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 at least one resistance device (30) arranged between the upper part (10) and the lower part (20), the resistance device (30) being arranged to influence the pivoting or pivotability of the upper part (10) relative to the lower part (20), a motor drive device (60) and at least one force storage device (90) being arranged between the upper part (10) and the lower part (20), the motor drive means and the force storage means are constructed and arranged to cause, support or hinder pivoting or pivotability of the upper part (10) relative to the lower part (20).

Description

Technical Field

[0001] This invention relates to an orthopedic joint device comprising: an upper part and a lower part, the upper and lower parts being pivotally mounted on each other about a pivot axis; and at least one resistance device disposed between the upper and lower parts, the resistance device being configured to influence the pivoting or pivotability of the upper part relative to the lower part. The invention also relates to a method for controlling such an orthopedic joint device. Background Technology

[0002] Orthotic joint devices, particularly orthoses, exoskeletons, or prostheses, have an upper component and a lower component hinged to the upper component. For orthoses and exoskeletons, the upper and lower components are secured to the still-existing limb, for example, by means of a shell, strap, belt, sleeve, or other fixation device. Orthoses and exoskeletons can guide movement, restrict pivoting about a pivot axis, prevent pivoting movements, or support and fix alignment between limbs. Furthermore, orthoses can be equipped with resistance devices to influence pivoting movements about a pivot axis. The resistance devices can be equipped with control mechanisms to provide variable resistance in the flexion and / or extension directions based on sensor data. It is also known to distribute force storage devices to the upper or lower component, thereby achieving motion support by releasing energy stored in the force storage devices.

[0003] Prostheses are used to replace missing or no longer present limbs and provide functionality as close as possible to that of a natural limb. Furthermore, prostheses are designed to provide the most natural possible appearance for the user. Upper components of a prosthesis are constructed, for example, as a prosthetic tube or assemblies attached to a prosthetic tube, where the prosthetic tube is used to secure it to the limb or residual limb. Prosthetic joints, such as prosthetic knee, elbow, or ankle joints, connect the upper and lower components, and the lower component may incorporate other prosthetic components, such as a shin tube, prosthetic foot, or prosthetic hand.

[0004] Particularly in orthoses, exoskeletons, and prostheses of the lower limbs, but also of the upper limbs, dampers, especially hydraulic dampers or other resistance devices, are arranged between the upper and lower components. These devices provide varying resistance based on sensor data under different states or motion conditions. Such resistance devices are typically constructed as linear actuators, providing specific resistance for flexion and / or extension movements. The resistance is varied by changing the position of a valve. As the flow cross-sectional area decreases, the corresponding motion resistance increases. Passively damped, particularly passively hydraulically damped, prostheses or orthoses operate purely dissipatively. Here, energy is extracted from the motion of the upper component relative to the lower component, thereby generating very high torques or forces. Meanwhile, passive damping exhibits very little resistance in the open state, such as when no valve is closed or no throttle is activated. The operational range of such orthoses or prostheses is limited because energy cannot be input into the motion to support or actively resist it, or to change the state from a static position.

[0005] Furthermore, existing technologies include orthoses, exoskeletons, and prostheses with motor-driven mechanisms, known as 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 drive mechanism can also be used to influence the motion behavior between components of the orthose or prosthesis in a generator circuit mode, such as braking pivoting movements while simultaneously loading or supporting a force storage device. Braking can also be achieved through short-circuit operation. In this operating mode, the energy extracted from movement is converted into heat within the drive mechanism. The maximum torque or force achievable by the motor drive mechanism is limited.

[0006] EP2535024A1 describes a prosthetic leg with a knee joint element that connects an upper part to an elongated lower leg part to achieve relative movement. Series-connected elastic actuators are arranged between the knee joint element and the lower leg part and are configured to apply a torque to the knee joint element to induce relative movement between the knee joint element and the lower leg part. The series-connected elastic actuators have a motor coupled to an elastic device.

[0007] DE102018126324A1 describes an orthopedic joint having a first component, a second component pivotally arranged relative to the first component about a pivot axis, and an actuator for pivoting the first component relative to the second component in at least one direction. The actuator is detachably arranged inside or outside the first or second component. The joint may have at least one damper configured and arranged to dampen pivoting of the first component relative to the second component. The actuator may have an elastic element and / or series elastic actuators and / or parallel elastic actuators.

[0008] In their paper, "A Comparison of Parallel- and Series Elastic Elements in an Actuator for Mimicking Human Ankle Joint in Walking and Running" (published at the 2012 IEEE International Conference on Robotics and Automation), Martin Grimmer, Mahdy Eslamy, Stefan Gleich, and André Seyfarth discussed reducing the peak power and energy consumption of actuators by using elastic elements. Using currently available motor technology, a single motor solution coupled with a series elastic actuator cannot simulate the behavior of the human ankle joint at higher walking speeds, such as during running. However, using parallel elastic actuators can further reduce the peak power required for the drive. Combining these two types of elastic actuators can achieve even greater reductions.

[0009] The same problem is discussed in the paper “Effects of Unidirectional Parallel Springs on Required Peak Power and Energy in Powered Prosthetic Ankles: Comparison between Different Active Actuation Concepts” by Mahdy Eslamy, Martin Grimmer, and Andre Seyfarth (pp. 2406-2412, Proceedings of the IEEE International Conference on Robotics and Bionics, December 11-14, 2012, Guangzhou, China), and a motor concept with two force storage devices (one in series and one in parallel) is proposed. Summary of the Invention

[0010] The objective of this invention is to provide an orthopedic joint device and its control method, which enables the orthopedic joint device to operate reliably and with low weight over the widest possible operating range.

[0011] 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.

[0012] The orthopedic joint device comprises: an upper part and a lower part, which are pivotally mounted on each other about a pivot axis; and at least one resistance device disposed between the upper and lower parts, the resistance device being configured to influence the pivoting or pivotability of the upper part relative to the lower part. Furthermore, a motor drive and at least one force storage device are disposed between the upper and lower parts, the motor drive and force storage device being configured to induce, support, or impede the pivoting or pivotability of the upper part relative to the lower part. The resistance device (especially a hydraulic damper, pneumatic device, friction brake, magnetorheological resistance device, and / or locking mechanism) can dissipate a large amount of kinetic energy between the upper and lower parts with relatively small weight, or directly lock the relative movement between the upper and lower parts (e.g., by blocking the flow connection between the chambers), while the motor drive or force storage device can actively generate a driving torque or braking torque about the pivot axis. The motor drive is configured, for example, as an electric motor, and optionally coupled to the upper and lower parts via a transmission. The transmission device can be configured as a screw drive, gear drive, lever drive, rope drive, friction wheel drive, or other transmission forms. To support existing motion, the resistance of the resistance device is minimized to a specific minimum (e.g., 0), so that the drive device only needs to provide torque to overcome residual resistance or internal friction and to accelerate the lower part relative to the upper part. If the orthotic joint device is configured as an orthosis, the corresponding limb will move together with the upper or lower part. Additionally, a force storage device exists, where otherwise dissipated kinetic energy can be stored as potential energy, particularly to cope with load peaks. The motor drive can only achieve a limited rotational speed or linear velocity. This limitation is, by design, below the maximum speed of the force storage device. Although the motor drive operates relatively slowly, the force storage device can be released, allowing the required energy to be supplied to the joint device briefly at the desired time point to provide driving or braking torque around the pivot axis. By combining at least one resistance device with at least one drive device and at least one force storage device, the structural space of the active drive device can be designed to be smaller, as the force storage device and resistance device can compensate for the structural weaknesses of the electric drive device. The overall operating range of orthopedic joint devices is expanded, and the drive mechanism requires less energy, allowing the components supplying the drive mechanism, particularly the force storage device, to be manufactured smaller and lighter. Simultaneously, the absorption of forces and torques through resistance devices and optional force storage devices reduces the mechanical load on the drive components, thereby improving the overall durability of the system.

