Exoskeleton and methods for moving an exoskeleton
The exoskeleton design addresses the bulkiness and joint overloading issues of existing servomotor systems by positioning the drive mechanism at the base and using linear drives for controlled shear movements, effectively supporting natural joint movement and rehabilitation.
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- HTWK LEIPZIG HOCHSCHULE FUR TECHN WIRTSCHAFT & KULTUR LEIPZIG
- Filing Date
- 2019-12-27
- Publication Date
- 2026-06-18
AI Technical Summary
Existing exoskeletons with servomotors for joint movement are bulky and limit the ability to treat contractures, particularly in finger rehabilitation, as they restrict natural movement and can overload diseased joints.
The exoskeleton design positions the drive mechanism at the base, connecting two sections of the exoskeleton, allowing for a slim and controlled movement sequence by using linear drives that apply force through shear movements, preserving natural joint movement and avoiding overloading.
Enables controlled and targeted force application across multiple joints, restoring natural finger movement while preventing overloading of diseased joints, suitable for rehabilitation and contracture prevention.
Smart Images
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Abstract
Description
[0001] The present invention relates to an exoskeleton according to the preamble of claim 1 and a method for moving an exoskeleton according to the preamble of claim 11.
[0002] Exoskeletons are external support structures for organisms. Artificial exoskeletons are primarily used as orthoses for humans and animals to protect specific body parts or to support or enhance movement.
[0003] While exoskeletons with servomotors that move the joints are already known, these are very bulky and therefore have limited use for finger rehabilitation. Furthermore, their mechanism limits their ability to treat contractures.
[0004] WO 95 / 10 396 A1 relates to a device for providing feedback (force feedback) to a hand or the like. The device comprises two parts: an exoskeleton hand section and an exoskeleton wrist section. The exoskeleton hand section includes a backplate and various fingers. Motors with drive pulleys and traction cables are arranged on the backplate. Each motor is connected to individual finger sections and engages in grooves. The fingers are designed to encompass individual limbs of a hand. The individual parts are connected to each other via appropriate joints.
[0005] WO 2017 / 072463A1 concerns a motorized exoskeleton for the hand with individual, finger-encompassing parts. The exoskeleton contains motors connected to the ends of cables extending from the tip of the hand to the base of the wrist, guided through channels in the other parts. These cables run along the palm side and serve for grasping. Elastic bands on the back of the hand act as extensors.
[0006] WO 2019 / 221 604 A1 shows an exoskeleton glove with individual parts that are coupled to each other via joints and can be moved via a lever mechanism.
[0007] WO 2019 / 033 001 A1 shows an exoskeleton that encompasses the hand and is designed to support hand movement. Here too, individual parts are provided, each encompassing a finger joint. These parts are connected to each other by joints and driven by individual cables.
[0008] The object of the present invention is to provide an exoskeleton with which the movement sequence in the joints of humans and animals can be specifically supported. This is intended primarily for use in rehabilitation. In particular, it should enable controlled movement sequences in the case of several joints arranged one behind the other, as is the case with fingers, so that a restoration of the natural range of motion of the fingers, which are restricted by a type of contracture, is made possible, while at the same time avoiding overloading of diseased joints.
[0009] This problem is solved with the exoskeleton according to claim 1 and the method according to claim 11 for moving an exoskeleton. Advantageous further developments are given in the dependent claims and in the following description together with the figures.
[0010] The inventors recognized that this problem could be solved surprisingly easily by arranging the drive mechanism for a joint of the exoskeleton, which movably connects two sections, at the same base where one section is located. This drive mechanism then transmits a force to the second section. This allows the exoskeletons to be designed very slimly because the drive mechanism is no longer located within the joint itself, thus preserving the natural movement of the limbs and body joints.
[0011] The exoskeleton according to the invention, comprising at least a first part adapted to hold and move two first and second limbs of a human or animal connected to a body joint axis via a first body joint, wherein the first part has a first subsection and a second subsection, wherein the first subsection is assigned to the first limb and the second subsection to the second limb, wherein the first subsection is arranged at a base of the exoskeleton and the second subsection of the first part is connected to the first subsection of the first part via a first exoskeleton joint having an exoskeleton joint axis, is characterized in that a first drive is arranged at the base which can introduce a force into the second subsection of the first part in such a way thatthat the second subsection of the first part is pivoted relative to the first subsection of the first part about the exoskeleton joint axis of the first exoskeleton joint of the first part.
