pivoting of the upper component 10 relative to the lower component 20. This is achieved, for example, by the drive unit 60 (in the form of an electric motor) applying torque to the orthopedic joint device via a transmission 70 to move the lower component 20 in the extension direction during the swing phase. Support or influence on all other states or motions between the upper component 10 and the lower component 20 can also be achieved by the drive unit 60 with its motor and transmission 70. The two motion-influencing components of the orthopedic joint device, namely the hydraulic damper 30 and the drive unit 60, operate simultaneously or can operate simultaneously and in parallel between the upper component 10 and the lower component 20 to apply torque about the pivot axis 15. Instead of linear dampers, hydraulic dampers can also be constructed as rotary hydraulic systems.

[0050] As an alternative configuration of orthopedic joint devices for prosthetic leg components. Figure 5 Two applications are shown, in which orthopedic joint devices are constructed as part of an orthopedic device. Figure 5 The embodiment shown illustrates a first orthosis for the upper limb (in the form of an elbow orthosis) and a second orthosis for the lower limb (in the form of a knee orthosis). Not all components are shown on the elbow orthosis, but all components are present there. Each orthosis has an upper part 10 and a lower part 20, which are secured to their respective body parts by fastening devices 19, 29 (e.g., in the form of sleeves, shells, straps, or similar fastening devices or combinations thereof). For the elbow orthosis, fastening occurs at the upper and lower arms; for the knee orthosis, fastening is achieved via a thigh sleeve 19 and a calf sleeve 29. A hydraulic damper 30 is again secured to the upper part 10 by one end of a piston rod and to the lower part 20 by its housing portion. Furthermore, sensors 80 are arranged or configured on the upper part 10 and the lower part 20, and these sensors are connected to a control device 90. This connection can be wired, wireless, or other signal transmission methods. Control unit 90 is coupled to drive unit 60 and hydraulic damper 30, and allows activation, deactivation, or modulation of drive unit 60, as well as adjustment of valves within hydraulic damper 30. Control unit 90 has all necessary data processing devices, memory, software, hardware, interfaces, and power supply to control or regulate drive unit 60 and hydraulic damper 30. Drive unit 60 can be supplied with the required electrical energy via an additional energy storage device (in the form of a battery or accumulator). Drive unit 60 can operate as either a motor or a generator to convert kinetic energy back into electrical energy when additional braking power is needed or to increase resistance to pivoting. In the illustrated embodiment, a force storage device 65 is arranged in series with resistance device 30 to release energy stored therein (e.g., in a spring or pneumatic pressure storage device) based on sensor values ​​transmitted to control unit 90. Releasing energy from force storage device 65 can assist or counteract the influence of drive unit 60 on kinetic behavior, thereby increasing the speed at which resistance behavior is affected. Very fast reaction or switching times can be achieved by spontaneously releasing the energy stored in force storage device 65. Sensor 80 can be a force sensor, torque sensor, position sensor, pressure sensor, temperature sensor, or IMU. Multiple sensors can be arranged on either the upper component 10 or the lower component 20. Based on the transmitted sensor values, the control device 90 outputs corresponding switching commands.

[0051] Figure 2A hydraulic circuit diagram of a hydraulic damper 30 is shown, which has a housing 32 in which a cylinder 34 is formed or housed. The cylinder 34 is divided into a first chamber 341 and a second chamber 342 by a piston 36. A hydraulic connection 40 in the form of a flow channel is arranged between the two chambers 341, 342, such that when the piston 36 is pushed downward (e.g., during buckling), hydraulic fluid flows from the first chamber 341 to the second chamber 342. Conversely, when extension occurs, hydraulic fluid is guided from the second chamber 342 to the first chamber 341 through the flow connection 40. Due to the volume difference between the displacement of the first chamber 341 and the second chamber 342 (due to the presence of the piston rod 33 in the second chamber 342), a compensating volume 38 is arranged or coupled in the hydraulic damper 30.

[0052] Within the flow technology connection 40, two adjustable valves 50 are arranged in the form of switching valves. One switching valve 50 is configured for each chamber 341, 342. A bypass check valve 55 is arranged in parallel with each switching valve 50 within the flow technology connection 40. For the two check valves 55 (each assigned to a chamber 341, 342), the two check valves 55 are arranged in opposite directions of action. Both check valves 55 allow hydraulic fluid to flow into their respective chambers 341, 342, but prevent flow in the opposite direction; therefore, hydraulic fluid flowing out of their respective chambers 341, 342 must be guided through the switching valves 50. In the illustrated embodiment, the switching valves 50 are configured as three-way switching valves, which can switch between three discrete states. In the illustrated switching state, the flow technology connection 40 is interrupted, i.e., no hydraulic fluid can flow from one chamber 341 to another chamber 342. The prosthetic knee joint or orthotic joint device is locked in this position.

[0053] A throttle 56 is arranged in series before each switching valve 50 in the flow direction from the chamber, for example, to halve or reduce the flow cross-sectional area to the desired value. The throttle cross-sectional area is preferably adjustable. In parallel with this throttle 56, there is a flow passage with a maximum or fully open flow cross-sectional area leading to the switching valve 50. If the switching valve 50 moves downward from the indicated interrupted (i.e., locked) position (which can be achieved by an electromagnet or other actuator or drive), hydraulic fluid is applied to the line not applied by the throttle 56, and the hydraulic fluid can be unobstructed during the extension movement (when the piston 36 moves upward).

[0054] If the switching valve 50 moves upward from the locked position shown, the hydraulic fluid from the second chamber 342 must first pass through the pre-positioned throttle 56 before it can enter the first chamber 341 through the check valve 55. In this position, there is increased flow resistance, thus damping the pivoting motion in the extension direction. Accordingly, the circuit of the switching valve 50 configured for the buckling motion in the first chamber 341 also employs the corresponding design principle.

[0055] The adjustment or movement of the switching valve 50 is achieved through the control device 90 based on sensors. According to the sensor data from the sensor 80, the corresponding actuator is activated or deactivated and occupies the corresponding switching position.