[0013] In one extended embodiment, the at least one resistance device and / or force storage device is configured to be adjustable, particularly depending on the current load, state, or expected motion process, which is determined specifically by sensors. Sensor values ​​determined by the sensors are provided to a control device for evaluation. Based on the evaluation results, settings within the resistance device and / or force storage device are altered, such as the settings of valves or throttle valves in hydraulic dampers, the clamping pressure of braking devices, the magnetic field of magnetorheological devices, etc. Changes in the motion resistance of hydraulic or pneumatic dampers can be made via switching valves or proportional valves. Similarly, the storage of energy in or release of energy from the force storage device can be triggered based on sensor values ​​and their evaluations. The force storage device is particularly lockable, for example, to allow for gradual loading of the force storage device and the recall of stored energy at desired times.

[0014] In one configuration, the resistance device includes 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 adjustable valve is arranged in this flow-technical connection, the valve being 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, where a fully open or closed switching position can be a second switching position. The two switching positions can also be a fully open and fully closed switching position. For purely passive orthotic joint devices, the effect of the relative motion between the upper and lower components is achieved by converting kinetic energy into heat energy. To adapt this effect to their respective motion behaviors or motion patterns, the valves need to be configured as proportional valves, and each valve requires relatively complex control using a servo motor. Active orthotic joint devices that rely solely on motors to influence relative motion require large motors or large transmissions to be able to fully and independently withstand the forces that arise. The orthopedic device of this invention significantly simplifies the complex structure of purely passive resistance devices or purely active actuators used in orthopedic joint devices, without sacrificing the ability to respond precisely and adaptively to individual motion conditions or states. The switching valve switches between multiple discrete states, at least between two switching positions, such as fully open or fully closed and partially open or partially closed. This is achieved, for example, by switching or simply switching between the respective positions, for example, by activating a coil without activating a motor. Therefore, 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 to or connected to the orthopedic joint device to influence pivoting motion. The motor drive can be engaged at a specific time point or in a specific state or position, either as a drive to input additional energy into the motion, or as a brake to convert motion energy into heat energy or, in the case of generator operation, into electrical energy. By integrating a motor drive as the driving device, existing movements can be supported or counter-movements can be employed, and one of the components of an orthopedic joint device can also be removed from its static state. In any case, additional torque is generated in the joint, either as a driving torque or as a braking or damping torque. Especially in configurations constructed as hydraulic damping devices (which can be constructed as linear or rotary dampers), the motor drive allows for fine-tuning of the resistance or damping behavior of the device.

[0015] 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, thereby generating negligible resistance 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 can be adjustable), the actuator resists or supports the resistance device during corresponding operation.

[0016] In one configuration, the partially open switching position has a reduced flow cross-sectional area by a certain percentage compared to the fully open switching position, resulting in a preset initial damping between the fully open and fully closed states—greater than the minimum damping in the fully open state and less than the maximum damping in the closed state. Around this position, the motion behavior is then altered by an actuator. An additional drive mechanism now allows for influencing preset motion resistance within the prosthetic or orthotic joint. Resistance can be influenced in such a way that it can be reduced or increased within a certain range by appropriately controlling the drive mechanism. Similarly, variations in resistance with time, position, velocity, or acceleration can be adapted to the patient's component or limb. The flow cross-sectional area is adapted to the corresponding application or the corresponding user. For example, if experience indicates that a specific damping torque or force is frequently required (e.g., higher damping is required for anti-flexion in an artificial knee joint), a corresponding reduction in the flow cross-sectional area can be preset for the partially open switching position. If the resistance device (especially in the form of a hydraulic damper) requires less damping or resistance in most cases, it is reasonable to increase the flow cross-sectional area accordingly and set it to the value expected to be most frequently used.

[0017] In another configuration, the drive unit or motor is arranged in parallel with a system consisting of one or more passive resistance devices. Furthermore, the system may have one or more force storage devices that act in parallel or series with the resistance devices. Each force storage device may have an adjustment mechanism to influence the characteristics of the force storage device. At least one of the resistance devices has an adjustment mechanism to set the resistance. This mechanism can be adjusted by an actuator. The actuator can be automatically adjusted based on sensor values. Using this system, various advantageous variations for driving and controlling drive units or motors can be realized.

[0018] For example, an adjustable resistance device has an adjustment mechanism that requires time T1 to increase or decrease the combined resistance in the joint to the desired value. The time span T1 is greater than the time span T2, within which the corresponding resistance should be set to achieve the desired behavior of the orthopedic joint device. The response time T3 of the drive device applying resistance is significantly faster than T1, therefore T3 is less than T1. To approximate the overall behavior to the duration T2, the drive device can be controlled such that resistance is applied by the drive device during T1. The drive device resistance is set in such a way that the drive device only provides the difference between the required resistance in the orthopedic joint device and the resistance applied by the resistance device. Therefore, the combined adjustment time is virtually reduced. The entire system behaves as if it only had an adjustment time T3.

[0019] Further advantages can be derived from the system described. Depending on the implementation of the resistance device (particularly as an adjustable hydraulic damper, which can be fully locked), it can withstand large forces or torques without consuming electrical energy. This is particularly advantageous in isometric or very slow motions. In contrast, the drive unit requires a significant amount of electrical energy to achieve the same behavior in these operating conditions. Such conditions can be detected by sensors installed in the system. Once the resistance device reaches the set resistance, the drive unit is completely deactivated. Now the resistance device bears the full load, and the drive unit requires no energy.

[0020] Another form of drive mechanism stems from the fact that an electric drive can operate as a resistance device, converting mechanical energy into electrical energy within a certain range of resistance-torque or force and rotational speed. In contrast, passive resistance devices convert mechanical energy into heat. This energy can be lost or cause problems due to increased system temperature.

[0021] The flow of mechanical energy within the joint device can be guided by coordinating the resistance of the passive resistance device and the resistance of the drive device, which operates as a resistance device. Therefore, more mechanical energy can be directed to the drive device when it is capable of generating electrical energy. This reduces the energy input to the passive resistance device, thereby reducing heat generation. Furthermore, some of the mechanical energy directed to the drive device can be converted into electrical energy and stored in an energy storage device, which can extend the operating duration of the orthopedic joint device and / or reduce the required size of the energy storage device.

[0022] In one embodiment, the drive unit is configured as an electric motor, which is coupled to the upper or lower component via a transmission mechanism. Through the transmission mechanism, even a small motor can generate a relatively large torque at the joint about a pivot axis to influence the relative movement of the upper and lower components, or to displace the upper component relative to the lower component. The transmission mechanism can be configured, for example, as a screw drive, gear drive, lever drive, rope drive, friction wheel drive, or other transmission forms.

[0023] In one embodiment, a control device is assigned to the drive device and / or resistance device and / or force storage 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 configured to activate, deactivate, and / or modulate the drive device and / or resistance device and / or force storage 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 a transmitter-receiver device or as a plug or permanent contact. The sensors can be connected to the control device wirelessly or wiredly.

[0024] One extended approach specifies that the resistance device, force storage device, and drive device are constructed as modular units and jointly fixed to the mounting points of the upper or lower components. This allows for different modifications and configurations of the drive device, resistance device, and force storage device to be prepared within a prefabricated unit framework, and then these units or modules are integrally installed onto the orthopedic joint device. The system can also be implemented as a logic unit with a common control device, including sensor technology for the resistance device, force storage device, and drive device. Its advantage lies in the simplified interface for controlling the system. The common control device only needs to specify the behavioral requirements of the orthopedic joint device. Control of the energy flow within the mechanical system is then performed within the logic unit. This shortens the development time of the behavioral control portion in the upper-level control system.

