Device for movable storage, movement and / or gripping of a leg, system comprising two such devices and methods for operating them.

Abstract

The invention relates to a device (10, 100) for movably mounting a leg, comprising a base (12, 112); a first support (14, 114); a second support (16, 116); a sensor assembly (18, 118); and a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 100) associated with a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12) is pivotally connected to the first support (14) by means of a first arm (22), and the second support (16) is pivotally connected to the first support (14) or the first arm (22) by means of a second arm (24);or wherein a support structure (102) with at least a first pair of deflection pulleys (104) and a second pair of deflection pulleys (106) is arranged on the base (112), and wherein the first support (114) is connected to a first pull rope (108) which is connected to the base (112) via the first pair of deflection pulleys (104); and the second support (116) is connected to a second pull rope (109) which is connected to the base (112) via the second pair of deflection pulleys (106). The present invention further relates to a system with two such devices and to methods for operating the device and the system.

Description

[0001] The present invention relates to a device for movably supporting, moving and / or gripping a leg, a system comprising two such devices and a method for operating such a device and a method for operating such a system.

[0002] Nowadays, the extremities, such as the legs, of people who do physical work are often exposed to high and continuous strain. There are jobs that require a lot of standing or walking during work. This leads to high and continuous strain on the legs, so that after a full day at work, the only thing left to do is rest, particularly in a sitting or lying position. While this is understandable, it is ultimately detrimental to the health of people who then spend their free time essentially "sedentary." What would be more desirable is that people take advantage of joint-friendly opportunities for simple, low-impact movements during their free time. Such simple, low-impact movements would also be beneficial in a rehabilitation setting, for example after operations or injuries, whereby a recording function would also be desirable.

[0003] The present invention is based on the object of providing a device, a system with two such devices and methods for operating such a device and such a system, with the aid of which the above-mentioned problems can be solved or at least mitigated.

[0004] This object is achieved by a device having the features of independent claim 1, a system having the features of independent claim 11 and the methods having the features of the independent claims 12 and 13, respectively.

[0005] Advantageous embodiments arise from the dependent claims.

[0006] A device for movably supporting a leg is described, comprising a base; a first support; a second support; a sensor system; and a control device configured to control and / or monitor at least one function of the device associated with a spatial movement of the two supports; wherein the base is pivotally connected to the first support by means of a first arm, and the second support is pivotally connected to the first support or the first arm by means of a second arm; or wherein a support structure having at least a first pair of deflection pulleys and a second pair of deflection pulleys is arranged on the base, and wherein the first support is connected to a first traction cable, which is connected to the base via the first pair of deflection pulleys; and the second support is connected to a second traction cable, which is connected to the base via the second pair of deflection pulleys.

[0007] In the context of the present application documents, the "movable mounting" of a leg is understood to mean, for example, force-free mounting in a suspended resting position. The term "suspended" refers to the possibility of moving the leg in any possible (spatial) direction, starting from a resting position in which the leg is mounted without force. The resting position achieved by the device then corresponds to a zero position of the force-free mounted leg. The base belonging to the device can, for example, define a lower part of the device that supports the rest of the device. The base can serve as a stand for the entire device, support it in its entirety, and be placed independently and freely on a floor.The term "support" used here, specifically the first support and the second support, can be understood in the context of the present application documents to mean, for example, padded surfaces on which individual areas of the leg to be supported in a force-free manner can be placed. For example, the first support can be designed as a support surface for a thigh and the second support as a support for a lower leg. Alternatively, the first support can be designed as a support for a lower leg and the second support as a support for a foot. The dimensions of the supports can be suitably selected based on the intended use, whereby a support intended for supporting a thigh can, for example, be larger, in particular wider, than a support intended for supporting a lower leg.In the context of the present application documents, an "articulated" connection can be understood as a connection consisting of at least two segments which can be pivoted relative to one another at their common connection point. The pivotability existing within the scope of the articulated connection can be present in one or two planes. Pivotability in one plane can be realized, for example, by a linear joint in which one segment is pivoted relative to the other segment about a fixed axis of rotation. Pivotability in two planes can be realized, for example, by a ball joint in which one segment can be pivoted as desired relative to the other segment. Such pivotability can be realized, for example, by two mutually perpendicular axes of rotation, both of which can be used simultaneously.Additional articulation points within the first arm and / or the second arm can be added if necessary in order to adapt the existing range of motion of the two supports and the existing restoring forces that act on the two supports and hold them in a defined "zero position" to the external conditions predetermined by the supported leg. In the context of the present application documents, the term "supporting structure" can be understood to mean an essentially stiff, rigid structure that can be used as a fixed attachment point for any movable components. With the help of the described device, a joint-friendly option for simple, low-stress movements of a leg can be provided. The device can have a stool-like function and can be used in a sitting or lying position.The device can therefore be freely positioned in front of any piece of seating or reclining furniture and used together with it while the user is sitting or lying down.