[0056] If the reduction in the flow cross-sectional area provided by the throttle 56 at one time is insufficient or too large to provide the required or necessary resistance, the drive unit 60 is activated, causing additional torque to be applied through the motor and possibly the transmission, which either resists or supports the motion to increase or decrease the resistance. The activation of the motor 60 is also performed by the control unit 90 based on sensor values ​​and control programs and software stored within the control unit 90.

[0057] Figure 3 The diagram shows example frequency distributions for flexion damping (top) and extension damping (bottom) of a prosthetic knee joint. For flexion damping, most of the desired damping values ​​were measured at the fully open position (damping value 0), a moderate damping value of 80, and a large number at high damping values ​​between 140 and 200. For extension damping, there was a concentration at damping values ​​of 0 and very high damping values ​​above 160.

[0058] Figure 4 The damping values, based on three fixed hydraulic damping values, are shown for this frequency distribution. The open and closed switching positions of the switching valve 50 are responsible for the maximum and minimum damping values; for buckling damping, the partially closed flow cross-sectional area is fixed at a fixed damping value of 165 with the partially open switching position, and at 155 for extension damping. Adaptation of buckling damping from 75 to the required damping value close to the maximum damping value of 200 is achieved by activation of the actuator 60. When a reduction in buckling damping is required, the actuator 60 is activated in a supportive manner during joint flexion, thereby reducing the buckling resistance to the desired value. If the buckling damping provided by the partially open switching position with the throttle 56 is insufficient, additional braking torque is applied by the actuator 60 to increase the buckling resistance to the desired value. The damping area covered by the combination of the hydraulic damper 30 with the partially open switching position and the actuator 60 is shown in a dark box.

[0059] For extension damping, the above description of buckling damping applies accordingly. Due to the additional damping values ​​required, the extension damping here is primarily increased by the fully closed position of the throttle 56 and the switching valve 50 to cover the area between the two fixed hydraulic dampers.

[0060] Figure 6 The curve showing the change of the resistance torque or driving torque M with time t is shown, where the resistance torque M R The resistance device 30 (not shown) applies the resistance in two or more discrete states. Between these discrete states, characteristics (e.g., torque increase or decrease) can change abruptly or very rapidly. This is, for example, when a switching valve switches back and forth between two positions. Such a sudden increase is not advantageous in many cases. Instead, it is advantageous to achieve slower, particularly controlled, changes between two or more states.

[0061] Therefore, the torque M generated by the resistance device R With the torque M of the drive unit 60 A The combined torque M is obtained by superposition. Σ To generate the desired continuous torque curve M between two torque levels over the time interval t0 to t2. Σ The drive unit 60 generates a positive torque M during the time interval t0 to t1. A To balance M R and M Σ The missing torque or the increase in the combined total torque. At time t1, the resistance device 30 changes its state, after which the torque M... R The switching time increases relatively quickly. For example, when the drive unit reaches a certain torque M... A Triggered at a torque level (e.g., between the first and second levels). Based on the desired continuous total torque curve M. Σ Starting from time t1, the torque M of the drive unit A Reduce and apply a torque opposite to the resistance device. Furthermore, the driving torque M A The absolute value decreases again until no more driving torque is generated at time t2. Before t0 and after t2, the drive unit is deactivated and therefore no energy is required.

[0062] The resistance device 30 can be, for example, a hydraulic damper having at least one valve that can switch between free damping and high damping states. This very simple hydraulic damper can generate high passive torque with low energy consumption. The drive unit is only used, for example, to achieve the required continuous transition during switching. In this case, the drive unit only needs to be able to apply half of the torque generated by the damper, so the drive unit can be designed to be particularly small and light, or, in the case of a transmission, to have a particularly low gear ratio.

[0063] Figure 7 The torque curves are shown in the modulated discrete states. The resistance device can be constructed in a particularly advantageous, simple, and robust manner in the combination of the drive device 60 and the resistance device 30 (which can switch between at least two discrete states M1 and M2). A parallel arrangement of the resistance device 30 and the drive device 60 is shown here, so that the torques generated by each are added relative to the pivot axis of the orthotic device.

[0064] To improve the achievable torque range and thus enhance the overall system functionality, the torque M of the drive unit is... A With the torque M of the resistance device R Superimposed to achieve the total torque curve M Σ The drive unit can apply a resistance torque M. R Torque M in the same or opposite direction A This increases or decreases the total torque M. Σ In particular, the torque M of the drive unit A It can be continuously changed, thus achieving a continuous and variable total torque curve M. Σ The drive unit does not need to be designed to cover the entire torque range, so it can be designed to be smaller.

[0065] exist Figure 7 The left side shows one state of the resistance device, where a first torque level M1 is generated. The drive device generates a continuous, transient torque curve M. A The drive unit generates torque in the same direction as the resistance unit, and another part generates torque in the opposite direction, resulting in a total torque M. Σ Torque level M around the resistance device R Modulated.

[0066] exist Figure 7 The right side illustrates modulation around the second state of the resistance device, where the resistance device generates a second torque level M2. The discrete states of the resistance device and the torques that the drive device can generate can be chosen, for example, such that all torques between the two levels M1 and M2 of the resistance device can be achieved overall. However, it is also possible that modulation of the drive device occurs only in certain states of the resistance device, for example, only in the low first torque level M1 used for the oscillating phase.

[0067] Torque M generated by the resistance device R As the total torque M Σ The torque is initially set at a base level, and the drive unit modulates this torque. The drive unit can be designed to be so small and light that it cannot generate a second, higher torque level M2 on its own. Therefore, a drag system is first used to increase the torque to level M2, and then the drive unit modulates the torque M. R To achieve their respective desired total torque MΣ .

[0068] Figure 8 This illustrates the use of a combination of drive and resistance devices to achieve faster switching times. When using resistance devices with limited dynamics, response time, or bandwidth (e.g., a hydraulic system with at least one motor-driven proportional valve), combining them with a drive device can achieve higher dynamics, response time, or bandwidth.