[0012] The exoskeleton is preferably an orthosis that can be used particularly for finger and / or hand rehabilitation. However, the exoskeleton according to the invention can also be used advantageously for other limbs, for example for the arm with the shoulder, elbow and wrist, as well as for the legs with the hip, knee and ankle joints.
[0013] According to the invention, at least a second part is provided which is adapted to hold and move two third and fourth limbs of a human or animal connected to a body joint axis via a second body joint, wherein the second part has a first subsection and a second subsection, the first subsection being assigned to the third limb and the second subsection to the fourth limb, wherein the first subsection of the second part is arranged at the base of the exoskeleton and the second subsection of the second part is connected to the first subsection of the second part via a first exoskeleton joint having an exoskeleton joint axis, wherein preferably a second drive is arranged at the base which can introduce a force into the second subsection of the second part in such a way thatthat the second section of the second part is pivoted relative to the first section of the second part about the exoskeleton joint axis of the first exoskeleton joint of the second part. Then, several joints of different limbs of the human or animal can be supported and moved simultaneously.
[0014] In a preferred embodiment, the drive is a linear drive. This allows for very controlled and targeted force application. "Linear drives" within the meaning of the present invention are primarily drives that do not initiate a rotational movement, but rather a translational movement, particularly a shear movement.
[0015] In a preferred embodiment, the drive system includes a drive element located on the first section. This allows for particularly controlled force application and enables movement even when joints are temporarily stiff.
[0016] In a preferred embodiment, the drive element is designed to have a longitudinal extension and to be non-deformable in the longitudinal direction, but deformable in at least one direction transverse to the longitudinal direction, in particular elastically deformable. This allows the force to be applied exclusively by a shear movement, resulting in highly controlled force application and enabling movement even when intermediate joints are rigid.
[0017] In a preferred embodiment, the drive element has a lower bending moment in the direction parallel to the articulation direction of the part than in the direction perpendicular to the bending direction and perpendicular to the longitudinal direction of the drive element. This ensures that the elastic deformation of the drive element occurs selectively only in the articulation direction. To achieve this bending moment distribution, the drive element can, for example, have a rectangular cross-section whose height is less than, preferably less than or equal to half, and in particular less than or equal to one-quarter of its width, with the width being arranged perpendicular to the articulation direction of the part and the height parallel to the articulation direction.
[0018] In a preferred embodiment, the drive element is provided with a sliding or floating bearing. This makes it very easy to introduce the force via a sliding motion. Furthermore, the force can be easily transmitted across one or more pivot points, for example, to the fingertips.
[0019] In a preferred embodiment, the drive mechanism is rigidly connected only to the base and a subsection, but not to at least one, preferably all, exoskeleton joints located between the base and the subsection. This allows movement of individual body joints even when one or more body joints are inhibited or restricted in their movement.
[0020] In a preferred embodiment, the drive mechanism is a push belt, push wire, push cylinder, push chain, or the like. This allows for very simple implementation of the push motion across the exoskeleton joint, while still enabling a pull motion.
[0021] In a preferred embodiment, the drive element runs within a pressure-resistant casing, the casing preferably being rigidly connected to the subsections of the part, and in particular being an integral part of the subsections of the part. This could, for example, be a Bowden cable or the like.
[0022] In a preferred embodiment, the sliding or floating bearing is positioned at a distance from the axis of rotation of the exoskeleton joint. This allows for large bending radii and enables the pivoting of the exoskeleton joints to be performed with very little force, thus effectively preventing buckling of the drive element.
[0023] In a preferred embodiment, the sliding or floating bearing is located above each exoskeleton joint of the part, and the drive element is fixed only to the second section and arranged to be driven on the first section. This allows the force to be applied in such a way that all exoskeleton joints can pivot without individual joints being able to block others.