[0008] If the base is articulated to the first support by means of the first arm and the second support is articulated to the first support or the first arm by means of the second arm, it can advantageously be provided that the first arm mounts the first support relative to the base so that it can be rotated and tilted, and that the second arm mounts the second support relative to the first support or the first arm so that it can pivot. In this way, the natural movement of the supported leg can be simulated by means of the device, with the freedom of movement of the hip joint designed as a ball joint being simulated by the rotatable and tiltable mounting of the first support relative to the base, and the freedom of movement of the knee joint being simulated by the simple pivotability of the second support relative to the first support or the first arm.Accordingly, the possible relative positioning of the two supports of the device usually always corresponds to positions into which the supported leg can be easily brought.

[0009] If the base is pivotally connected to the first support by means of the first arm and the second support is pivotally connected to the first support or the first arm by means of the second arm, it can usefully be provided that the first arm comprises a plurality of first arm sections, each of which is pivotally connected to one another by an angle gamma, and that the first arm sections are braced against one another by means of elastic tensioning elements, so that pivoting of the first arm sections by the respective intermediate angle gamma is counteracted. In this way, a rest position of the first support (relative to the base) can be precisely preset and, at the same time, a restoring force (or torque), which drives the first support back to the predetermined rest position after a deflection, can also be individually adjusted.Because the restoring forces can be adjusted using the elastic tensioning elements, they can easily be adapted to the weight of the leg being supported, for example, by changing / adjusting the existing tensioning forces. The elastic tensioning elements can be designed as elastic ropes or bands, for example. It is also possible, for example, to use spring elements in the form of simple compression or tension springs together with non-elastic ropes or bands.

[0010] If the base is pivotally connected to the first support by means of the first arm and the second support is pivotally connected to the first support or the first arm by means of the second arm, it can further be provided that the second arm comprises a plurality of second arm sections, each of which is pivotally connected to one another by an angle delta, and that the second arm sections are braced against one another by means of further elastic tensioning elements, so that pivoting of the second arm sections by the respective intermediate angle delta is counteracted. In this way, a rest position of the second support (relative to the first support) can ultimately be precisely preset and, at the same time, a restoring force can be provided, which drives the second support back to its predetermined rest position after a deflection.Due to the adjustability of the restoring forces or the torques generated by the additional elastic tensioning elements, adaptation to the weight of the leg to be supported can also be achieved in a simple manner, for example by changing / adjusting the existing tensioning forces. The additional elastic tensioning elements can also be designed as elastic cables or bands, for example. It is again possible, for example, to use simple compression or tension springs as spring elements, which are used together with non-elastic cables or bands. As an alternative to a design that uses elastic tensioning elements, a more direct adjustment of the positions and restoring forces can also be provided using electric motors, as is the case, for example, with known control controllers that provide a force feedback function. Steering wheels are mentioned as an example here.

[0011] If the support structure with at least the first pair of deflection pulleys and the second pair of deflection pulleys is arranged on the base and the first support is connected to a first traction cable which is connected to the base via the first pair of deflection pulleys; and the second support is connected to the second traction cable which is connected to the base via the second pair of deflection pulleys, it can usefully be provided that the first traction cable is elastic or is connected to the base via a first spring element and that the second traction cable is elastic or is connected to the base via a second spring element. In this way, a rest position of the first support and the second support can be precisely preset in this case too, and at the same time, adjustable restoring forces can be implemented which drive the two supports back to their respective predetermined rest positions after a deflection.Due to the adjustability of the forces using the elastic elements, adjustment to the weight of the leg being supported can also be easily achieved. Advantageously, the adjustability of the restoring forces is independent of each other due to the separate restoring elements.

[0012] It can also be provided that the base comprises holding means which counteract any relative movement of the base on a support surface on which the base is arranged. In this way, a simple "fixing" of the device on the support surface can be enabled. For example, the holding means can be designed as rubber buffers in order to counteract any movement of the base on the support surface when the device is in use due to the increased frictional forces between the rubber buffers and the support surface. Other designs of the holding means for easily and simply securing the base to the support surface are also conceivable. For example, spikes, suction cups, Velcro surfaces or similar elements can be possible, which, depending on the nature of the support surface, increase the frictional forces between the support surface and the device.These elements can be designed to be interchangeable to allow adaptation to the surface.

[0013] Furthermore, the sensor system can comprise means for detecting spatial positions and orientations of the first support and the second support and transmitting them as detectable signals to the control device. In this way, the device can be used as an input device, with a spatial movement of the supported leg being detected as an input signal and kept ready and / or stored for further use.

[0014] In this context, it can be provided that the control device is configured to receive and further process the detectable signals. The input signal generated by the supported leg can in this way, for example, be smoothed and / or conditioned and stored in this way and / or in its raw form for later use. For example, a comparison with a previously known movement pattern that is to be practiced / repeated is conceivable, wherein the success of the exercise can be verified by means of a simple comparison between the currently detected input signal and a stored reference signal. The stored reference signal can, for example, have been previously generated by a user themselves or be predefined at the factory.

[0015] Furthermore, the device can comprise movement means for actively influencing a movement of the first support and / or the second support in space. In this way, the device can be used as a training device, for example, to optimize existing movement sequences of the supported leg. It is also possible, for example, to influence a movement of the leg depending on the state of an avatar in a virtual environment, for example, to make it more difficult when the avatar is wading through water.