[0069] In the exemplary embodiment shown, when a setpoint jump occurs at time t0 due to a change in torque, the resistance device requires a period of time until time t2 to reach the setpoint. The settling time can consist of, for example, a dead zone and a maximum rate of change (e.g., due to limitations imposed by the operating variable). After the setpoint jump is applied, the torque M generated by the resistance device... R The change continues until the set value is reached at time t2. This is achieved through an additional drive device with very high dynamics, bandwidth, or fast response time (e.g., acting in parallel with a resistance device), such that the torque M generated by the resistance device and the drive device... R and M A The sum is the total torque M. Σ This allows for better overall dynamics. For example, the torque of the drive unit is controlled such that an initial torque increase is made as quickly as possible, followed by the generation of the difference between the torque provided by the resistance device and the set torque. With the drive unit, the set torque has already been reached, for example, at time t1. The control time of the combination of the resistance device and the drive unit is reduced compared to the control time of the resistance device alone. Alternatively or additionally, the maximum rate of change of torque is increased by combining the resistance device and the drive unit compared to the resistance device alone. Alternatively, the resistance device and the drive unit can be set to approximately a position, speed, or even trajectory; here again, due to the combination of the resistance device and the drive unit, it is easier to achieve a faster attainment of the set value, better dynamics, or a higher rate of change. In the exemplary embodiment shown, the drive unit no longer generates torque after the resistance device reaches the set torque, thus requiring no energy, which is particularly advantageous. The drive unit generates torque only between t0 and t2. Alternatively, the drive unit may also generate torque before t0 and after t2.

[0070] Figure 9 The graph shows the dynamic increase in the total torque curve. This graph also shows the resistance torque M of the resistance device. R A curve that varies with time, where the resistance device has finite dynamics due to its configuration (e.g., a particularly economical, efficient, simple, or robust configuration). For example, the maximum rate of change of the provided torque is finite. Curve M R The maximum rate of change of torque provided by, for example, a resistance device has been shown.

[0071] When combined with a drive unit exhibiting exceptionally high dynamics, improved behavior can be achieved. The total torque curve M, achieved by the combined action of the resistance device and the drive unit, is shown. Σ It exhibits a significantly higher maximum rate of change (as shown in the figure). In particular, the drive and resistance devices can operate in parallel or be arranged so that the provided torques are additive. In such an embodiment, the drive device does not need to apply the entire torque M. Σ Instead, only the total torque M needs to be applied. Σ With the torque M applied to the resistance device R The difference between them. The torque curve M is generated using only a resistance device. Σ This is impossible because, in the exemplary embodiment, the rate of change of the required total torque curve is too high, exceeding the range achievable by the resistance device. To cover the desired or required system behavior with the total resistance torque Mz, a drive device is used in addition to the resistance device. Compared to the resistance device, this drive device can perform rapid torque changes but cannot withstand high continuous loads. Such a drive device is generally more economical, lighter, and smaller than a drive device that can withstand both high continuous loads and rapid torque changes.

[0072] Figure 10 The curve showing torque as a function of speed v is illustrated, along with the expanded range achievable through a combination of a drive unit and a resistance unit. The torque M generated by the resistance unit... R The torque is provided by a resistance device, such as a magnetorheological brake or a damper with a magnetorheological valve. By controlling the resistance device, the provided torque can be adjusted in M... R.min To M R.max The range varies, wherein in the illustrated embodiment, a velocity-dependent component of the resistance (e.g., viscous friction) is additionally present, therefore the limit M R.min and M R.max The torque varies with the pivoting speed v. The maximum torque determines the maximum degree of support or damping, such as when walking or standing down stairs, down a slope, or while standing. The minimum torque determines the ease of movement relative to pivoting, which is crucial for efficient and energy-saving walking and movement.

[0073] When combined with a drive unit, the torque range that the entire system can generate can be expanded. For example, an electric motor can operate in parallel with a resistance device. The drive unit can act in the same direction as the resistance device (using M). A+ (This indicates that) a higher total torque M is obtained. Σ.max Alternatively or additionally, the drive unit can act in the opposite direction to the resistance unit (using M). A- (This indicates that) the total torque M is reduced. Σ.minIn the illustrated embodiment, the drive device applies a torque before reaching a certain speed. This torque is equal in magnitude but opposite in direction to the torque of the resistance device at its minimum torque, thus canceling out the torques of the resistance device and the drive device. Therefore, the overall system's operability is improved. Alternatively, partial compensation may be performed. Alternatively or additionally, the opposing torque applied by the drive device may be greater than the torque of the resistance device, thereby giving the entire system a driving effect, particularly the ability to perform work. The torque that the drive device can generate can also depend on speed. For example, the torque that an electric motor can generate decreases as the rotational speed decreases. To achieve M... Σ <M R.min The range, or M Σ = 0, the drive unit compensated for the remaining resistance M R.min For example, by applying a negative torque M A- Therefore, the mechanical resistance of the entire system is reduced, and the ease of operation is improved. To achieve M... Σ >M R.max The range, the drive unit provides additional torque M A+ To generate the maximum torque M of the entire system Σ.max Especially the greatest resistance.

[0074] The control range or torque range of the resistance device is limited by M, for example, due to technical reasons. R.min and M R.max In particular, the resistance device can be designed to be especially economical, simple, or robust, resulting in a provided torque M R.min and M R.max The range is limited. To extend this range, a drive unit is used. The drive unit can be designed or operated in such a way that it can cover M. A+ To M A- This allows for the use of particularly small, economical drive units, or the achievement of particularly efficient operation.