[0025] In one extended embodiment, the force storage device is constructed as a spring, particularly a compression spring, or as a pressure storage device, particularly a pneumatic or hydraulic pressure storage device, integrated within a resistance device. Springs in the form of compression springs or elastomeric elements can be connected in series with the resistance device. The spring is considered as the elastic deformation of a solid or the compression of a hydraulic spring or compressible hydraulic fluid.

[0026] In one configuration, the force storage device is configured to be adjustable, with adjusting mechanisms assigned to the force storage device or spring for adjusting the spring preload or spring stiffness. This allows for changes in the amount of energy to be stored and the manner of energy release. Alternatively or additionally, a pump and / or valve are assigned to the pressure storage device of the force storage device to load or depressurize the pressure, thereby changing the pressure level. In this way, not only the amount of stored energy can be manipulated, but also the manner of release. For pressure storage devices, there is a preload, or a transmission ratio between the pressure and the force generated by the force storage device.

[0027] If the spring preload or spring stiffness needs to be adjusted flexibly, in one configuration, the adjustment device is constructed as a drive mechanism that also generates torque about the pivot axis. This eliminates the need for separate components to change the spring preload and / or spring stiffness; instead, the drive mechanism serves as a storage device for the adjusting force. What is being adjusted here is not the actual spring stiffness or preload, but rather the composite mechanical behavior of the joint, making it behave as if the spring had different stiffnesses and / or preloads. The overall spring stiffness of the orthopedic joint device is thus altered.

[0028] In one configuration, the force storage device and the drive device are arranged and mechanically coupled such that they are configured to operate in parallel. The drive device generates a driving or braking torque about the pivot axis of the orthopedic joint; the force storage-resistance device combination, acting in parallel, can modify or support the torque generated by the drive device. Conversely, the drive device adjusts the damping torque through the use of the resistance device or the force storage device. In an extended configuration, the force storage device and the resistance device are arranged in series, which is particularly easy to implement and results in a compact structure in hydraulic dampers using pressure storage devices. This also allows the orthopedic joint device to swing independently of the force storage device when the resistance device is open.

[0029] The aforementioned method for controlling the orthopedic joint device described above specifies that the drive unit operates in parallel with the resistance device and the force storage device to influence the resistance. The resistance device and the force storage device are configured as passive (or passive-only) elements because they do not possess a motor drive themselves. By combining with a motor drive, the application of orthopedic joint devices (particularly in orthotics or prostheses) can be expanded, and characteristics that cannot be achieved by a single component can be imparted. These passive elements are coupled with an electromechanical or electrohydraulic drive such that the torque or force applied around the pivot axis originates from the sum of the forces or torques of the three components. The parallel action of the force storage device with the drive unit results in support or alteration of the torque applied by the drive unit, particularly by supplementing the drive unit with a relatively large amount of energy provided for a short period. Thus, the torque of the drive unit increases due to the torque provided when the force storage device is released. In this way, the active drive unit can be designed not to provide the full torque for all applications. Therefore, the motor drive unit can be made smaller or optimized for other operating ranges or speeds. The force storage device, resistance device, and drive device can be arranged in parallel; or the force storage device and resistance device can be arranged in series, while the drive device is connected in parallel with both of them. When the resistance device is adjustable, the force storage device can be "disabled" by switching it to the on state.

[0030] In one configuration, the drive and / or resistance and / or force storage devices are activated, deactivated, and / or modulated based on sensor data, so as to be able to change the motion behavior of the upper part relative to the lower part during use.

[0031] In one configuration, the overall characteristics of the system are modulated via an actuation mechanism based on the characteristics of the resistance device and / or force storage device, specifically by reducing or increasing resistance, resistance curves, stiffness, stiffness curves, damping, and / or damping curves. The actuation mechanism is activated, deactivated, or modulated at specific times, in specific states, or when specific thresholds are reached, thereby increasing or decreasing the torque applied by the force storage device. This allows for rapid and energy-efficient adjustment of the required behavior of the orthopedic joint device.

[0032] In one extended scheme, energy stored in a force storage device is converted into electrical energy by a drive mechanism, and vice versa, for example, by making the electric motor operate in generator mode, and vice versa.

[0033] This invention employs a combination of a force storage device and a parallel motor drive. The resultant torque is the sum of the torques applied by the force storage device and the motor. The force storage device should not be considered merely as a pure spring, but can be embedded in a hydraulic system that allows for parallel and / or series damping behavior. In one embodiment, the hydraulic spring accumulator can only be loaded in the buckling direction and unloaded in the extension direction, with the oil flow into and out of the accumulator throttled by a proportional valve until completely stopped. In combined applications, the force storage device can provide the basic characteristics, while the motor modulates these characteristics. This allows for much more flexible control compared to using only a force storage device; or, compared to using only a single motor, it can achieve higher energy efficiency, greater bandwidth, and higher maximum torque. Besides the parallel arrangement of the motor and force storage device, they can also be arranged in series. In this case, displacement is superimposed instead of torque. The motor modulates displacement or distance as a function of force.

[0034] A fundamental idea is to alter the force-displacement behavior of a force storage device through a drive mechanism (especially parallel motors). Adjustments can be made based on the fundamental characteristics of the force storage device via the motor. Applying a motor torque in the same direction as the force storage device's torque increases the resultant torque; applying a motor torque in the opposite direction decreases the resultant torque. A constant torque applied by the motor corresponds to, for example, the preload of a spring characteristic or the offset of a spring's zero point; a displacement-related motor torque corresponds to the superposition of two springs, and in particular, nonlinear spring characteristics can be generated by the motor. If non-conservative forces exist in the force storage device, these forces can also be considered in the motor control. Furthermore, parameters of the torque or motor characteristics can be changed over time to achieve transient behavior. For example, direction-dependent behavior, hysteresis, or decaying behavior can be achieved, such as continuous, time-dependent torque reduction. Additionally, torque characteristics can be dynamically changed in real time during motion, adjusted from one repetition of motion to the next, for example based on autonomous optimization, so that characteristics can be adjusted via software and electronic interfaces.

[0035] The motor torque can be chosen to be equal in magnitude or at least sufficiently close to the torque generated by the force storage device, but in the opposite direction. The resulting total torque from the combined action of the motor and the force storage device is then zero or correspondingly small. This prevents the generation of significant additional resistance or support to the motion. This allows for the disconnection or controlled engagement of the main force storage device during specific phases of motion, or the targeted storage or extraction of energy from the force storage device without significantly affecting the motion.

[0036] For walking on a flat surface, near-linear spring behavior (possibly with parallel damping) is advantageous during stance flexion and stance extension. However, optimal torque characteristics vary with body weight, individual movement process and demands, and gait parameters such as stride length or walking speed. Dynamically adjusting spring stiffness is difficult to achieve. Modulation can be adapted to the user's weight, height, or personal preference. Furthermore, in a control law, the total torque can be adapted from step to step or in real time to movement, movement progression, or load. For example, if the final stance phase is identified by the thigh angle, but the joint is still severely flexed or has not fully extended from maximum stance flexion, the extension torque can be increased via a motor. This adjustment is typically continuous rather than abrupt.