[0016] Additionally, the control device can also be configured to generate control signals for the movement means and send them to the movement means in order to influence a movement of the first support and / or the second support in space. In this way, the device can be used as a therapeutic device, for example, as part of post-operative care for remobilization. This also allows for customized movement therapy to be implemented for users who are completely unable to move the supported leg independently, for example, due to temporary or permanent paralysis.

[0017] Furthermore, a system comprising two such devices firmly connected to one another is described. Using the system, both legs of a user can be supported simultaneously, so that, for example, natural movements of both legs, such as walking, running, jumping, or crouching, are possible and can be recorded simultaneously. Any embodiment of the device described above can be used as such devices coupled to form a system, whereby these are preferably identical.

[0018] Both one of the above-mentioned devices and the system can be designed to be foldable and / or dismantled. For example, one, several or all of the articulated connection points can be provided with a special pivoting movement, for example a particularly wide pivoting, to achieve a relative positioning of the device and / or the system as a whole that is particularly space-saving. In this context, it is conceivable that locking in this special relative position is possible. Alternatively or additionally, it may also be possible to dismantle the device and / or the system into individual, separable elements. Likewise, further articulated connection points can be provided, which can serve solely or also for space-saving storage.

[0019] Also described is a method for operating such a device for movably supporting a leg, comprising a base; a first support; a second support; a sensor system; and a control device configured to control and / or monitor at least one function of the device associated with a spatial movement of the two supports; wherein the base is pivotally connected to the first support by means of a first arm, and the second support is pivotally connected to the first support or the first arm by means of a second arm; or wherein a support structure having at least a first pair of deflection pulleys and a second pair of deflection pulleys is arranged on the base, and wherein the first support is connected to a first traction cable, which is connected to the base via the first pair of deflection pulleys.and the second support is connected to a second traction cable, which is connected to the base via the second pair of pulleys, the method comprising: detecting a movement cycle of the movably mounted leg; storing the detected movement cycle;and replicating the detected movement cycle by means of a movement means designed to actively influence a movement of the first support and / or the second support in space. In this way, the advantages of this device with regard to detecting and subsequently replicating a movement cycle can also be implemented within the framework of a method. Even if only one embodiment of the device of the devices described above is explicitly mentioned in the context of implementing the method, all other embodiments of the device described above that have the necessary movement means are also explicitly suitable for the described method, and their use within the framework of the described method is hereby deemed to be disclosed.

[0020] Also described is a method for operating a system described above, the method comprising: detecting movements of the movably mounted legs; and sending data representing the detected movements to an external interface. In this way, the system can be used as an input device, wherein detected, in particular natural, movements of the mounted legs can be used as an output signal for control. For example, an avatar can be controlled in a virtual reality, wherein detected leg movements can be interpreted as walking or running movements, as well as jumping and ducking movements, and transmitted to the controlled avatar. By means of this method, relaxed control of a walking or running movement of an avatar in a virtual environment from a relaxed sitting or lying position is possible.Again, the system may include any of the devices described above.

[0021] The invention described above will now be explained by way of example with reference to the accompanying drawings.

[0022] They show: Fig. 1 is a side view of a first device; Fig. 2 a plan view of a system comprising two first devices; Fig. 3 a three-dimensional isometric view of the first device of Fig. 1; Fig. 4 a representation of the first device from Fig. 3; Fig. 5 is an exploded view of a first portion of the first device of Fig. 4; Fig. 6 is an exploded view of a second portion of the first device of Fig. 4; Fig. 7 is an exploded view of a third section of the device of Fig. 4; Fig. 8 is a side view of a second device; Fig. 9 is a plan view of a system comprising two second devices; Fig. 10 a three-dimensional isometric view of the system Fig. 9; Fig. 11 is an exploded view of the second device from Fig. 8; Fig. 12 three alternative schematic third sections for the device of Fig. 4; Fig. 13 is a side view of an alternatively designed device; Fig. 14 is a flowchart of a first method; and Fig. 15 a flowchart of a second method.

[0023] In the following description of the drawings, the same reference symbols refer to the same or comparable components.

[0024] The Fig. 1 and 3 to 7 show a device 10 from different perspectives and in different assembly states. Since the same device 10 is shown in each of the above-mentioned figures, the description of the device 10 will alternate between the figures as needed. Fig. The side view of the exemplary first device 10 shown in Figure 1 shows a base 12, to which a first arm 22 is connected at the top. A first support 14 is pivotally connected to the base 12 by means of the first arm 22. The first support 14 can optionally be connected to the first arm 22 so as to be linearly displaceable thereto. The first arm 22 continues upwards into a second arm 24, on which a second support 16 is arranged. The second support 16 can optionally be connected to the second arm 24 so as to be linearly displaceable thereto. The second arm 24 is connected to the first arm 22 via a cantilever arm 84, the cantilever arm 84 coinciding with a first pivot axis 44 about which the second arm 24 can be pivoted relative to the first arm 22.Since the second arm 24 is also designed to be articulated, just like the first arm 22, the second support 16 is ultimately connected to the first support 14 in an articulated manner via the two arms 22, 24 and, moreover, also to the base 12. In an end region of the second arm 24 facing away from the first arm 22, . Fig. 1 further shows an optional footrest 40, which is articulated to the other components of the second arm 24 via a connecting arm 42. Since the two arms 22, 24 can each be designed to be movable, the above-mentioned optional linear displacement of the two supports 14, 16 on the respective arms 22, 24 on which they are arranged can take place in a direction which is not necessarily parallel to an orientation of the respective arms 22, 24, but is always parallel to a direction in which the respective supported leg section would usually extend. These directions are shown in the Fig. 3 is identified by way of example as the first displacement direction 14' or the second displacement direction 16'.