[0075] Figure 11 This diagram illustrates a locking function that combines a drive mechanism and a resistance mechanism. The total torque M is shown again in the diagram. Σ It is driven by the torque M of the drive unit. A and the torque M of the passive resistance device R Composition. In the example shown, the curve φ represents the pivot angle between the upper and lower components of the orthotic device (which has joints whose pivoting motion can be affected by resistance and drive mechanisms). At the beginning of the process shown, pivoting of the upper component relative to the lower component occurs, manifested as an increase in the pivot angle φ. The pivoting motion is influenced by a torque M applied by the drive mechanism. AThe effect of the resistance device on the movement is shown in the diagram until it stops at time t0. For example, an electric motor in an artificial knee joint can apply an extension torque to the knee joint, resisting flexion movement or supporting extension movement, thereby stopping flexion movement in a braking gait. After the movement stops at time t0, the torque M applied by the resistance device... R Increase, while the torque M of the drive device A The increase in torque of the resistance device can also be achieved by activating the brake or locking device, or by closing the valve in the hydraulic damper, thereby completely locking the pivoting motion, and reducing the torque M of the drive device. A When reduced, the load is entirely borne by the resistance device. The drive unit can also be completely deactivated after increasing the torque of the resistance device or locking the pivoting motion. In the exemplary embodiment shown, the resistance device and the drive unit operate in parallel. At time t0, locking of the pivoting motion is activated by the resistance device, for example, by closing a valve in a configuration that functions as a hydraulic damper. Subsequently, the torque M of the drive unit, such as an electric motor, is... A The load is reduced, thus the load is borne by the resistance device. To maintain the angle φ, a total torque M must be applied. Σ Under static conditions, an electric drive requires energy to apply this holding torque. Passive resistance devices, such as hydraulic dampers, mechanical locking devices, or brakes, require little or no energy under this load condition. When the load changes, the total torque M... Σ The resistance mechanism absorbs the torque, and no pivoting motion occurs between the upper and lower components. As an alternative to rigid locking, an elastic element, such as a spring as part of the resistance mechanism, can be arranged between the upper and lower components. The elastic element can be switched on and off, for example. Specifically, the elastic element can be engaged at time t0 (optionally with a corresponding preload) and bear the total torque M after the torque of the drive mechanism decreases. Σ In this configuration, the upper and lower components are not locked together, but rather allow movement corresponding to the characteristics of the elastic element, such as buckling against increased spring force. When the load is entirely borne by the resistance device, the drive mechanism can be deactivated, thus requiring no energy. Nevertheless, the entire system can still be loaded, for example, for standing. A combination of locking devices and elastic elements can also be implemented, allowing pivoting only within a certain range, and furthermore, the locking device or stop will function.

[0076] Figure 12This illustrates the possibility of compensating for gear ratio variations when a drive mechanism is combined with a resistance mechanism. In embodiments where the resistance mechanism acts as a linear actuator (e.g., a linear hydraulic system or a screw drive), the linear motion of the resistance mechanism is converted into rotational motion about a pivot axis between an upper and lower component via, for example, a 3- or 4-bar linkage. In this case, the gear ratio between the force of the resistance mechanism and the resulting torque about the pivot axis is typically not constant but depends on the current configuration of the mechanism, particularly the pivot angle. In a particularly simple and economical form, a 3-bar linkage is used. The effective lever arm r, or gear ratio, has, for example... Figure 12 The curve shown illustrates this. Starting from the initial gear ratio at angle φ0, the gear ratio initially increases with increasing angle φ, then decreases again after reaching its maximum, until a singularity occurs at angle φ3, where, for example in a three-bar linkage, all three axes align into a straight line. Particularly at large angles φ, the resistance mechanism can only produce a very small torque. The figure is marked with M. R The line represents an exemplary maximum torque, which can be provided by the resistance device as a function of angle φ. The drive unit can increase the total torque, for example, if the drive unit is arranged in parallel with the resistance device. This is particularly useful in those pivot angle ranges where the transmission ratio of the resistance device is low. Especially in embodiments with a rotary drive unit whose transmission ratio does not depend on the pivot angle φ, the total torque can be increased. For example, as... Figure 12 As shown, the total torque can be kept constant within a range of transmission ratio variations. In the exemplary embodiment shown, the total torque M is maintained within the angle range φ0 to φ2 by the additional torque of the drive device. Σ Maintaining a constant torque is crucial. When the gear ratio of the resistance device is particularly low, such as in the range of φ2 to φ3, using a smaller drive unit with a lower maximum torque may no longer be sufficient to fully compensate for the torque loss in the resistance device. Nevertheless, higher torque can be applied in this region (especially at the dead point φ3 where the resistance device cannot apply torque without the drive unit). This combination of drive and resistance devices can support movement over a wider range of pivots, even at higher pivot angles, such as when descending slopes and stairs, walking downhill, standing, or ascending stairs. Therefore, it not only actively supports motion but also provides resistance to it.

[0077] Figure 13 The curve shows the power P versus time t in the combination of the drive and resistor devices. This curve shows the total power P. Σ This power is generated or absorbed in the motion curve of systems, such as those with orthotics or prostheses, resistance devices, and drive mechanisms. Power P is distributed between the two components through the combination of the resistance device and the drive mechanism, and is categorized by component P0. R and P A Indicates. Region W Rand W A Energy is represented as an integral variable of power P. Especially in motion sequences requiring resistance, the system must absorb energy. In passive resistance devices (such as hydraulic systems, brakes, etc.), the work done on the resistance device is essentially converted into heat energy. The heat that a resistance device can transfer to the environment is limited, usually insufficient, leading to an increase in the resistance device's temperature. Excessive temperature can be harmful to the resistance device and cause damage. For example, this limits the maximum usage time of certain activities. Furthermore, the dissipated heat cannot be further utilized. With the addition of a drive device, some energy can be absorbed by the drive device, particularly recovered and converted into electrical energy, for example, by the drive device operating in generator mode. The energy absorbed by the drive device can also be partially or completely converted into heat energy. Through the appropriate spatial arrangement of the resistance device and drive device, better heat dissipation or reduced temperature rise can be achieved, or the temperature rise of individual components (especially the resistance device) can be limited. For example, the drive device can absorb the energy of the basic load (e.g., in generator mode), while the resistance device only absorbs the additional necessary portion.

[0078] The drag and drive mechanisms can also actively support motion. Due to the limited efficiency of the directional and drive mechanisms, heat that needs to be dissipated will also be generated in this case. By distributing the generated heat between the drive and drag mechanisms, the temperature rise of each component can be slowed down or even reduced.

[0079] If only one power loss P is used Σ For a resistance device, the latter must be able to transfer all energy W. Σ The energy is dissipated into the environment. This requires, for example, a large surface area or a complex and expensive cooling system. If the energy cannot be dissipated, the resistive device will overheat. The advantage of dividing it into multiple components (i.e., the resistive device and the driving device) is that, for example, it can be used to remove energy in W. Σ The surface area can be increased, or the temperature rise of each component can be reduced.

[0080] Figure 14 The characteristic variables in the motion sequence are described, where ω represents angular velocity, such as the pivoting velocity between the upper and lower parts. In this motion, a resultant torque M opposite to the direction of motion needs to be applied. Σ This brakes the motion. This means extracting energy from the motion. In a configuration with only one dissipative resistance device (such as a hydraulic system or brake), this energy is completely dissipated and converted into heat.