[0037] The torque behavior in the standing phase can be adapted to specific conditions by combining actuators. Different conditions, such as steps, slopes, gradients, ground conditions, or environments, require different types of support. When walking downhill, a higher standing phase extension torque is typically required than when walking on flat ground. Accordingly, the gradient can be determined by sensors, and the total torque of the force storage device and motor can be modulated. In particular, the motor torque can be increased within a certain gradient range with the downhill slope to achieve higher overall stiffness, preferably during standing phase buckling. The extension phase torque during standing phase buckling can also be adjusted compared to walking on flat ground. For example, the changes in stiffness or torque during standing phase buckling and standing phase extension can be adjusted over time or based on sensor signals during downhill walking, for example, to produce greater hysteresis, thereby achieving stronger dissipation. Similar adjustments can be made for other conditions. The possibility of increasing and decreasing drag in the standing phase is achieved through control devices.

[0038] For force storage devices, energy must always be input before it can be extracted, where the force or torque required for loading is the same as or even greater than that required for unloading. Furthermore, if the force storage device is physically coupled to pivoting motion, relative motion may be required to load the force storage device. For example, it is impossible or difficult to load the force storage device by absorbing kinetic energy with a small torque and a large amplitude of motion in the oscillating phase and releasing the energy in the standing phase (which requires a large torque and a small amplitude of motion). This problem can be solved by combining actuators. For example, this can be done by loading the force storage device with a motor torque opposite to that of the force storage device during buckling in the oscillating phase. If the generated torques are opposite and equal in magnitude, they will cancel each other out, and the motion will not be affected, or in other words, the motion will not encounter additional resistance due to the force storage device. As buckling increases, the motor torque increases until the force storage device is fully loaded or no further buckling occurs. By maintaining the buckling torque of the motor or disconnecting the force storage device, the release of energy from the force storage device can be delayed or caused to occur at a later point in time. For climbing stairs, the energy stored in the force storage device can be released during the extension phase of the standing phase. The stretching torque generated by the force storage device can be supported by the same-direction motor torque, thereby increasing the total stretching torque.

[0039] If a force storage device is loaded but its stored energy cannot be effectively utilized, it can be unloaded. Typically, this is done dissipatively. However, the unloading process may generate undesirable torque. As an alternative or supplementary solution, a motor can be used to apply a torque that is opposite in direction and substantially equal in magnitude to the torque of the force storage device, thereby making the resultant torque approximately zero or sufficiently small. This ensures that the unloading of the force storage device has no substantial impact on motion during the unloading process. Similarly, a motor can be used to reduce the torque of the force storage device. For example, during the standing phase buckling phase of descending stairs, the force storage device may be undesirably loaded. If the stored energy is not needed throughout the entire gait cycle of this descent, and it is desired that the force storage device is unloaded upon subsequent initial ground contact, it must be unloaded before initial ground contact. This can be done, for example, during the oscillating phase-extension phase, where a buckling torque is applied to the extension torque of the force storage device via a motor during unloading, which is sufficient to reduce the resultant extension torque or compensate for the extension torque of the force storage device.

[0040] By using a combined actuator consisting of a force storage device and a motor, energy recovery can be improved through the motor, thereby increasing the extraction of electrical energy. It is impossible or inefficient for a motor to operate as a generator at low speeds. However, with a combined actuator, energy can be stored in the force storage device during slow motion (i.e., low speed), and then utilized at high speeds, allowing the motor to operate in generator mode for efficient energy recovery. Another advantage is that less heat is generated compared to the energy dissipated during the loading phase of the force storage device.

[0041] When walking downhill, the force storage device can be loaded, for example, during the standing phase-buckling period, and then unloaded during the swing phase-extension period, particularly at rapid extension speeds, where a counter-buckling torque is applied to the extension torque of the force storage device via a motor. The motor is controlled to operate as a generator and produce electrical energy. Preferably, the motor and force storage device are controlled in such a way that the motor torque and the torque generated by the force storage device can cancel each other out and do not significantly affect the movement.

[0042] Motor torque can be used to acquire motion information, such as lower leg tilt, thigh angle, trunk tilt, or force information, such as center of pressure, ankle torque, force and torque at the assistive device and user interface, and on the contralateral side. Control also includes quantities derived from sensor data, such as thigh angle (calculated from knee and lower leg angles) or lever arm (as a torque-to-force ratio). Human-machine interfaces or AI algorithms can also be used as additional inputs. Multiple quantities may be used to control torque. The combined total torque generated by motor torque and force storage device torque is a function of the knee angle (due to the physical coupling between the knee angle and the force storage device), and possibly other input quantities.

[0043] The method for controlling the orthopedic joint device as described above specifies that the drive device operates in parallel with the resistance device and the force storage device to influence the resistance.

[0044] In one configuration, the drive device, resistance device, and / or force storage device are activated, deactivated, and / or modulated based on sensor data, wherein the sensor data is specifically distributed and transmitted to a control or control device. Alternatively or additionally, the resistance device and / or force storage device are activated, deactivated, and / or modulated based on sensor data, and in particular, the control device is also supplied with sensor data and coupled to the resistance device and / or force storage device to make corresponding changes to the resistance device and / or force storage device based on the sensor data.

[0045] In one configuration, the overall characteristics of the orthopedic joint device are modulated based on the characteristics of the resistance device, which are the foundation or benchmark affecting the motion behavior of the orthopedic joint device. This foundational characteristic is modulated by a drive mechanism. This foundational characteristic can also be achieved by a force storage device or a combination of a force storage device and a resistance device (especially as a passive component). The drive mechanism then adjusts the respective foundational characteristics accordingly, specifically decreasing or increasing the resistance, resistance curve, stiffness, stiffness curve, damping, and / or damping curve.

[0046] In one extended scheme, the energy stored in the force storage device is converted into electrical energy by a drive device, and vice versa.

[0047] The force storage device can be decoupled from other components (i.e., resistance devices and drive devices) and kept in a loaded state for reconnection at a later time, so that the energy stored in the force storage device can be supplied to the system in a controlled manner.

[0048] In one configuration, the drive mechanism operates in such a way that the action of the resistance mechanism is eliminated, thereby allowing the upper component to pivot freely relative to the lower component. Attached Figure Description

[0049] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are shown below.

[0050] Figure 1 A schematic diagram of a prosthetic leg is shown.

[0051] Figure 2 An embodiment of a hydraulic circuit diagram is shown.

[0052] Figure 3 A variant with orthotics is shown.

[0053] Figure 4 to Figure 15 An example of an application based on a prosthetic leg is shown.

[0054] Figures 16 to 26 Various torque curves are shown.

[0055] Figure 27 The torque curve with multiple input signals is shown.

[0056] Figure 28 This shows the relationship between multiple input quantities.

[0057] Figure 29 Illustrations showing variations of the joint device.

[0058] Figure 30 A detailed diagram of the power storage device is shown.

[0059] Figure 31An embodiment of a progressive force storage device is shown.

[0060] Figure 32 A detailed diagram of the power storage device is shown. Detailed Implementation

[0061] exist Figure 1 The schematic diagram illustrates an orthopedic joint device as part of a prosthetic leg, having 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, configured 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 the 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 damping devices can also be constructed as rotary hydraulic devices.