[0025] The device 10 can be used in its entirety for the movable support of a leg, with a thigh of the leg resting on the first support 14, a lower leg of the supported leg resting on the second support 16, and a foot of the leg resting on the foot support 40. The first support 14 and / or the second support 16 and / or the foot support 40 can optionally be padded as required and / or equipped with additional holding elements in order to freely hold the section of the leg supported therein in the correct storage position on the respective supports 14, 16 during use of the device 10. During use of the device 10, the weight of the supported leg is absorbed by elastic tensioning elements associated with the first arm 22 and the second arm 24 in order to enable "force-free" support of the leg. These elastic tensioning elements are explained in more detail below.With the help of the forces applied by the elastic tensioning elements, the device 10 is held in a resting position when the leg, with its respective supported sections, acts on the two supports 14, 16, so that ultimately the leg is supported "force-free" in a resting or zero position preset by the device 10. The resting position can, for example, in the broadest sense simulate a nearly stretched leg, so that a user sitting or lying in an external piece of furniture, who supports their leg in the device 10, can move their leg from the resting position without great effort. The device 10 then acts as a stool-like "piece of furniture" which can be used accordingly by the user. The piece of furniture can, for example, generally be a piece of seating furniture or a piece of reclining furniture, for example a "weight bench with a short backrest support surface".

[0026] In Fig. 1, a sensor system 18 with associated signal lines 38, which lead to various movable sections of the device 10, as well as a control device 20 are also shown abstractly. By means of the sensor system 18, in particular, a relative positioning of the relevant components of the device 10 to one another can be detected, so that ultimately, with the aid of the sensor system 18, it can be detected how a leg supported by the device 10 is moved over time. Even if in Fig. 1 the sensor system 18 is shown remote from the moving components of the device 10 and only the signal lines 38 lead to these, this is to be understood within the context of the present documents to mean that specific sensors detect the movements of the moving components of the device 10. In this respect, a specific means 32, for example sensors, could also be provided at the end of each signal line 38 and shown accordingly. The sensor system 18 and the associated signal lines 38 are therefore only exemplary placeholders for a specific configuration designed for the function, which is known per se to the person skilled in the art. A sufficiently precise detection of the position of the device 10 can be achieved, for example, using three sensors, even if more specific means 32 can be provided, for example for reasons of redundancy.Furthermore, depending on the quality of the position data provided by the sensors used, more or fewer sensors may be required. In particular, a single position sensor may be sufficient. Furthermore, the specific positioning of existing sensors can be adapted to the specific circumstances and modified as needed.

[0027] Furthermore, Fig. 1, movement means 34 are indicated on the respective elastic tensioning elements, which are connected to the control device 20 and can be controlled by it, thereby inducing or at least influencing a movement of the various components of the device 10 relative to one another. The control device 20 can also have an external interface 36, by means of which the control device 20 can transmit the positions of the movement of the supported leg detected by the sensor system 18 to an external instance, for example, a PC. This data can then be used, for example, as control signals for an avatar in a virtual world.

[0028] The Fig. 3 shows the first device 10 according to Fig. 1 from a three-dimensional isometric perspective, wherein the device 10 in Fig. 4 is exemplary divided into three sections, namely a lower leg section I, a thigh section II and a base section III. The three sections can be combined along the illustrated disassembly line, whereby for a better visualization of the mechanical relationships, some components of the first device 10 are shown multiple times in the intersection areas between the three different sections I, II, III. In the following Fig. 5 to 7 each show one of the three sections in an exploded view, where Fig. 5 shows the lower leg section I, Fig. 6 the femoral section II and Fig. 7 the base section III.

[0029] In Fig. 3, the first pivot axis 44 and a second pivot axis 46 are also shown. The first pivot axis 44 represents, by way of example, an axis about which the first support 14 and the components of the second arm 24 can be pivoted. By pivoting about the first pivot axis 44, a spatial position of the second support 16 can be changed along a circular arc around the first pivot axis 44 as the axis of rotation, while the first support 14 remains essentially fixed in space and is rotated in its spatial orientation about the first pivot axis 44 (it should be noted that the first pivot axis 44 lies just below the first support 14, so that the existing small distance will in reality induce a slight spatial movement during pivoting).Furthermore, by pivoting components of the second arm 24 about the second pivot axis 46, the spatial position of the second support 16 (and the footrest 40) can be changed independently. The first arm 22 further comprises a lower pivot point 86 and an upper pivot point 88, at which parts of the first arm are again mounted so as to be movable relative to one another.