[0081] If an additional drive unit, such as an electromechanical drive, is used, it is possible to recover some energy in the form of electricity. This can be achieved by operating the electromechanical drive in generator mode. Electromechanical drives have an energy recovery capability that depends on their rotational speed and the required braking torque. Therefore, in one configuration, the drag system and drive unit are controlled such that the drive unit's torque MA is set according to the rotational speed to correspond to the optimal recovery point, while the drag system only needs to cover Mz and M... A The difference between them is denoted as M. R Through this control, a certain amount of energy can be recovered, which would otherwise be lost. Nevertheless, the total torque M... Σ This is still achievable. Alternatively, it can be driven in a manner that deviates from the optimal recovery method of the drive unit.

[0082] Figure 15 Various exemplary control and regulation structures for driving the resistance device 30 and the drive device 60 are shown. The regulator is shown at the top, where one or more control variables u serve as inputs to the drive device 60 and the resistance device 30. In this case, the drive device 60 and the resistance device 30 do not necessarily have to be controlled by the same control variables. In particular, although not necessarily, there is information exchange (indicated by dashed lines) between the drive device 60 and the resistance device 30 (or their control devices), for example, to exchange internal states. The advantage of this information exchange is that the drive device 60 and the resistance device 30 can react in a coordinated manner. The torque M generated by the drive device 60... A and the torque M generated by the resistance device 30 R The orthotic assistive device is affected, as is its motion (represented as a controlled system or system dynamics S), and its degrees of freedom, such as the pivot angle between the upper and lower components. Feedback control can be provided to the state of the orthotic device or the torque generated by the resistance device 30 and / or drive device 60, but these are not shown in the figure.

[0083] The middle section illustrates the torque control of a combined system where the drive unit 60 and the resistance unit 30 operate in parallel. Therefore, the torques are added together, resulting in a total torque M. Σ The pivoting motion of the orthotic assistive device is affected. The system dynamics of the orthotic assistive device are symbolically represented as a controlled system S. In this application example, the torque M is set. Σ,s The setpoint variables are provided to the resistance device 30 and the drive device 60. The two systems communicate with each other, as shown by the dashed lines. This allows the individual control of the drive device 60 and the resistance device 30 to depend on the state of another component, for example, designing the drive torque to depend on the valve angle of the resistance device, which is designed as a hydraulic system. In the example shown, the generated total torque M ΣFor example, this can be determined by one or more torque and / or force sensors and fed back for adjustment purposes. The feedback can be directed to both the resistance device 30 and the drive device 60, or it can be directed to only one of these components. Feedback is not necessarily required. In the example shown, the determined total torque M... Σ The adjustment is only fed back to the drive unit 60. The torque of the resistance device 30 is only controlled (open loop), and is not related to the set torque M. Σ,s The corresponding total torque M Σ Compensation is achieved through the closed-loop control circuit of the drive unit 60. This is particularly advantageous if the resistance device 30 has poor regulating performance due to its particularly simple or advantageous configuration, while the drive unit 60 has good controllability.

[0084] Figure 15 The lower section illustrates an exemplary embodiment of position control for the combined system (resistance device 30 and drive device 60). Input variables for the resistance device 30 include, for example, one or more degrees of freedom of the orthotic device, such as the pivot angle φ and pivot angular velocity between the upper and lower components. Based on a stored control law, the resistance device 30 changes the generated torque according to these input variables. Input variables for the drive device 60 are desired values ​​of the degrees of freedom, such as the desired pivot angle φ between the upper and lower components. This can be a desired setpoint curve or a setpoint to be reached at the end of the motion, such as the pivot angle φ at the end of the swing phase. The control of the drive device 60 is additionally fed back with the actual values ​​of the degrees of freedom to be controlled, thereby enabling corrections to the desired values. The torque M generated by the resistance device 30... R and the torque M generated by the drive unit 60 A All of these affect the orthopedic assistive device, thereby influencing its movement, as symbolically represented by the control path S. When the resistance device 30 is controlled, for example, according to the control surface, the degrees of freedom are controlled in a closed-loop control manner by the drive device 60.

[0085] In addition to the inputs shown for driving resistor device 30 and drive device 60, other variables can be used for driving, particularly other sensor variables or internal state variables, which are not shown in the figure. Other control devices or regulators can also be connected upstream or downstream of the control device shown, particularly for generating setpoints and setpoint curves (u, M in the illustrated embodiment) from sensor data. Σ,s (and φs). The adaptation of control or control strategies can also be based on a defined motion, motion phase, or motion pattern. For example, the control shown in the figure can be applied during the first motion phase, while the control shown below the figure can be applied during the second motion phase. Different aspects of the control shown can also be combined with each other or with other control and regulation methods.

[0086] In one configuration, the resistance device is a hydraulic system; alternatively, magnetorheological dampers, friction brakes, or locking devices such as switchable one-way clutches are used. Force storage devices, such as spring-loaded memories, can also be integrated. Resistance devices can absorb or generate very high forces and torques and can simultaneously cover relatively high bandwidths (as the ratio between maximum resistance and maximum passability). If only an electric motor with a transmission is used to achieve the same force, torque, and bandwidth, undesirable characteristics such as high weight, high manufacturing costs, high complexity, high control overhead, and sometimes inefficient operating points will result. However, active drives enable the input of energy and actuation in a very flexible manner, primarily through software and electronics that can operate at very high clock rates and very powerful processors. To combine the advantages of passive or semi-passive systems (e.g., spring-loaded memories) with active systems, it is prescribed to combine one of the aforementioned resistance devices with a small, parallel-arranged electromechanical drive. The electromechanical drive can be used to apply resistance to motion, particularly modulating the resistance of the resistance device, and can also be used to support motion. Therefore, resistance to motion can be modulated during specific phases of motion, but motion can also be supported by a drive mechanism during these phases, where, when combined with a dissipative resistance mechanism, the fundamental resistance of the resistance mechanism must also be overcome. This combination enables particularly advantageous overall system behavior or significantly simplifies the design of the resistance mechanism. Examples include using a switching valve instead of a proportional valve, using a more economical servo drive with a slower switching time in the resistance mechanism, using simpler magnetorheological dampers and brakes instead of complex hydraulic systems, or omitting the heat storage device. The resistance mechanism and drive mechanism can each be designed to be rotary or linearly movable, with combinations of linear and rotary motion also possible and advantageous.