[0024] In a preferred embodiment, a covering element is provided that covers the gap between the two sections when one section pivots relative to the other about the intervening exoskeleton hinge, thus preventing the drive element from protruding from the gap. This prevents the drive element from emerging and, in extreme cases, from failing to transmit force. Furthermore, buckling of the drive element is prevented, resulting in a particularly durable exoskeleton.
[0025] Such a covering element can consist of a scale or similar structure arranged on one of the two sections. The covering element can also consist of part of a glove attached to the exoskeleton body. Alternatively, the covering element can consist of a flexible component, for example, in the form of an accordion-style section between the two sections.
[0026] In a preferred embodiment, at least a third subsection of the part is provided, located between the first exoskeleton joint of the part and the second subsection, with a second exoskeleton joint of the part located between the third subsection and the second subsection. This allows for highly controlled movement of any subsection, with force always being applied to the foremost subsection and the intermediate subsections being moved by a controlled movement. This controlled movement, however, takes into account the resistances in the individual joints, so that joints with higher resistance cannot be overloaded, since joints with lower resistance are always pivoted first.
[0027] In a preferred further development, it is provided that the subsections of the part and / or the exoskeleton joints of the part are adapted, at least in some areas, to at least partially encompass the associated limbs. This results in very good support for the limbs and associated joints of the human or animal.
[0028] According to the invention, at least one exoskeleton joint of one part overlaps an exoskeleton joint of another part. Preferably, this overlapping is achieved by a bracket, wherein a first end of the bracket is arranged at the exoskeleton joint of one part and a second end of the bracket is pivotally arranged behind the exoskeleton joint of the other part with respect to the exoskeleton joint of the first part, the second end being pivotally arranged, in particular, at the base. This allows the exoskeleton to remain very slim, even with several parallel links, as is the case, for example, with hands, and the links can be easily moved independently of one another. Advantageously, the axis of rotation or pivot point of the corresponding exoskeleton joint is shifted outwards so that the axis of rotation or pivot point of the first part is not affected.The pivot point lies outside the hand but still on the joint axis of the relevant body joint, because then the natural movement pattern of the body joint is preserved. If the exoskeleton joint is only supported on one side, then a basic flexibility against lateral pivoting of the body joint is maintained. This is particularly necessary when making a full fist, because the fingers move in a circular path.
[0029] In a preferred further development, the exoskeleton is dimensioned such that the exoskeleton joint axis of at least one exoskeleton joint is identical to the body joint axis of a body joint associated with the exoskeleton joint. This results in very gentle force transmission to the joints, particularly without shearing movements.
[0030] However, the present invention can be used not only in the medical field for exoskeletons, but generally for any connection constructions, for example in robotics.
[0031] Furthermore, independent protection is claimed for the inventive method for moving an exoskeleton with at least one first part adapted to hold and move two first and second limbs of a human or animal connected to a body joint axis via a first body joint, wherein the exoskeleton has a first subsection and a second subsection, wherein the first subsection is assigned to the first limb and the second subsection to the second limb, wherein the first subsection is arranged at a base of the exoskeleton and the second subsection of the first part is connected to the first subsection of the first part via a first exoskeleton joint having an exoskeleton joint axis, wherein a first drive is arranged at the base which introduces a force into the second subsection of the first part in such a way thatthat the second subsection of the first part is pivoted relative to the first subsection of the first part about the exoskeleton joint axis of the first exoskeleton joint of the first part, wherein at least a second part is configured to hold and move two third and fourth limbs of the human or animal connected to a body joint axis via a second body joint, wherein the second part has a first subsection and a second subsection, the first subsection being assigned to the third limb and the second subsection to the fourth limb, the first subsection of the second part being arranged at the base of the exoskeleton, and the second subsection of the second part being connected to the first subsection of the second part via a first exoskeleton joint having an exoskeleton joint axis, which is characterized bythat at least one exoskeleton joint of one part overlaps an exoskeleton joint of another part, wherein a first end of the bracket is arranged at the exoskeleton joint of one part and a second end of the bracket is articulated behind the exoskeleton joint of the other part with respect to the exoskeleton joint of one part.