[0030] Fig. 6 shows an exploded view of the components of the thigh section II. The thigh section II comprises the first support 14, which is movably fixed to a first arm section 48, which is associated with the first arm 22. Shown in Fig. 6 are also a second arm section 50, which belongs to the second arm 24 and in Fig. 5 in connection with the lower leg section I, as well as an elastic tensioning element 52, 52', which engages the first arm section 48, wherein an opposite end of the respective elastic tensioning elements 52, 52' engages other first arm sections 48', 48" of the first arm 22, which in Fig. 7. The elastic tensioning elements 52, 52' can, for example, be designed as a cable element and linear springs, as shown, and define zero positions in the sense of a rest position of the movably connected components. If a deflection of the movably connected first arm sections 48, 48' and the struts 49 occurs relative to one another, i.e., a pivoting about a rotational axis predetermined by the respective connection, the elastic tensioning element 52, 52' arranged there generates a restoring force.

[0031] Furthermore, Fig. 6 also includes a multitude of unspecified smaller elements, which essentially allow a detachable and, if necessary, adjustable or articulated connection of the arm sections. Since these smaller elements, in particular the provided screw connections, are essentially interchangeable with functionally equivalent elements and are therefore merely exemplary, a more detailed description of these elements will be omitted here.

[0032] The Fig. The lower leg section I shown in Figure 5 comprises in particular the second support 16 and the footrest 40, wherein the footrest 40 is connected via the connecting arm 42, which is slidably connected to a second arm section 50'. The second arm section 50' is further articulated to the other second arm section 50, which is already shown in Fig. 6, wherein a further elastic tensioning element 54 comprising a cable element and linear springs defines a zero position in the sense of a rest position of the two second arm sections 50, 50' relative to one another. If a deflection of the two second arm sections 50, 50' occurs relative to one another, i.e. a pivoting about the axis of rotation predetermined by the connection, the further elastic tensioning element 54 generates a restoring force. As can be seen, the lower leg section I also comprises a plurality of smaller, in particular detachable, elements (not designated in more detail), for example screw elements, with the aid of which the relative distances between different components can be variably adjusted. For example, the relative distances between the footrest 40 and the second support 16 can be individually adjusted and adapted.Furthermore, the restoring force applied by the additional elastic tensioning element 54 can also be individually adjusted by adjusting the spring preload. This can be achieved, for example, by slidably fixing a contact point of the linear spring used along a groove in the second arm section 50. The adjustability of the various elastic tensioning elements 52, 52' as well as the additional elastic tensioning element 54 can be provided at one or both ends of the respective tensioning element. The tensioning element 54 can be adjusted, for example, using a combination of a rotary knob 92, a threaded bolt 94, and rollers 96.By turning the rotary knob, which, for example, comprises an internal thread in which a thread of the threaded bolt 94 is movable, a cross strut of the threaded bolt, which supports the rollers 96 and is guided in a slot 98 of the second arm section 50', can adjust the force or the imparted torque of the clamping element. In a similar manner, adjustability is realized at another location on the device 10 by means of a second rotary knob 92' and a second threaded bolt 94'. Furthermore, further adjustability is shown by means of a third rotary knob 92'' and a third threaded bolt 94''. Yet another adjustability is possible by means of a fourth rotary knob 92'''' and a fourth threaded bolt 94''''. A locking knob 92''' additionally serves to adjust a "zero position" on the cantilever arm 84.Further adjustment options are readily apparent to the skilled person in the figures, but are not always explicitly provided with reference symbols to avoid overloading the figures. For example, the second support can be guided or locked in position along a slotted hole. Furthermore, the same applies to other smaller elements not specifically identified as for the elements shown in . Fig. 6. They can be easily replaced with functionally equivalent elements and are therefore merely examples, so a more detailed description of these elements will be omitted here. Some of the recognizable elements obviously represent adjusting elements that can be used to adjust the relative dimensions of the device 10, for example, to adapt it to a piece of furniture used together with the device 10.