[0087] By combining the operation of the drive unit and the resistor unit, it is possible to: achieve highly dynamic modulation by the drive unit based on the discrete or only slowly varying output level of the resistor unit; compensate for the base resistance and / or increase the maximum torque; perform point modulation by the drive unit while using only the resistor unit in other areas; and achieve energy recovery and reduce heat generation in the case of dissipative actuators.

[0088] In particular, braking using "squeeze mode" or "valve mode" does not have sufficient range of extension. This means that it is impossible to simultaneously achieve low minimum resistance and sufficiently high maximum resistance through design. However, magnetorheological brakes are particularly simple and economical in structure, for example, based on the principle of a rotating piston. With the addition of an actuation device, the brake can be designed to achieve, for example, the necessary maximum torque, and in cases where good maneuverability is required (e.g., in the oscillating phase), the actuation device compensates for the high base friction.

[0089] Resistance devices (such as hydraulic systems), which apply high resistance under highly dynamic conditions and operate on a dissipative principle, convert the work done on them into heat. During activities such as prolonged downhill walking, a significant amount of heat is generated, potentially causing the resistance device to overheat. Currently, this problem is mitigated, for example, through heat capacity (such as thermal storage devices), but this incurs additional cost and weight. By using an additional drive mechanism, the work done by the system can be recovered and fed back to the battery or converted into heat elsewhere. This reduces the heat capacity required.

[0090] Proportional valves are typically regulated by servo motors. Depending on the choice of servo motor, the valve's settling time is limited. Especially when using more economical motors, the settling and response times are longer. This longer settling time is a limiting factor, particularly in highly dynamic processes such as oscillating phases or end-stop regions. By combining with a drive unit, even when using a particularly economical servo drive for the proportional valve, a significantly shorter settling time can be achieved. This reduces the manufacturing cost of the hydraulic system.

[0091] Switching valves are particularly simple and economical in structure. Furthermore, they typically have very short switching times. However, they can only switch between two or more discrete states, such as switching between low and high resistance. This represents a significant functional limitation because the motion cannot be controlled with sufficient precision. Intermediate states (e.g., provided torque) can be achieved through additional drive mechanisms, and abrupt changes during switching can be made more continuous. Therefore, switching valves can replace expensive proportional valves while still achieving sufficient functionality. Other discrete-state resistive devices can also be used in this way.

[0092] Mechanical or electromechanical locking devices are particularly advantageous resistance devices. They can typically switch between a locked state and smooth behavior. Locking mechanisms can be achieved through force-fit and / or form-fit connections, where locking can also depend on the direction of motion. For example, a one-way clutch can be designed to be switchable. Brakes can produce locking. Locking can also be achieved through valves, such as in hydraulic or pneumatic systems. Furthermore, locking mechanisms can absorb high forces very efficiently for extended periods without consuming energy, thus potentially reducing the overall battery capacity. A major drawback is that locking mechanisms typically do not handle any intermediate states, thus preventing precise control of motion. This can be improved when combined with a drive unit, as the drive unit can continuously influence motion (e.g., during the oscillating phase), while the resistance device locks or unlocks the system (e.g., before initial contact and at the end of the standing phase).

[0093] Braking systems, such as friction brakes, disc brakes, drum brakes, wound spring brakes, and magnetic powder brakes, are particularly simple and economical in structure, but they typically cannot be controlled with sufficient precision; for example, the braking force cannot be adjusted sufficiently finely and / or repeatably. Combining them with a drive unit that can be controlled very precisely and dynamically can particularly compensate for this shortcoming of brakes, and a resistance device in the form of a brake can be used. The drive unit applies the difference between the desired torque and the torque provided by the brake during the dissipative motion phase.

[0094] One-way hydraulic and pneumatic devices feature throttle valves that allow fluid to pass in both directions of motion. The position of these valves affects the flow resistance in both directions, where the resistance can also be direction-dependent, for example, through parallel check valves. Using only a single valve is particularly economical. If different flow resistances are required when changing direction (e.g., resistance in extension differs from resistance in flexion), and this necessitates valve adjustment, undesirable force spikes may occur when the direction of motion reverses, especially if valve adjustment takes time or the adjustment process is inconsistent. When combined with an actuation device, the behavior during directional reversal or valve adjustment can be designed continuously and repeatably, for example, by using the actuation device to achieve a desired motion curve and compensate for excessively high or low torque from the resistance device.

[0095] A bidirectional hydraulic system with controllable resistance in only one direction of movement is more economical than a system with two controllable valves. In one configuration, resistance can only be controlled in one direction, while resistance in the other direction may be manually adjusted, for example, via a mechanical throttle valve, or may remain unchangeable. For example, hydraulic resistance in the extension direction of a prosthetic knee joint can be achieved through flow resistance dependent on the knee angle, where the flow resistance is uncontrollable. This particularly economical embodiment has disadvantages, such as the effect on knee extension during the swing phase not being optimal for all walking speeds or situations. For example, at fast walking speeds, the extension resistance may be too low, or at the end of the swing phase extension, the knee joint may overextend to a position unsuitable for climbing stairs or ramps. Combined with a drive mechanism, by cooperating with a bidirectional hydraulic system with unidirectional uncontrollable resistance, overall behavior can be improved, such as the drive mechanism dynamically reducing or increasing extension resistance, or actively supporting movement during specific phases of movement. This allows for better adaptation to walking speed and also stops extension movement before reaching a mechanical extension stop, i.e., the drive mechanism stops moving or approaches the desired knee angle. As an alternative to a two-way hydraulic system with only one controllable valve, other resistance devices can also be used, especially resistance devices that have no or only low motion controllability in one direction of motion.

[0096] The configuration described herein can also be combined with other configurations. For example, it can be combined with force storage devices, series and / or parallel elastic elements, which can be designed to be switchable, for example.