[0062] As an alternative configuration of orthopedic joint devices for prosthetic leg components. Figure 3 Two alternative applications are shown, in which the orthopedic joint device is constructed as part of the orthopedic device. Figure 3The embodiments shown depict 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 in the upper and lower arms; for the knee orthosis, fastening is achieved via a thigh sleeve 19 and a calf sleeve 29. Taking the knee orthosis as an example, a hydraulic damper 30 and a drive mechanism 60 are shown operating about a pivot axis 15. The 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 95 are arranged or configured on the upper part 10 and the lower part 20, and these sensors are connected to a control device 80. This connection can be wired, wireless, or other signal transmission methods. The control unit 80 is coupled to the drive unit 60 and the hydraulic damper 30, and allows activation, deactivation, or modulation of the drive unit 60, as well as adjustment of the valves inside the hydraulic damper 30. The control unit 80 has all the necessary data processing devices, memory, software, hardware, interfaces, and power supply to control or regulate the drive unit 60 and the hydraulic damper 30. The drive unit 60 can be supplied with the required electrical energy through an additional energy storage device (in the form of a battery or accumulator). The 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. The sensor 95 can be a force sensor, torque sensor, position sensor, pressure sensor, temperature sensor, and IMU. Multiple sensors can be arranged either on the upper component 10 or the lower component 20. Based on the transmitted sensor values, the control unit 80 then outputs corresponding switching commands.

[0063] exist Figure 1 configuration and Figure 3 In the configuration, in addition to the resistance device 30 and the motor drive device 60, a force storage device 90 is arranged between the upper part 10 and the lower part 20 to support, impede or cause the pivoting or pivotability of the upper part 10 relative to the lower part 20. Figure 1 The force storage device 90 is, for example, arranged at the distal end of the resistance device 30 and effectively connected in series with the resistance device 30. This also applies to [the following]... Figure 3 In one embodiment, a force storage device is arranged below the housing of the resistance device 30, which is, for example, in the form of an adjustable and lockable mechanical or pneumatic spring or elastomeric element.

[0064] exist Figure 2The diagram shows a hydraulic circuit diagram of a hydraulic damper 30, which has a housing 32 within 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 and 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, during extension, hydraulic fluid is guided from the second chamber 342 to the first chamber 341 via 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.

[0065] Inside the flow technology connection 40, two adjustable valves 50 are arranged in the form of switching valves. Each chamber 341, 342 is equipped with one switching valve 50. In parallel with each switching valve 50, a bypass check valve 55 is arranged in the flow technology connection 40. The two check valves 55 (each assigned to a chamber 341, 342) 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, the hydraulic fluid flowing out of their respective chambers 341, 342 must be guided through the switching valves 50.

[0066] In the illustrated embodiment, the switching valve 50 is configured as a three-way switching valve, capable of switching between three discrete states. In the illustrated switching state, the flow technology connection 40 is interrupted, meaning no hydraulic fluid can flow from one chamber 341 to another chamber 342. The prosthetic knee joint or orthopedic joint device is locked in this position.

[0067] 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 a 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).

[0068] If the switching valve 50 moves upward from the locked position shown, hydraulic fluid from the second chamber 342 must first pass through the pre-positioned throttle 56 before entering 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.

[0069] The adjustment or movement of the switching valve 50 is achieved by the control device 80 based on a sensor. According to the sensor data of the sensor 95, the corresponding actuator for the switching valve 50 is activated or deactivated and occupies the corresponding switching position.

[0070] 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 80 based on sensor values ​​and control programs and software stored within the control unit 80.

[0071] exist Figure 4a The diagram illustrates a schematic of an orthopedic joint device based on a prosthetic leg. The upper component 10 is, for example, the upper part of a thigh tube or a prosthetic knee joint, and the lower component 20 is a calf tube, which is pivotally mounted relative to the upper component 10 about a pivot axis 15. A resistance device 30 is in the form of a hydraulic linear damper, with its piston rod fixed to the upper component 10, and its housing (which moves the piston downwards during flexion and upwards during extension) fixed to the lower component 20 with an intermediate force storage device 90 connected. The force storage device 90 is constructed as a spring or pressure reservoir and may have an adjustment mechanism to adjust the spring preload and / or spring stiffness. In the configuration where the force storage device 90 is a pressure reservoir, a pump and valve are provided to increase or decrease the pressure, thereby setting the spring preload or spring stiffness. The resistance device 30 and the force storage device 90 can be designed as a module and combined into a structural unit. Furthermore, this orthopedic joint device is equipped with a motor drive 60, which is configured and designed to: induce pivoting movement of the upper component 10 relative to the lower component 20, resist such pivoting movement, or provide support for it. Therefore, when the drive 60 is controlled by a control device 80 (not shown) to resist pivoting movement, it also functions as a resistance device. The drive 60, used to influence the resistance against pivoting movement or to support the pivoting movement of the upper component 10 relative to the lower component, acts in parallel with the resistance device 30 and the force storage device 90 connected in series therewith.

[0072] exist Figure 4b The middle shows Figure 4a One variant, in which the force storage device 90 is configured to be adjustable, while Figure 4a The damping device or resistance device 30 arranged in series or sequentially with the force storage device 90 is in Figure 4b It does not exist in [the context].

[0073] Figure 4a The basic same structure in Figure 5 As shown, the difference lies in the fact that the resistance device 30 is configured to be adjustable so that the resistance against pivoting motion can be set. In the configuration as a hydraulic damper, the setting is made by changing the flow cross-sectional area in the hydraulic lines inside the resistance device 30, for example, by changing the channel cross-sectional area in a valve or throttle. Adjustments can be made adaptively during movement based on, for example, sensor data, or by an orthopedic technician making a one-time adjustment to suit the patient and the various components of the orthopedic joint device. Adjustability also allows for adaptation to changes in the characteristics of the orthopedic joint device itself, wear, changes in different types of use, or changes due to user ability or preference.

[0074] exist Figure 6 In this figure, it is not the resistance device 30, but the force storage device 90 that is adjustable, specifically settable and lockable. The adjustability of the force storage device 90 allows for adjustment of the amount of energy that can be stored in it, and thus also allows for the amount of energy that can be used to support pivoting motion or the opposite action (i.e., to impede or prevent pivoting motion). The adjustment of the force storage device 90, and possibly the resistance device 30, is sensor-controlled, for example, by the aforementioned sensors and controls, and is not shown in the figures for clarity.

[0075] exist Figure 7 In this device, both the resistance device 30 and the force storage device 90 are adjustable, and in particular, they are settable and lockable.

[0076] exist Figure 8 The diagram shows a variation of the arrangement of the resistance device 30, drive device 60, and force storage device 90, all positioned at the front of the orthopedic joint device. In the illustrated embodiment, the resistance device 30 and force storage device 90 are not settable or adjustable, but can be combined with the drive device 60 as needed to provide resistance against pivoting motion or corresponding support for pivoting motion. Figure 9 and Figure 10 In this configuration, the resistance device 30 or the force storage device 90 is adjustable and operates according to... Figure 8 The arrangement method is used. In Figure 11 In this configuration, both the force storage device 90 and the resistance device 30 are configured to be adjustable and settable.

[0077] A variation of the arrangement of the resistance device 30, the drive device 60, and the force storage device 90 is in Figure 12As shown in the diagram, the drive unit 60 is arranged to function in parallel with the force storage device 90 and in series with the resistance device 30. Both the resistance device 30 and the force storage device 90 are settable or adjustable. In this configuration, the force storage device 90 can be loaded by the drive unit 60. When the force storage device 90 is configured as a pressure storage device, the drive unit 60 is a regulating device used to adjust the spring preload or spring stiffness or to adjust the internal pressure of the pressure storage device. The force storage device 90 and the drive unit 60 are therefore arranged in parallel with each other. If, for example, the drive unit 60 is to operate in generator mode, it is reasonable and possible to lock the force storage device 90 so that the kinetic energy of the relative motion between the upper part 10 and the lower part 20 can be used to move the drive unit 60 without loss. For this purpose, the resistance device 30 is also configured to be lockable and is preferably locked during generator operation. In this way, all the kinetic energy of the relative motion between the upper part 10 and the lower part 20 can be converted into electrical energy by the drive unit 60 in generator mode and supplied to the corresponding energy storage device or battery. The relative movement of the upper part 10 and the lower part 20 is influenced by all three components, namely the resistance device 30, the drive device 60 and the force storage device 90, in order to support, impede or prevent pivoting.