[0033] Fig. 7 shows the base section III, on which further parts of the first arm 22, in particular the first arm sections 48, 48', 48'' and struts 49 with associated elastic tensioning elements 52', are visualized in an exploded view. The first arm sections 48, 48' and the struts 49 are connected to one another in an articulated manner and are coupled to one another by means of the elastic tensioning element 52' so that they can be deflected at least indirectly about their respective rest positions. The first arm section 48'', on the other hand, is arranged "relatively fixed" (at least in its inclination relative to the base plate) and comprises an elongated slotted guide which, together with a further rotary knob 93 and an associated threaded bolt 95 and rollers fixed thereto, can adjust a preload on the elastic tensioning element 52'.The movably integrated struts 49 can, for example, serve to increase the stability of the first arm 22 by increasing the torsional rigidity of the arm through their multiple presence and also imposing additional restrictions on the degrees of freedom of movement of the interconnected arm sections 48, 48'. The first arm 22 ends at the base 12, which is arranged on a base plate 60 of the base 12 by means of linear springs 62, which can be moved along a linear direction 66. The linear springs 62 can be adjusted by means of an adjustment knob 28 and a further adjustment knob 28'. In this way, both a "zero position" and the existing restoring forces in the linear direction 62 can be set. The linear springs 62 can be covered in the base 12 under a bellows 26 for safety reasons. The construction provided in the base 12 in this respect can, for example, be regarded as similar to a drawer system.In addition, the first arm 22 is also rotatably mounted about a rotation axis 68 by means of a torsion spring 64, so that the first arm 22 is rotatably and displaceably mounted on the base plate 60 of the base 12. Furthermore, holding means 30 are provided on the base plate 60, which can be designed, for example, as simple rubber buffers to prevent relative movement of the base plate 60, i.e., the base 12 and thus the device 10 as a whole, on a support surface on which the base 12 rests. The base plate 60 can, for example, be completely detached from the remaining parts of the device 10 by means of clamping levers (not shown in more detail but nevertheless visible in the figure) and separated as needed. At the end of the first arm 22 opposite the base 12, a ball bearing 90 can also be seen, which provides rotatability of the second arm 24 (relative to the first arm 22) about a further rotation axis 68' at the connection area to the second arm 24.Instead of the ball bearing 90, an alternative swivel joint can of course be provided that is based on a different mechanical operating principle and yet provides the same degree of rotation. Also . Fig. 7 shows a multitude of other unspecified smaller elements, for which the same applies as for the unspecified smaller elements in the Fig. 5 and Fig. 6.

[0034] All above mentioned minor unspecified elements in the Fig. 5 to 7, which serve for the detachable or non-detachable fixation of individual components of the device 10 to one another, are, as already mentioned, freely selectable in their exact design, whereby different alternatives are familiar to the person skilled in the art. The exact structural details of the Fig. 5 to 7 in exploded view are therefore not limiting, but rather are to be provided as an exemplary possibility and individual elements can easily be replaced by functionally equivalent elements.

[0035] The first device 10 is in Fig. 2 is now shown in duplicate in a top view, visualizing a system 200 constructed from two first devices 10. This system 200 can then be used for the movable support of both legs of a user. The system 200 can, in particular, be designed to be collapsible and / or easily disassembled to allow for easy storage and / or transport.

[0036] The Fig. 8 shows a side view of a second embodiment of a device 100, which can be considered an alternative embodiment to the previously described first device 10. Instead of the two arms 22, 24, in the second device 100, a first support 114 and a second support 116 are connected to a base 112 by means of a rigid support structure 102. Since the support structure 102 is rigid in the second device 100, the two supports 114, 116 in the second device 100 are movably fixed via a cable construction. The first support 114 is connected to the base 112 via a first pull cable 108 and a first spring element 122. This is achieved via a first pair of deflection pulleys 104, so that ultimately a lower leg of a leg to be supported can be placed in the first support 114, where it is supported force-free in a floating position above the base 112.In the same way, the second support 116 can be supported via a second pull cable 109 and an associated second spring element 124, which is shown in . Fig. 8 is completely covered by the first spring element 122, can be movably fixed above the base 112 via a second pair of deflection rollers 106. If the first support 114 serves to support a lower leg, a foot of the leg to be supported can be placed on the second support 116. In order to prevent a relative movement of the base 112 on a Fig. In order to prevent, or at least minimize, friction between the support surface (not shown in FIG. 8) on which the second device 100 rests in its entirety, holding elements 130, for example in the form of rubber buffers, can be provided below the base 112 to increase friction between the second device 100 and the support surface. The second device 100 can also have a sensor system 118, which acquires sensor data via signal lines 138, in order to at least indirectly detect spatial positions of the two supports 114, 116. The position data detected by the sensor system 118 can then be transmitted, for example, to a control device 120. The control device 120 can also be configured to control movement means 134, which can influence the spatial position of the two supports 114, 116.The movement means 134 can, for example, represent motors, which in turn influence the length of the traction cables 108, 109. Furthermore, the movement means 134 can also influence the restoring forces provided by the two spring elements 122, 124.

[0037] The Fig. 9 to 11 now show the system 200, which comprises two second devices 100. In particular, Fig. 9 a plan view of the system 200, Fig. 10 is an isometric three-dimensional view of the system 200 and Fig. 11 shows an exploded view of the second device 100. For the sake of simplicity, the sensor system 118, the control device 120, the movement means 134, and the associated signal lines 138 are not shown. The mechanical structure of the second device 100 is self-explanatory to those skilled in the art and is to be understood merely as an example. In particular, individual components can be replaced and exchanged for functionally similar assemblies. Furthermore, an external interface 136 is provided, via which the various detected movement signals can be output. This applies in particular to the smaller elements not further identified.Since the two supports 114, 116 are not clearly defined in their respective spatial positions due to the selected "hanging" mounting by means of the tension cables 108, 109, the spatial positions of the two supports 114, 116 can be clearly detected, for example, using common means 132, such as position sensors, directly on the two supports, with direct optical detection representing only one of the possible approaches. This embodiment of the system 200 can also be designed to be collapsible and / or easily disassembled to allow for simple storage and / or transport.