[0032] The features and further advantages of the present invention will become clear below with reference to the description of a preferred embodiment in conjunction with the figures. These figures show, purely schematically: Fig. 1 the exoskeleton according to the invention in a perspective view, Fig. 2 the exoskeleton according to the invention Fig. 1 in a side sectional view, Fig. 3 the exoskeleton according to the invention Fig. 1 in a first detailed view A, Fig. 4 the exoskeleton according to the invention Fig. 1 in a top view, Fig. 5 the exoskeleton according to the invention Fig. 1 in a top view from below, Fig. 6 the exoskeleton according to the invention Fig. 1 in a second detailed view B, Fig. 7 the exoskeleton according to the invention Fig. 1 in a third detailed view C and Fig. 8 the exoskeleton after Fig. 1 in conjunction with a human hand in a partial sectional view.
[0033] In the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 to Fig. Figure 8 shows the exoskeleton 10 according to the invention in different views. Fig. Figure 2 shows a section. Fig. 3 shows detail A from Fig. 2. Fig. 6 shows detail B from Fig. 5 and Fig. 7 shows detail C from Fig. 5, with the exoskeleton 10 in Fig. 5 and Fig. Figure 8 is not shown in its entirety for the sake of clarity.
[0034] The Exoskeleton 10 is used as an orthosis for the rehabilitation of a patient's hand (not shown). The Exoskeleton 10 is primarily made of a thermoplastic, such as PLA (polylactic acid), but can also be made of metal, ceramic, a sintered material, or combinations thereof. The chosen material is advantageous because it is 3D printable, allowing for very precise adjustments to the exact dimensions of the body parts.
[0035] It can be seen that the exoskeleton 10 has an exoskeleton body 11 with a base 12 on which five drives 14a, 14b, 14c, 14d, 14e are arranged. In addition, five first subsections 16 are formed on the base 12, each of which is assigned to five different parts 18a, 18b, 18c, 18d, 18e (for the sake of clarity, in Fig. 5 (the fifth part 18e not fully shown). The first subsections 16 cover the metacarpal bones and are firmly connected to each other as components of the base 12.
[0036] Between the first subsections 16 and the second subsections 20a, 20b, 20c, 20d, 20e of the five parts 18a, 18b, 18c, 18d, 18e there are third subsections 22a, 22b, 22c, 22d, 22e and with regard to the parts 18a, 18b, 18c and 18d, which are assigned to the fingers, there are also fourth subsections 24a, 24b, 24c, 24d.
[0037] Between the first subsections 16 and the fourth subsections 24a, 24b, 24c, 24d or between the first subsection 16 for the thumb and the third subsection 22e for the thumb there are first exoskeleton joints 26a, 26b, 26c, 26d, 26e.
[0038] Between the second subsections 20a, 20b, 20c, 20d, 20e and the third subsections 22a, 22b, 22c, 22d, 22e there are second exoskeleton joints 28a, 28b, 28c, 28d, 28e.
[0039] Between the third subsections 22a, 22b, 22c, 22d for the fingers and the fourth subsections 24a, 24b, 24c, 24d for the fingers there are third exoskeleton joints 30a, 30b, 30c, 30d.
[0040] The exoskeleton joints 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d, 26e arranged on the third sections 22a, 22b, 22c, 22d, 22e each have a joint head 32 on both sides, which is guided in a corresponding joint fork 34. The joint heads 32 are arranged on the third sections 22a, 22b, 22c, 22d, 22e, allowing the parts 18a, 18b, 18c, 18d, 18e to be kept very slim in this area. Thus, there is no joint structure above the body limbs.
[0041] The first exoskeleton joint 26a of the first part 18a and the first exoskeleton joint 26d of the fourth part 18d are each only supported on one side, i.e., there is only one joint head 36 which is supported in a joint fork 38, with the joint head 36 being located on the first subsection 16 and thus on the base 12.