[0097] The drive mechanism 60 can resist the resistance device 30, and particularly at the minimum resistance of the resistance device 30, the drive mechanism 60 can further reduce the total resistance. Therefore, the basic resistance provided by the resistance device 30, which may be due to the system, can be reduced to zero relative to the relative movement in the joint device. Thus, free movement of the upper component relative to the lower component about the pivot axis is possible. In the opposite operating direction, the drive mechanism 60 supports the resistance device 30, thereby increasing the total resistance to exceed the maximum resistance of the resistance device.

[0098] To save energy, the drive is deactivated when the maximum resistance is set (especially in the case of joint mechanical or hydraulic locking), because modulating the locking device by the drive does not change the relative mobility of the upper part to the lower part.

[0099] Figure 16 Two figures illustrate a further configuration of an orthopedic joint device. This orthopedic joint device has an upper component 10 and a lower component 20, with the lower component 20 only partially shown. No lateral structural elements are designed to receive pins or shaft elements, thus the upper component 10 can pivot relative to the lower component 20 about a pivot axis 15. A rotary hydraulic system is configured for the upper component 10 as a resistance device 30. Inside the rotary hydraulic system 30 is a hydraulic chamber in which a pivoting piston is mounted. The hydraulic chamber is coupled, for example, to the lower component 20, while the pivoting piston is coupled to the upper component 10, so that the piston moves within the hydraulic chamber when the upper component 10 pivots relative to the lower component 20. The pivoting piston can, for example, be formed on a pivot axis coinciding with a pin or shaft element. The pivoting piston divides the chamber into extension and flexion chambers, and hydraulic fluid moves from one chamber to the other during pivoting.

[0100] Of course, the pivoting piston can also be torsionally coupled to the lower component 20, while the housing is torsionally coupled to the upper component 10. In the exemplary embodiment shown, a valve unit is assigned to the rotary hydraulic system 30, in which valves 50 are arranged, which affect the flow behavior of fluid from one chamber to another. In addition to the regulating valve, check valves or multiple regulating valves or check valves may also be present. The rotary hydraulic system, as the resistance device 30, can be controlled by the regulating valve to achieve precise control of the resistance device 30. A force storage device (e.g., a spring) can be arranged inside the hydraulic system, which can be further valve-driven. As an alternative to the hydraulic damping device, a magnetorheological hydraulic brake can also be used as the rotary action resistance device 30, or a friction-based brake can be used.

[0101] A drive unit 60, in the form of an electric motor, is arranged inside the lower component 20. This electric motor is coupled to the upper component 10 via a transmission device 70. The transmission device 70 has a force transmission mechanism, such as a toothed belt, V-belt, chain, cable, or gear, to transmit force from the drive unit 60 to the upper component 10. The transmission device 70 can be used to achieve a gear ratio, thereby adapting the drive torque of the drive unit 60 to various requirements. For example, the drive torque can be increased, thus a small drive unit 30 with high rotational speed can be used to generate high drive torque. The transmission device 70 is shown schematically; for clarity, drive wheels or drive pulleys, belts, chains, gears, etc., used for transmitting force and torque are not shown.

[0102] The active drive unit 60, existing in addition to the resistance device 30, not only provides energy to offer additional active functionality to the user but also compensates for the existing structural shortcomings of the resistance device 30. For example, it can offset or overcompensate for the basic friction within the resistance device 30. Therefore, a very good internal seal can be achieved for the pivoting piston in the rotary hydraulic system through an additional sealing lip, increasing the maximum braking torque of the resistance device 30 as part of the rotary hydraulic system. Without the active drive unit 60, the additional sealing lip within the rotary hydraulic system would make the orthotic joint difficult to pivot due to high basic resistance, thus limiting its everyday applicability. Compensating for the second sealing lip with the drive unit 60 allows for lower tolerance requirements on other components without affecting functionality, thereby saving manufacturing costs.

[0103] By placing the concept of the resistance device 30 in the upper component 10 or the joint head region and arranging the drive device 60 at a distal end away from it, the mounting space within the joint device can be better utilized. Additional space exists between the drive device 60 and the resistance device 30 to accommodate force storage devices, etc. Electronic control equipment can also be housed there. The transmission device 70 allows the position of the drive device 60 to be largely independent of the joint head, thereby reducing manufacturing complexity. The knee joint axis can be formed continuously, for example, coinciding with the axis on which the pivot piston is mounted or formed, thus achieving greater structural stability.

[0104] Figure 17An embodiment of a force storage device 65 is shown, which can provide progressive compression behavior. The force storage device 65 is formed by a plurality of modules 65A, 65B, with two lateral modules 65A surrounding a central module 65B. In one configuration, modules 65A, 65B are made of polyester-based polyurethane elastomer. Modules 65A, 65B have different lengths, with the outer module 65A being longer than the central module 65B. In the case where modules 65A, 65B are cylindrically configured, the outer module 65A has an annular cross-section, and the central module 65B has a preferably cylindrical cross-section that corresponds to and at least partially fills the cavity or cylindrical free space within module 65A. The different lengths also mean that when a force is applied, the outer module 65A is first axially compressed, and as the compression of the inner module 65B reaches its apex, increased resistance is provided due to the compression of the inner module 65B. This results in a jump in the resistance behavior of the orthopedic joint device. Depending on the module configuration, the increase in compression resistance may be greater or less when the inner module 65B is compressed. The spring characteristics and force storage capacity can be adjusted by modifying the materials or the dimensions of modules 65A and 65B.

[0105] In addition to progressive spring behavior, the force storage device 65, made of elastomeric material, is also suitable for achieving linear spring behavior, or, under corresponding forming and high deformation, decreasing spring behavior. The force storage device 65, as an elastomeric module, is characterized by high overload resistance; therefore, in many applications, stroke limits or end stops can be omitted to protect the force storage device. Elastomeric material can also be used as end stops for articulated devices. Progressive spring behavior may be particularly advantageous when used in the end stop region of articulated devices to avoid discontinuities in the force curve. This avoids force jumps or torque jumps and reduces mechanical load. Furthermore, the controllability of the system is thus improved, and noise generation is reduced.