[0038] Fig. Figure 12 shows three alternative schematic base sections for the device of Fig. 4. The Fig. 12 shown three alternatives of the base sections III a , III b and III c fulfill a similar function as the one in Fig. 4, which essentially comprises the base 12 and the first arm 22. In the alternative base section III a The first arm 22 is replaced by three shock absorbers 72 that are pivotally connected to the base 12 and joined at a common connection point 70 at their ends opposite the base 12. This connection point 70 can then serve, for example, as a connection point to the thigh section II. The three shock absorbers 72 allow spatial movement of the connection point 70 relative to the base 12 in all three spatial dimensions, with the given range of motion being limited by the deflectability of the three shock absorbers 72. The force required for a movement is determined by the shock absorbers 72 themselves.

[0039] Similarly, in the alternative base section III bthe connection point 70 is connected to the base 12 via a single shock absorber 72. In addition, however, there is a connection point between the shock absorber 72 and the base 12 via a linear bearing 74 and another linear bearing 76, so that even in the alternative base section III b a spatial mobility of the connection point 70 relative to the base is ensured within the scope of the freedom of movement of the two linear bearings 74, 76 and the shock absorber 72.

[0040] In a functionally similar way, the alternative base section III c The connection point 70 is realized by means of a gimbal suspension in the form of a rocker device 78, which additionally comprises a linear spring providing a restoring force. The freedom of movement of the connection point 70 in the alternative base section III c is comparatively low, but completely sufficient for the required purpose.

[0041] Fig. 13 shows a side view of an alternatively designed device 10. The Fig. The alternative device 10 shown in a side view in Figure 13 again comprises a plurality of arm sections 48, 48', 48'', which are each connected to one another in an articulated manner via a hinge point 80. The first arm sections 48, 48', 48'' can be regarded as arm sections forming a first arm 22. At the end of the first arm 22, a first support 14 is again arranged, which is intended for supporting a thigh. The first support 14 is in the Fig. 13, the first bearing 82 is displaceable along a linear direction, so that, compared to the embodiment shown in Fig. 1, there is an additional or alternative degree of freedom in the movement of the first support 14. The first arm 22 is connected to a second arm 24, which consists of individual second arm sections 50, 50', 50'', which are again connected to one another in an articulated manner at articulation points 80. The second support 16 and the foot support 40 are arranged on the second arm sections 50', 50'', wherein a second bearing 82' or a third bearing 82'' serves to displace the second support 16 or the foot support 40 relative to the second arm section 50'; 50''. Fig. The alternatively designed device 10 shown in Figure 13 can of course be supplemented with further components required for its functionality, for example clamping means, movement means, sensors and control devices, as already described in Fig. 1 in connection with the first device 10. Likewise, an addition to the linear displacement of the two supports in the first embodiment according to the Fig. 1 and 3 to 7 possible.

[0042] The articulation points 80 can each designate a rotational axis about which adjacent arm sections are rotatably mounted. The connection between the base 12 and the first arm section 48 can again be analogous to the corresponding connection in the first device 10 in Fig. 7 be designed to be linearly movable and rotatable.

[0043] Fig. 14 shows a flowchart of a first method. Fig. The first method 1000 illustrated in Figure 14 begins, for example, with a step 1010 by detecting a movement cycle of the movably mounted leg. The detected movement cycle can then be stored in a subsequent step 1020. Subsequently, a replication 1030 of the detected and stored movement cycle can take place using a movement means designed to actively influence a movement of the first support 14 and / or the second support 16 in space. The detection 1010 of the movement cycle of the movably mounted leg can optionally be carried out based on a real movement of the movably mounted leg or, alternatively, by "uploading" a movement cycle from an external source. With the aid of the method 1000, a repetitive movement of the movably mounted leg can then be realized.This can be performed, for example, as part of a rehabilitation measure following surgery, injury, or in the case of paralysis. In the method 1000, the supported leg can thus be moved passively, while the user of the device 10, 100 performing the method 1000 can continue to sit or lie down.

[0044] Fig.15 shows a method 1100 for operating one of the systems 200 described above, wherein the method 1100 comprises, by way of example, the following steps: detecting 1110 movements of the movably mounted legs. In this way, for example, a walking movement simulated in the system 200 can be detected. The method 1100 is subsequently continued by sending data representing the detected movements to an external interface. The external interface can then be used, for example, to connect a data processing device, for example, a PC, in order to be able to use the data as a control signal, for example, to control an avatar in a virtual reality.