[0042] The first exoskeleton joint 26b of the second part 18b and the first exoskeleton joint 26c of the third part 18c are each supported on only one side, i.e., there is only one joint head 40, which is supported in a joint fork 42, with the joint head 40 being located on the first subsection 16 and thus on the base 12. The joint head 42 is arranged on a joint bracket 44, 44', which is rigidly connected to the fourth subsection 24b, 24c. The joint bracket 44 of the second part 18b overlaps the first exoskeleton joint 26a of the first part 18a, and the joint bracket 44' of the third part 18c overlaps the fourth exoskeleton joint 26d of the fourth part 18d.
[0043] This design, with unilaterally supported first exoskeleton joints 26a, 26b, 26c, 26d, and the unilateral support of the middle first exoskeleton joints 26b, 26c being shifted outwards via joint brackets 44, 44', allows the entire exoskeleton 10 to be kept very slim, thus providing very ergonomic and comfortable support for the hand 64 it accommodates. Furthermore, this design requires almost no space between the fingers 68, enabling a complete fist closure without any additional structure above the limbs.
[0044] In Fig. 4 are the reference symbols for the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d. For the sake of clarity, these reference symbols are assigned to the positions of the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d, but not to the actual joint heads 32, 36, 40 and joint forks 34, 38, 42.
[0045] The drives 14a, 14b, 14c, 14d, 14e are each linear drives which have a drive means 46 in the form of a push belt, which is guided in guide channels 48 of the subsections 20a, 20b, 20c, 20d, 20e, 22a, 22b, 22c, 22d, 22e, 24a, 24b, 24c, 24d.
[0046] These guide channels 48 are themselves rigid and thus form a loose and sliding bearing for the push belt 46, which is attached to the second section 20a, 20b, 20c, 20d, 20e. This provides positive guidance 50 for the respective push belts 46.
[0047] The shear bands 46 are inflexible in the shear and tension directions, i.e., along the longitudinal extent of the shear bands, and also transversely to the longitudinal extent, i.e., parallel to the width of the guide channels 48. Transversely to the longitudinal extent in the direction of the height of the guide channels 48, the shear bands are elastically flexible to allow for a corresponding shape adjustment of the shear bands 46 when the individual exoskeleton joints 26a, 26b, 26c, 26d, 26e pivot, without causing plastic deformation. The material, for example a polyamide such as PA66 (nylon), or a spring steel, is elastic in the bending direction such that plastic deformation only occurs at a bending angle (α) of 110° or greater at a bending radius (r). i ) of 5mm. is present.
[0048] The drives 14a, 14b, 14c, 14d, 14e have any drive mechanisms capable of transmitting a push and pull motion to the push belts 46. In the illustrated embodiment, these are drive motors 52, for example stepper or servo motors 52, which unwind or wind the push belt 46 around an axis 54 on a drive wheel 55, thereby causing the push belt 46 to be pushed or pulled. The push belts 46 are mounted in housings 56, which are closed by a cover 58. The cover is attached not only to the housing 56 but also to a mounting point 60 of the guide channel 48.
[0049] The linear movement of the shear bands 46 causes them to extend or retract relative to the respective guide channel 48. Because the guide channel 48 is located at a distance from the pivot point of the respective exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d, this extension or retraction of the shear bands 46 results in a moment being introduced into the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d, causing these exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d are pivoted, i.e., the subsections 16, 20a, 20b, 20c, 20d, 20e, 22a, 22b, 22c, 22d, 22e, 24a, 24b, 24c, 24d connected to the respective exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d are pivoted relative to each other.
[0050] By fixing the shear bands 46 at two points on the first sections 16 or the base 12 on one side and the second sections 20a, 20b, 20c, 20d, 20e on the other side of the shear bands 46 and by the forced guidance 50 of the shear bands 46, all exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d of the respective parts 18a, 18b, 18c, 18d, 18e can be pivoted simultaneously.
[0051] In practice, this means that the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d whose corresponding human body joints exhibit the least resistance are pivoted first. Thus, the "healthy" body joints are pivoted first, before the force is applied to the "diseased" body joints.