[0106] In one embodiment, progressive spring behavior can be achieved through the deformation of a specific limiting force storage device (in the form of an elastomeric module), for example, through surrounding limiting structures. If a cylindrical elastomeric module is arranged in a cylindrical bore having an inner diameter larger than the outer diameter of an undeformed elastomeric module, the natural protrusion of the elastomeric module is limited after overcoming the gap size or free space. The material of the elastomeric module is thus forced into another shape, namely the shape of the outer boundary, thereby affecting the local deformation state within the elastomeric material. This results in the hardening of the elastomeric module. This deformation limiting principle applies not only to outer sleeves having an inner shape corresponding to the outer contour of the elastomeric element, but also to any desired non-cylindrical outer and / or inner contours. Progressive behavior, particularly its attenuation, can be influenced by targeted deviations between the outer contour of the elastomeric module and the defining structure.

[0107] Figure 18A schematic diagram of a force storage element 65 in the form of an elastomeric module within a hydraulic system is shown. The hydraulic system may be part of a passive resistance device 30. A cylinder 34 is formed within a housing 32, in which the elastomeric module 65 is arranged. A valve may be mounted upstream of the cylinder 34 and the elastomeric module 65. The elastomeric module 65 is supported on a carrier, so that when hydraulic fluid pressure is applied, the elastomeric element 65 is compressed and adheres to the inner wall of the cylinder 34. This increases the sealing effect of the elastomeric element, possibly until hydraulic fluid can no longer escape from the additional oil chamber 34. This further enhances the progressive effect. To avoid excessive progressiveness and optionally maintain a minimum hydraulic flow, overflow channels for hydraulic fluid may be formed in the form of one or more boreholes on the lateral circumference and / or within the elastomeric module. Figure 19 An exemplary embodiment of such an elastomeric module as a force storage element 65 is shown. The force storage element 65 is constructed as a substantially cylindrical elastomeric module and has three overflow channels 650 for hydraulic fluid on its outer circumference. This force storage element 65, particularly when combined with a valve-controlled hydraulic system, can be used in both linear and rotary hydraulic systems.

Claims

1. An orthopaedic articular device having: an upper part (10) and a lower part (20) which are pivotally mounted on each other about a pivot axis (15); and a passive resistance device (30) arranged between the upper part (10) and the lower part (20) and configured to provide resistance to pivoting of the upper part (10) relative to the lower part (20), characterised in that, A motor drive (60) is arranged between the upper part (10) and the lower part (20) and is configured to cause, support or hinder the pivoting of the upper part (10) relative to the lower part (20).

2. The orthopedic articular device of claim 1, wherein, The resistance device (30) has a housing (32) with a cylinder (34) in which a piston (36) is movably mounted and divides the cylinder (34) into two chambers (341, 342), between which at least one flow-technical connection (40) is formed in which at least one valve (50) is arranged.

3. The orthopedic articular device of claim 2, wherein, The valve (50) is adjustable and in particular is configured as a switching valve with at least two switching positions, at least one of which is a partially open switching position.

4. An orthopaedic articular device according to claim 2 or 3, wherein, The valve (50) is configured as a multi-way valve with a closed switching position, an open switching position and at least one partially open switching position.

5. An orthopaedic articular device according to claim 3 or 4, wherein, The partially open switching position reduces the flow cross-sectional area by at least 50% relative to the fully open switching position.

6. The orthopedic articular device according to any of the preceding claims 2 to 5, characterized in that, One valve (50) is provided for each chamber (341, 342).

7. An orthopaedic articular device according to any of the preceding claims 2 to 6, characterized in that, A parallel check valve (55) is provided for the valve (50).

8. An orthopaedic articular device according to any of the preceding claims 2 to 6, characterized in that, There is a different partially open switching position for each chamber (341, 342).

9. The orthopedic articular device of claim 1, wherein, The resistance device (30) is configured as a hydraulic damper, a pneumatic damper, a magnetorheological damper, a dissipative brake or a locking device.

10. An orthopaedic articular device according to any of the preceding claims, characterized in that, The resistance device (30) is configured to act linearly or rotationally.

11. An orthopaedic articular device according to any of the preceding claims, characterized in that, The drive device (60) is configured as an electric motor and is coupled directly or via a transmission (70) to the upper part (10) or the lower part (20).

12. An orthopaedic articular device according to any of the preceding claims, characterized in that, A control device (80) is provided for the resistance device (30) and / or drive device (60), which is coupled to at least one sensor (90) and is set up to activate, deactivate and / or modulate the resistance device (30) and / or drive device (60) on the basis of the sensor values.

13. An orthopaedic articular device according to any of the preceding claims, characterized in that, The resistance device (30) and the drive device (60) are configured as a modular unit.

14. An orthopaedic articular device according to any of the preceding claims, characterized in that, The resistance device (30) and the drive device (60) have separate housings (32, 62).

15. An orthopaedic articular device according to any of the preceding claims, characterized in that, A force storage device (65) is arranged in parallel or in series with the resistance device (30) and / or drive device (60).

16. A method for controlling an orthopedic articular device according to any of the preceding claims, characterized in that, The drive device (60) is operated in parallel with the resistance device (30) to influence the resistance.

17. The method of claim 16, wherein, The drive device (60) is activated and / or modulated when the resistance device (30) is partially activated.

18. The method according to claim 16 or 17, characterized in that The drive device (60) is activated, deactivated and / or modulated on the basis of sensor data.

19. The method of any one of claims 16-18, wherein, The drive device (60) is operated in a generator state to increase the resistance, during which the electrical energy generated is stored in a battery.

20. The method of claim 19, wherein, The resistance varies as a function of the rotational speed of the drive device (60) in generator operation.

21. The method of any one of claims 16-20, wherein, The resistance device (30) is switched between at least two discrete states, and the drive device (60) is activated, deactivated or modulated before and / or after the switching to influence the change in resistance.

22. The method of any one of claims 16-21, wherein, The drive device (60) is activated, deactivated or modulated as a function of the pivoting angle to influence the resistance.

23. The method of claim 18, wherein, The drive device (60) continuously influences the resistance or the pivoting movement.

24. The method of any one of claims 16-23, wherein, The drive device (60) counteracts the resistance device (30) or supports the resistance device.

25. The method of any one of claims 16-24, wherein, The resistance device (30) is adjusted to the maximum resistance, and the drive device (60) is deactivated at the maximum resistance or at the lock.

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