[0078] exist Figure 13 Another variant of the orthotic joint device is shown, having an upper part 10, a lower part 20, and a joint arranged between them for pivoting relative to each other about a pivot axis 15, exemplarily used for a prosthetic leg or leg orthosis. A resistance device 30 (e.g., in the form of a hydraulic or pneumatic damper, magnetorheological resistance device, or friction brake) is arranged in parallel with a force storage device 90, which is configured, for example, as a compressed air reservoir, an elastomeric element, or a mechanical spring. The force storage device 90 is adjustable and switchable. Also in parallel with them, a motor drive 60 is distributed to the upper part 10 and the lower part 20 to influence pivoting movements in the extension and / or flexion directions. The motor drive 60 supports or resists the pivoting movements of the lower part 20 relative to the upper part 10. The force storage device 90 can be switched to couple with the resistance device 30, so the resistance device 30 can operate in combination with the drive device 60, with the force storage device 90, or with both the drive device 60 and the force storage device 90. Furthermore, it is also possible to select the use of only the resistance device 30 without using other components affecting the pivoting motion. According to... Figure 13 In one embodiment, the drive device is configured as a rotary motor drive device that operates in parallel with the force storage device 90.

[0079] exist Figure 14 In this configuration, the resistance device 30, the force storage device 90, and the motor drive device 60 are arranged in parallel, with the motor drive device 60 configured as a linear drive device. Figure 15In this configuration, the motor drive unit 60 is constructed as a linear drive unit, which is arranged in series with other components connected in parallel, namely the force storage unit 90 and the resistance unit 30.

[0080] exist Figures 13 to 15 In all embodiments, the mechanical work done on the force storage device 90 shown can be stored as internal energy, and work can be done on the surrounding environment during energy release. The force storage device 90 is specifically constructed as a mechanical, hydraulic, or pneumatic spring. Each force storage device 90 can be decoupled and coupled from a chain of action, for example, via a valve in a hydraulic circuit or via a mechanical clutch. This allows the force storage device 90 to be coupled or disengaged from the upper component 10 and / or the lower component 20, which can be done at any knee angle or joint angle between the upper component 10 and the lower component 20.

[0081] When the motor drive unit 60 and the force storage device 90 are arranged in series, the torques around the pivot axis 15 do not add up. Instead, the forces or torques transmitted by the two components are the same, and the lengths or displacements are added or combined. Nevertheless, superposition still occurs, thereby modulating the characteristic curves, such as force-distance behavior or torque-angle behavior, to achieve changes in preload and stiffness, non-monotonic characteristic curves, transparency modes, and energy transfer from the drive unit 60 to the force storage device 90, and vice versa. Therefore, the offset of the characteristic curve is modulated as a function of torque.

[0082] exist Figure 14 The characteristic curve M of the drive unit 60 is shown in the figure. A Characteristic curve M of the power storage device 90 S Positive superposition of M at the pivot angle φ Σ Positive superposition of M Σ The illustration relates to the generation of knee joint torque as a function of the knee joint angle φ, where the force storage device 90 is coupled to the knee joint angle φ at least during at least one phase of motion. Typically, the knee joint angle φ is a controlled degree of freedom, and M is the associated torque or associated force. Figure 14 In this embodiment, the force storage device 90 is a progressive spring with preload. The drive device 60 is a motor, driven by a linear spring, wherein the generated motor torque is in the same direction as the torque of the force storage device 90. Therefore, the torques generated by the force storage device 90 and the drive device 60 are added together, resulting in a positive superposition M. Σ The characteristic curve of the stiffness, compared to the individual characteristic curve M of the force storage device 90. S This is somewhat improved. The preload force on the characteristic curve at the initial angle φ0 remains constant through the motor or drive device 60. The characteristic curve M of the drive device 60 and the force storage device 90 is... SBased on the positive superposition M Σ The overall characteristic curve of the form is modulated.

[0083] exist Figure 17 The diagram shows a line graph illustrating the attenuation modulation achieved by the drive device 60. The characteristic curve MS of the force storage device is shown. Figure 16 Consistent, while the characteristic curve M of the drive unit A It is linear, such as Figure 16 As shown, but with the opposite direction of action. The drive device 60 operates according to a linear characteristic curve, the magnitude of which at the initial angle φ0 corresponds to the stiffness of the force storage device 90, and therefore has an offset opposite to the preload of the force storage device 90. Within the range from the initial angle φ0 to the ultimate angle φ1, the torques around the pivot axis 15 are essentially canceled out. As the joint angle increases, the torque of the force storage device 90 increases more progressively than the torque of the drive device 60, resulting in a progressive increase in torque or stiffness, which is achieved through a superposition of M values ​​increasing from the ultimate angle. Σ Clearly visible. Overlay M Σ The synthetic characteristic curve is obtained by driving device 60 and Figure 16 Superposition of M Σ Significant changes have occurred compared to previous models, both in terms of effective preload, total torque, and characteristics. The resultant torque around the pivot axis can be arbitrarily reduced by using a driving torque opposite to that of the force storage device 60.

[0084] exist Figure 18 In this process, the torque of the force storage device 90 is completely compensated by the drive device 60. The drive device 60 applies a torque of equal magnitude but opposite direction to counteract the torque of the force storage device 90, thus the two torques essentially cancel each other out. Superimposed torque or superimposed M Σ The torque is 0 or essentially 0 across the entire angular range. This control allows for loading or unloading of the force storage device 90° without affecting the movement of the orthopedic device. This mode, where the torque of the force storage device is fully compensated by the drive mechanism, is also known as the transparent mode.

[0085] exist Figure 19 The torque M of the force storage device 90 is shown in the figure. S Torque M of the driven device 60 A The resultant torque or superposition of M obtained by modulation Σ Relationship with the direction of motion. The torque M applied by the drive unit 60. A It varies according to the direction of motion to obtain a direction-dependent superposition M. Σ Or the composite torque characteristic curve. Figure 19 In the middle, through the driving torque M A The torque M of the force storage device 90 is enhanced during buckling. SThis is weakened during extension, where the initial angle φ0 represents the position where the joint is fully extended. Overall, this results in the superposition of M. Σ The lag.

[0086] exist Figure 20 The torque M applied by the drive unit 60 is shown in the figure. A The force varies depending on the direction of action of the force storage device 90. In the buckling direction, reinforcement begins from the zero point of the coordinate axis intersection; in the extension direction, the torque M through the drive device 60... A A decrease occurs. The aforementioned changes or modulations can be combined to replace zero-crossing or zero-point speeds, or a torque M exceeding or falling below 60° of the drive unit can be used. A The threshold for changes in the characteristic curve.

[0087] exist Figure 21 The torque M applied by the force storage device 90 is shown in the figure. S Torque M of the driven device 60 A A non-monotonic combination of enhancement or reduction. At the initial angle, the drive unit 60 applies a torque opposite to the torque generated by the preload of the force storage device 90, resulting in a total torque of zero. Between the initial and limit angles, the drive unit 60 operates with linear spring stiffness, wherein the torque M of the drive unit 60 increases with the joint angle φ. A The sign changes from reaction torque to supporting torque. This occurs approximately midway between the initial angle φ0 and the limiting angle φ1. Starting from the limiting angle φ1, the torque M applied by the drive unit 60... A The torque M decreases and acts on the force storage device 90 shortly after the limiting angle φ1. A Starting from the limiting angle φ1, the negative spring stiffness changes smoothly for the drive unit 60. As the joint angle φ further increases, the torque M of the drive unit 60... A Torque M of resistance storage device 90 S Synthetic torque characteristic curve M Σ As motor torque M A and the torque M of the energy storage device A The superposition of torque initially begins with no torque at the output angle φ0, increases between the output angle φ0 and the limit angle φ1, and then weakens again from the limit angle φ1 as the joint angle φ increases.