[0052] The exoskeleton 10 has a fabric glove 62 fixed around the exoskeleton body 11 (in Fig. (8 partially shown) in which the human hand 64 of a patient can be received. More precisely, the glove has a standard receiving space 66 for the patient's hand 64, which is designed to fit as precisely as possible to allow for accurate guidance of the fingers 68. Above the top of the receiving space 66, there is a space 70 for the exoskeleton body 11, so that the exoskeleton body 11 is completely concealed within the glove 62.
[0053] The gloves 62 and the partial clasping of the fingers 66 of the human hand by the bridges 72, 74 of the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d provide excellent stabilization of the fingers 66, enabling controlled force transmission. Furthermore, the bridges 72, 74 are dimensioned such that the axes of rotation of the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d coincide with the axes of rotation of the corresponding human body joints.
[0054] In Fig.Figure 3 shows an example of a scale 76 which, as a covering means, covers the gap 78 between the two sections 22b and 24b that results when one section 22b pivots relative to the other section 24b about the exoskeleton joint 30b arranged between them, in such a way that the drive element 46 is prevented from protruding from the gap. This ensures a continuous power transmission through the drive element 46 without the risk of buckling of the drive element 46.
[0055] As has become clear from the foregoing description, the present invention provides an exoskeleton 10 with which the movement sequence in the joints of humans and animals can be specifically supported and guided. The exoskeleton 10 according to the invention is particularly well suited for use in rehabilitation, but also in contracture prophylaxis and for movement support. Especially in the case of several joints arranged in series, as is the case with fingers, a very well-controlled movement sequence can be achieved, thus enabling the restoration of the natural range of motion of fingers that are restricted by a type of contracture, while at the same time avoiding overloading of diseased joints.
[0056] Unless otherwise stated, all features of the present invention may be freely combined with one another. The features described in the figure description may also, unless otherwise stated, be freely combined with the other features of the invention. A restriction of individual features of the exemplary embodiment to combinations with other features of the exemplary embodiment is expressly not intended. Furthermore, material features may be reformulated and used as process features, and vice versa. Such a reformulation is therefore automatically disclosed. Reference symbol list 10 exoskeleton according to the invention 11 exoskeleton bodies 12 Base 14a, 14b, 14c, 14d, 14e Drives, for example with linear motors 16 first subsections 18a, 18b, 18c, 18d, 18e parts 20a, 20b, 20c, 20d, 20e second subsections 22a, 22b, 22c, 22d, 22e third subsections 24a, 24b, 24c, 24d fourth subsections 26a, 26b, 26c, 26d, 26e first exoskeleton joints 28a, 28b, 28c, 28d, 28e second exoskeleton joints 30a, 30b, 30c, 30d third exoskeleton joints 32 Joint head 34 Joint fork 36 Joint head 38 Joint fork 40 Joint head 42 Joint fork 44, 44' articulated bracket 46 Drive means, push belt 48 Guide channels of the subsections 20a, 20b, 20c, 20d, 20e, 22a, 22b, 22c, 22d, 22e, 24a, 24b, 24c, 24d, loose and sliding bearing for the shear belt 46 50 Forced guidance for the respective push belt 46 52 drive motors 54 axle 55 drive wheel 56 cases 58 lids 60 Mounting point of the guide channel 48 62 Fabric glove 64 human hand 66 Recording space for the hand 64 68 fingers 70 Space for the exoskeleton body 11 72, 74 webs of the exoskeleton joints 26a, 26b, 26c, 26d, 26e, 28a, 28b, 28c, 28d, 28e, 30a, 30b, 30c, 30d 76 scale 78 Gap between subsections 22b, 24b
Claims
Exoskeleton (10) comprising at least one first part (18a, 18b, 18c, 18d, 18e) adapted to hold and move two first and second limbs of a human or animal connected to a body joint axis via a first joint, wherein the first part (18a, 18b, 18c, 18d, 18e) has a first subsection (16) and a second subsection (20a, 20b, 20c, 20d, 20e), wherein the first subsection (16) is associated with the first limb and the second subsection is associated with the second limb, wherein the first subsection (16) is arranged at a base (12) of the exoskeleton (10) and the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) is connected to the first subsection (16) of the first part (18a, 18b, 18c, 18d, 18e) via a first exoskeleton joint (26a, 26b, 26c, 26d, 26e) which has an exoskeleton joint axis, wherein a first drive (14a, 14b, 14c, 14d, 14e) is arranged at the base (12),which can introduce a force into the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) such that the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) is pivoted relative to the first subsection (16) of the first part (18a, 18b, 18c, 18d, 18e) about the exoskeleton joint axis of the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of the first part (18a, 18b, 18c, 18d, 18e), wherein at least a second part (18a, 18b, 18c, 18d, 18e) which is adapted to hold and move two third and fourth limbs of a human or animal connected to a joint axis via a second joint, wherein the second part (18a, 18b, 18c, 18d, 18e) has a first subsection (16) and a second subsection (20a, 20b, 20c, 20d, 20e), wherein the first subsection (16) is assigned to the third limb and the second subsection (20a, 20b, 20c, 20d, 20e) is assigned to the fourth limb,wherein the first subsection (16) of the second part (18a, 18b, 18c, 18d, 18e) is arranged at the base (12) of the exoskeleton (10) and the second subsection (20a, 20b, 20c, 20d, 20e) of the second part (18a, 18b, 18c, 18d, 18e) is connected to the first subsection (16) of the second part (18a, 18b, 18c, 18d, 18e) via a first exoskeleton joint (26a, 26b, 26c, 26d, 26e) having an exoskeleton joint axis, characterized in that the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of a part (18a, 18b, 18c, 18d, 18e) the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of another part (18a, 18b, 18c, 18d, 18e) overlaps. Exoskeleton (10) according to claim 1, characterized in that a second drive (14a, 14b, 14c, 14d, 14e) is arranged at the base (12), which can introduce a force into the second subsection (20a, 20b, 20c, 20d, 20e) of the second part (18a, 18b, 18c, 18d, 18e) such that the second subsection (20a, 20b, 20c, 20d, 20e) of the second part (18a, 18b, 18c, 18d, 18e) is displaced relative to the first subsection (16) of the second part (18a, 18b, 18c, 18d, 18e) about the exoskeleton joint axis of the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of the second part (18a, 18b, 18c, 18d, 18e) is shifted. Exoskeleton (10) according to claim 1 or 2, characterized in that the drive (14a, 14b, 14c, 14d, 14e) is a linear drive and / or that the exoskeleton (10) is an orthosis, preferably for finger or hand rehabilitation. Exoskeleton (10) according to one of the preceding claims, characterized in that the drive (14a, 14b, 14c, 14d, 14e) has a drive means (46), wherein the drive means (46) is arranged on the first partial section (16), and / or wherein the drive means (46) has a longitudinal extension and is not deformable in the longitudinal direction and is deformable in at least one direction transverse to the longitudinal direction, in particular elastically deformable, and / or wherein the drive means (46) has a sliding or floating bearing. Exoskeleton (10) according to claim 4, characterized in that the drive means is a push belt (46), a push wire, a push cylinder or a push chain and / or that the drive means (46) runs in a pressure-resistant shell, wherein the shell is preferably firmly connected to the subsections of the part (18a, 18b, 18c, 18d, 18e), in particular being an integral part of the subsections of the part (18a, 18b, 18c, 18d, 18e). Exoskeleton (10) according to one of claims 4 or 5, characterized in that the sliding or loose bearing extends at a distance from the axis of rotation of the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) and / or that the sliding or loose bearing exists over each first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of the part (18a, 18b, 18c, 18d, 18e) and the drive means (46) is fixed only on the second subsection (20a, 20b, 20c, 20d, 20e) and is arranged to be driven on the first subsection (16). Exoskeleton (10) according to one of the preceding claims, characterized in that at least a third subsection (22a, 22b, 22c, 22d, 22e) of the part (18a, 18b, 18c, 18d, 18e) consists of a section