[0088] exist Figure 22 In this process, the torque combination of the driving device 60 and the force storage device 90 is realized, so that from the initial angle φ0 to the limit angle φ1, the force storage device 90 first applies a torque M to the force storage device. S Opposite torque M A Therefore, M is superimposed. ΣThe value is essentially zero, thus having no effect on the pivoting capability of the orthopedic joint device. Starting from the extreme angle φ1, the drive device 60 is controlled such that the torque M applied by the drive device 60 is... A The magnitude decreases, and in the subsequent process, it changes from a reaction torque to a support torque, therefore the drive unit M A Torque and force storage device 90 torque M S The directions of action are the same. The torque M of the drive device 60 on the force storage device 90 S The modulation of the characteristic curve produces the superposition of M of a one-sided asymptotic spring. Σ Characteristic curve. The total torque or superimposed torque M will only be generated when the limiting angle φ1 is exceeded. Σ Its influence is on pivotal motion.

[0089] exist Figure 23 and Figure 24 Various characteristic curves and angle curves over time are shown, which appear during joint flexion (e.g., knee flexion) to charge the energy storage device 90. The names of the torques correspond to those in the aforementioned figures, and the angle φ... K This refers to the knee joint angle. The torque acting on the drive unit (electric motor type) and the energy storage device is denoted by M. A and M S This indicates that the torques at the points where each component is fixed to the upper or lower part act in opposite directions. When relative to the knee joint angle φ... K When a coupled force storage device is loaded, there is typically a torque resisting motion or knee flexion because work must be done on the force storage device. Combined with a motor, the required work can be done by the motor, thus the pivoting motion of the upper component relative to the lower component remains unaffected. The energy stored in the energy storage device can then be released again at a later time. If the force storage device and the motor act in the same direction during energy output, the total torque M... Σ It can increase significantly. In Figure 23 In this process, the force storage device is first loaded via a motor. At the start of flexion, the force storage device is decoupled from the knee angle φK, therefore it does not generate torque. During the flexion phase, a supporting torque (in this case, a torque that increases with the knee angle) is initially applied by the motor to facilitate the flexion movement. The force storage device is engaged starting at time t1. The knee angle φK... KFurther increases in the force storage device lead to an increase in the force according to its characteristic curve. The motor torque is adjusted accordingly to compensate for the torque of the force storage device. The resulting torque, as the superposition of the motor torque and the force storage device torque, then corresponds to the desired curve supporting flexion motion. The work done by the motor is greater than the work done on the force storage device, therefore no motion resistance is applied to the pivoting of the upper component relative to the lower component; instead, positive work is done. Alternatively, flexion motion may not be supported; for example, the motor torque can be selected such that the torques of the motor and the force storage device cancel each other out, or the torque of the force storage device is sufficiently attenuated. After the force storage device is loaded, it is decoupled from the orthotic joint device and independent of the joint angle φ. K Therefore, the energy stored in the energy storage device is retained.

[0090] Figure 24 This illustrates the unloading of the force storage device. During unloading, the force storage device generates an extension torque and performs work between the upper and lower components. To increase the extension torque, the motor can apply additional extension or tension torque, thereby increasing the total torque M. Σ The torque is higher than that of the force storage device. With extension (i.e., knee joint angle φ) K (Reduced), the motor torque is reduced in the variant shown here. According to the characteristic curve of the force storage device, the torque M through the force storage device... S This also decreases, resulting in the decreasing torque curve shown in the diagram. The force storage device is completely unloaded before the knee joint is fully extended. The decoupling and coupling of the force storage device allow it to load and unload separately within different knee joint angle ranges.

[0091] Figure 23 and Figure 24 The stages shown can also be used independently of each other, with loading based on a force storage that is not fully loaded, and unloading based on a force storage that is not fully unloaded.

[0092] Figure 25 This illustrates the loading of the force storage device during the flexion movement of an artificial knee joint. Initially, only the torque M of the force storage device is shown. S It has an effect; the knee joint torque increases with knee flexion. Starting from time t1, the total torque M... S Subjected to the reverse torque M of the motor A The force storage device is further loaded, which is a limitation. Alternatively, the force storage device can be loaded without the use of a motor, in which case a further increase in torque occurs. The fully or partially loaded force storage device can be decoupled from the joint, so that the force storage device does not change regardless of the knee angle. At any time, the force storage device can be re-engaged to load or unload the force storage device to assist movement.

[0093] Figure 26 The diagram illustrates the unloading process of the force storage device during stretching motion. When the force storage device performs work, it simultaneously performs work on the motor. This is achieved by operating the motor in generator mode. In generator mode, the work performed by the force storage device can be converted into electrical energy and stored in the battery. This is particularly advantageous when the energy stored in the force storage device does not need to be used to support the motion. Figure 26 In the illustrated embodiment, the motor is operated such that the torque generated by the motor is approximately the same in magnitude as the torque of the force storage device, but in the opposite direction, thus canceling each other out. Therefore, the movement of the orthotic joint is unaffected during the unloading of the force storage device. Besides full compensation, the torque of the force storage device can also be attenuated or overcompensated. In principle, the electrical energy generated by the motor in braking mode does not necessarily need to be stored and used to charge the battery. The energy can also be converted into heat through resistance. It is also possible to use electrical energy for the braking operation of the motor. In this case, the motor's torque is primarily used to sufficiently attenuate the tensile torque during the unloading of the force storage device to achieve controlled unloading of the force storage device. Unloading the force storage device in this manner may be necessary if the stored energy is not needed and must be partially or completely unloaded for subsequent movement phases.

[0094] Energy recovery via generator is particularly efficient at high generator speeds. Therefore, it is specified that energy recovery occurs during phases where the generator or generator mode motor speed is as high as possible; these can be phases with high knee-joint angular velocities. In embodiments with variable gear ratios, phases with high gear ratios can also be used. When utilizing recovery, the unloading force storage device can have a time delay so that a correspondingly high motor speed exists during energy recovery via the motor. In particular, it is advantageous to load the force storage device in the standing phase and to unload and recover energy in the oscillating phase. For according to Figure 25 and Figure 26 The unloading and energy recovery controls shown can be used independently or in combination.

[0095] In particular, energy can be exchanged between the drive unit 60 and the force storage device 90 of the energy storage unit, wherein the force storage device 90 is loaded in particular by the drive unit 60, or electrical energy generated during recycling can be stored in the energy storage unit until it is needed.

[0096] Figure 27The diagram illustrates the variation in the torque curve based on further input variables. Torque generated by a motor drive can be varied not only according to the coupled degrees of freedom of the joints, but can also be modulated using different or further input signals, or multiple different or further input signals, alternatively or additionally. In particular, sensor values ​​can be used to modulate the torque. For example, absolute angles and / or load variables of the upper and / or lower components, such as force, torque, and lever arms, can be used as further input variables. Signals from human-machine interfaces or artificial intelligence can also be used. Figure 27 This shows the torque M, which acts as a parallel force storage device, during the motion phase. S With the torque M of the motor drive unit A Superimposed torque characteristic curve M Σ The characteristic curve M here Σ It depends both on the driven degree of freedom (the knee angle φ in the example shown) and on an additional signal X, such as the absolute angle of the lower component. Although in the example shown, the torque M generated by the force storage device... S It depends only on the joint angle φ, but the motor torque M A It can vary with both the joint angle φ and the absolute angle X. Figure 27 This shows the variation of stiffness in the M-φ plane under an additional input signal X (i.e., an absolute angle). At X0, the torque M of the force storage device... S Motor torque M A (M A The motor of (X0) is amplified to obtain the total characteristic curve M. Σ At X0, and at absolute angle X1, the total torque (M) Σ X1) is affected by the motor torque M at the angular position X1. A Attenuation. The characteristic curve can be continuously adjusted between two values ​​of X; in the example shown, the adjustment is linear. Motor torque M A The dependence on the input variable X can take any desired continuous or discontinuous form; motor torque M A It may also depend solely on the input variable X.