located between the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of the part (18a, 18b, 18c, 18d, 18e) and the second subsection (20a, 20b, 20c, 20d, 20e) of the part (18a, 18b, 18c, 18d, 18e), wherein a second exoskeleton joint (28a, 28b, 28c, 28d, 28e) of the part (18a, 18b, 18c, 18d, 18e) between the third subsection (22a, 22b, 22c, 22d, 22e) of the part (18a, 18b, 18c, 18d, 18e) and the second subsection (20a, 20b, 20c, 20d, 20e) of the part (18a, 18b, 18c, 18d, 18e). Exoskeleton (10) according to one of the preceding claims, characterized in that the partial sections of the part (18a, 18b, 18c, 18d, 18e) and / or the exoskeleton joints (26a, 26b, 26c, 26d, 26e) of the part (18a, 18b, 18c, 18d, 18e) are adapted at least partially to encompass the associated links. Exoskeleton (10) according to one of the preceding claims, characterized in that the overlapping is effected by a bracket (44, 44'), wherein a first end of the bracket (44, 44') is arranged at the exoskeleton joint of one part (18a, 18b, 18c, 18d, 18e) and a second end of the bracket (44, 44') is pivotally arranged with respect to the exoskeleton joint of one part behind the exoskeleton joint of the other part (18a, 18b, 18c, 18d, 18e), wherein the second end is pivotally arranged in particular at the base (12). Exoskeleton (10) according to one of the preceding claims, characterized in that the exoskeleton (10) is dimensioned such that the exoskeleton joint axis of at least one exoskeleton joint (26a, 26b, 26c, 26d, 26e) is identical to the body joint axis of a body joint associated with the exoskeleton joint (26a, 26b, 26c, 26d, 26e) and / or that a covering means (76) is provided which covers the gap (78) between the two sections that results when one section is pivoted relative to the other section about the exoskeleton (10) arranged between them, in such a way that the drive means (46) is prevented from emerging from the gap (78). Method for moving an exoskeleton (10) with at least one first part (18a, 18b, 18c, 18d, 18e) adapted to hold and move two first and second limbs of a human or animal connected to a body joint axis via a first body joint, wherein the first part (18a, 18b, 18c, 18d, 18e) comprises a first subsection (16) and a second subsection (20a, 20b, 20c, 20d, 20e), wherein the first subsection (16) is assigned to the first limb and the second subsection to the second limb, wherein the first subsection (16) is arranged at a base (12) of the exoskeleton (10) and the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) is connected to the first subsection (16) of the first part (18a, 18b, 18c, 18d, 18e) via a first exoskeleton joint (26a, 26b, 26c, 26d, 26e) which has an exoskeleton joint axis, wherein a first drive (14a, 14b, 14c, 14d,14e) is arranged at the base (12), wherein the first drive (14a, 14b, 14c, 14d, 14e) introduces a force into the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) such that the second subsection (20a, 20b, 20c, 20d, 20e) of the first part (18a, 18b, 18c, 18d, 18e) is displaced relative to the first subsection (16) of the first part (18a, 18b, 18c, 18d, 18e) about the exoskeleton joint axis of the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of the first part (18a, 18b, 18c, 18d, 18e) is pivoted, comprising at least a second part (18a, 18b, 18c, 18d, 18e) adapted to hold and move two third and fourth limbs of the human or animal connected to a body joint axis via a second body joint, wherein the second part (18a, 18b, 18c, 18d, 18e) has a first subsection (16) and a second subsection (20a, 20b, 20c, 20d, 20e),wherein the first subsection (16) is assigned to the third member and the second subsection (20a, 20b, 20c, 20d, 20e) to the fourth member, wherein the first subsection (16) of the second part (18a, 18b, 18c, 18d, 18e) is arranged at the base (12) of the exoskeleton (10) and the second subsection (20a, 20b, 20c, 20d, 20e) of the second part (18a, 18b, 18c, 18d, 18e) is connected to the first subsection (16) of the second part (18a, 18b, 18c, 18d, 26e) via a first exoskeleton joint (26a, 26b, 26c, 26d, 26e) having an exoskeleton joint axis 18e) is connected, characterized in that the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of one part (18a, 18b, 18c, 18d, 18e) overlaps the first exoskeleton joint (26a, 26b, 26c, 26d, 26e) of another part (18a, 18b, 18c, 18d, 18e).