[0097] Figure 28 The input variables are shown as absolute angle X, joint angle φ, and torque M from the drive unit. A and torque M from the power storage device S as well as Figure 27 The relationship between the total torque of the characteristic surfaces shown.

[0098] Figure 29Two illustrations show a further embodiment of the orthotic joint device. The orthotic joint device has an upper part 10 and a lower part 20, with the lower part 20 only partially shown. There are no lateral structural elements designed to receive pins or shaft elements, so the upper part 10 can pivot relative to the lower part 20 about a pivot axis 15. The upper part 10 is configured with a rotary hydraulic system as a resistance device 30. A hydraulic chamber is arranged inside the rotary hydraulic system 30, in which a pivoting piston is mounted. The hydraulic chamber is coupled, for example, to the lower part 20, while the pivoting piston is coupled to the upper part 10, so that the piston moves within the hydraulic chamber when the upper part 10 pivots relative to the lower part 20. The pivoting piston can, for example, be rigidly formed on a pivot axis coinciding with a pin or shaft element. The pivoting piston divides the chamber into an extension chamber and a flexion chamber, and hydraulic fluid moves from one chamber to the other during pivoting. Alternatively, the pivoting piston can be torsionally coupled to the lower part 20, while the housing is torsionally coupled to the upper part 10. In the exemplary embodiment shown, valve units are assigned to a rotary hydraulic system 30, in which valves 50 are arranged to influence the flow behavior of fluid from one chamber to another. In addition to regulating valves, check valves or multiple regulating or check valves may also be present. The rotary hydraulic system, as the resistance device 30, can be controlled by regulating valves to achieve precise control of the resistance device 30. Force storage devices, such as springs, can be arranged within the hydraulic system and can be actuated by further valves. As an alternative to hydraulic damping devices, magnetorheological hydraulic brakes can also be used as rotary resistance devices 30, or friction-based brakes can be used.

[0099] 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 allowing the drive torque of the drive unit 60 to be adapted to specific 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.

[0100] 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.

[0101] 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 installation space within the joint device can be better utilized. Additional space exists between the drive device 60 and the resistance device 30 to accommodate energy 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.

[0102] Figure 30 An exemplary embodiment of the force storage device 90 is shown, which can provide progressive compression behavior. The force storage device 90 is formed by a plurality of modules 90A, 90B, with two lateral modules 90A surrounding a central module 90B. In one embodiment, the modules 90A, 90B are made of polyester-based polyurethane elastomer. The modules 90A, 90B have different lengths, with the outer module 90A being longer than the central module 90B. In the case where the modules 90A, 90B are in a cylindrical configuration, the outer module 90A has an annular cross-section, and the central module 90B has a preferably cylindrical cross-section that corresponds to and at least partially fills the cavity or cylindrical free space within the module 90A. The different lengths also mean that when a force is applied, the outer module 90A is first axially compressed, and as the compression of the inner module 90B reaches its apex, increased resistance is provided due to the compression of the inner module 90B. 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 90B is compressed. The spring characteristics and force storage capacity can be adjusted by modifying the materials or the dimensions of modules 90A and 90B.

[0103] In addition to progressive spring behavior, the force storage device 90, 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 90, 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 materials 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 adjustability of the system is thus reduced, and noise generation is decreased.

[0104] In one exemplary 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 an outer sleeve 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.

[0105] Figure 31 A schematic diagram of a force storage element 90 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 90 is arranged. A valve may be mounted upstream of the cylinder 34 and the elastomeric module 90. The elastomeric module 90 is supported on a carrier, so that when hydraulic fluid pressure is applied, the elastomeric element 90 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 32 An exemplary embodiment of such an elastomeric module as a force storage element 90 is shown. The force storage element 90 is designed as a substantially cylindrical elastomeric module and has three overflow channels 690 for hydraulic fluid on its outer circumference. This force storage element 90, particularly when combined with a valve-controlled hydraulic system, can be used in both linear and rotary hydraulic systems.

Claims

1. An orthopedic joint device comprising: an upper part (10) and a lower part (20) mounted on each other pivotally relative to each other about a pivot axis (15); and at least one resistance device (30) disposed between the upper part (10) and the lower part (20), the resistance device (30) being configured to influence the pivoting or pivotability of the upper part (10) relative to the lower part (20), characterized in that, A motor drive (60) and at least one force storage device (90) are arranged between the upper part (10) and the lower part (20), which are configured and designed to cause, support or impede the pivoting or pivotability of the upper part (10) relative to the lower part (20).

2. The orthopedic articular device of claim 1, wherein, The resistance device (30) and / or force storage device (90) are configured to be adjustable and / or decouplable.

3. An orthopaedic articular device according to claim 1 or 2, wherein, The resistance device (30) comprises 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 configured, in which at least one adjustable valve (50) is arranged, in particular a multi-way valve with a closed switching position, an open switching position and at least one partially open switching position.

4. An orthopaedic articular device according to any of the preceding claims, characterized in that, The resistance device (30) is configured as a linear damper or a rotary damper.

5. An orthopedic 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 to the upper part (10) and the lower part (20) via a transmission (70).

6. An orthopedic articular device according to any of the preceding claims, characterized in that, A control device (80) is configured for the resistance device (30) and / or force storage device (90) and / or drive device (60), which is coupled to at least one sensor (95) and is designed to activate, deactivate and / or modulate the resistance device (30) and / or force storage device (90) and / or drive device (60) based on the sensor value.

7. An orthopaedic articular device according to any of the preceding claims, characterised in that, The force storage device (90) is configured as a spring or a pressure accumulator.

8. The orthopedic articular device of claim 7, wherein, The spring is configured with an adjustment device for adjusting the spring pretension and / or the spring stiffness.

9. The orthopedic articular device of claim 7, wherein, The pressure accumulator is configured with a pump and / or a valve as an adjustment device.

10. An orthopaedic articular device according to claim 8 or 9, wherein, The adjustment device is the drive device (60).

11. An orthopaedic articular device according to any of the preceding claims, characterized in that, The force storage device (90) and the drive device (60) are arranged in parallel to each other.

12. An orthopaedic articular device according to any of the preceding claims, characterized in that, The force storage device (90) and the resistance device (30) are connected in series.

13. 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 to the resistance device (60) and the force storage device (90) to influence the resistance.

14. The method of claim 13, wherein, The drive device (60) and / or force storage device (90) and / or resistance device (30) are activated, deactivated and / or modulated based on sensor data.

15. The method according to claim 13 or 14, characterized in that, The modulation of the overall properties by the drive device (60) is based on the properties of the resistance device (30) and / or force storage device (90).

16. The method according to any one of claims 13 to 15, characterized in that, The energy stored in the force storage device (90) is converted into electrical energy by the drive device (60) and vice versa.

17. The method according to any one of claims 13 to 15, characterized in that, The force storage device (90) is decoupled and kept in a loaded state.

18. The method according to any one of claims 13 to 17, characterized in that, The drive device (60) is operated such that the effect of the resistance device (30) is cancelled.

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