[0045] The features of the invention disclosed in the above description, in the drawings and in the claims may be essential for the realization of the invention both individually and in any combination. List of reference symbols 10 Device 12 bases 14 first edition 14' first shift direction 16 second edition 16' second shift direction 18 Sensor technology 20 Control device 22 first arm 24 second arm 26 Bellows 28 Adjustment knob 28' additional adjustment knob 30 holding devices 32 funds 34 means of transport 36 external interface 38 Signal line 40 Footrest 42 connecting arm 44 first pivot axis 46 second pivot axis 48 first arm section 48' first arm section 48'' first arm section 49 Bracing 50 second arm section 50' second arm section 52 elastic tensioning element 52' elastic tensioning element 54 additional elastic tensioning element 60 base plate 62 linear spring 64 torsion spring 66 linear direction 68 axis of rotation 68' additional rotation axis 70 connection point 72 shock absorbers 74 linear bearings 76 additional linear bearings 78 Rocker device 80 articulation point 82 first storage 82' second storage 82'' third bearing 84 boom arm 86 lower hinge point 88 upper hinge point 90 ball bearings 92 rotary knob 92' second rotary knob 92'' third knob 92''' locking knob 92'''' fourth knob 93 additional rotary knob 94 threaded bolts 94' second threaded bolt 94'' third threaded bolt 94'''' fourth threaded bolt 95 Additional threaded bolt 96 roll 98 slot 100 device 102 Supporting structure 104 first pair of pulleys 106 second pair of pulleys 108 first pull rope 109 second pull rope 112 bases 114 first edition 116 second edition 118 Sensor technology 120 Control device 122 first spring element 124 second spring element 130 holding devices 132 funds 134 means of transport 136 external interface 200 systems 1000 procedures 1010 Capture 1020 Save 1030 Replicate 1100 procedures 1110 Capture 1120 Send I Lower leg section II Femoral section III Base section III a alternative base section III balternative base section III c alternative base section

Claims

[1] Device (10, 100) for movably supporting a leg, comprising - a base (12, 112); - a first edition (14, 114); - a second edition (16, 116); - a sensor system (18, 118); and - a control device (20, 120) which is designed to control and / or monitor at least one function of the device (10, 100) associated with a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12) is pivotally connected to the first support (14) by means of a first arm (22), and the second support (16) is pivotally connected to the first support (14) or the first arm (22) by means of a second arm (24); or wherein a support structure (102) with at least a first pair of deflection pulleys (104) and a second pair of deflection pulleys (106) is arranged on the base (112), and wherein the first support (114) is connected to a first traction cable (108), which is connected to the base (112) via the first pair of deflection pulleys (104); and the second support (116) is connected to a second traction cable (109) which is connected to the base (112) via the second pair of pulleys (106). [2] Device (10) according to claim 1, wherein the first arm (22) supports the first support (14) in a rotatable and inclinable manner relative to the base (12) and wherein the second arm (24) supports the second support (16) in a pivotable manner relative to the first support (14). [3] Device (10) according to claim 1 or 2, wherein the first arm (22) comprises a plurality of first arm sections (48, 48') which are each connected to one another so as to be pivotable relative to one another by an angle gamma, and wherein the first arm sections (48, 48') are braced relative to one another by means of elastic tensioning elements (52, 52') so that pivoting of the first arm sections (48, 48') by the respective intermediate angle gamma is counteracted. [4] Device (10) according to one of the preceding claims, wherein the second arm (24) comprises a plurality of second arm sections (50, 50') which are each connected so as to be pivotable relative to one another by an angle delta, and wherein the second arm sections (50, 50') are braced relative to one another by means of further elastic tensioning elements (54) so ​​that pivoting of the second arm sections (50, 50') by the respective intermediate angle delta is counteracted. [5] Device (110) according to claim 1, wherein the first traction cable (108) is elastic or is connected to the base (112) via a first spring element (122) and the second traction cable (109) is elastic or is connected to the base (112) via a second spring element (124). [6] Device (10, 110) according to one of the preceding claims, wherein the base (12, 112) comprises holding means (30, 130) which counteract a relative movement of the base (12, 112) on a support surface on which the base (12, 112) is arranged. [7] Device (10, 110) according to one of the preceding claims, wherein the sensor system (18, 118) comprises means (32, 132) for detecting spatial positions and orientations of the first support (14, 114) and the second support (16, 116) and for transmitting them as detectable signals to the control device (20, 120). [8] Device (10, 100) according to claim 7, wherein the control device (20, 120) is arranged to receive and further process the detectable signals. [9] Device (10, 110) according to one of the preceding claims, wherein the device (10, 110) comprises movement means (34, 134) to actively influence a movement of the first support (14, 114) and / or the second support (16, 116) in space. [10] Device (10, 110) according to claim 9, wherein the control device (20, 120) is configured to generate control signals for the movement means (34, 134) and to send them to the movement means (34, 134) in order to influence a movement of the first support (14, 114) and / or the second support (16, 116) in space. [11] System (200) comprising two fixedly connected devices (10, 110) according to one of claims 1 to 10. [12] Method (1000) for operating a device (10, 110) for movably supporting a leg, comprising a base (12, 112); a first support (14, 114); a second support (16, 116); a sensor system (18, 118); and a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 110) associated with a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12, 112) is pivotally connected to the first support (14) by means of a first arm (22), and the second support (16) is pivotally connected to the first support (14) by means of a second arm (24); or wherein a support structure (102) with at least a first pair (104) of deflection pulleys and a second pair of deflection pulleys (106) is arranged on the base (112), and wherein the first support (114) is connected to a first traction cable (108) which is connected to the base (112) via the first pair of deflection pulleys (106);and the second support (116) is connected to a second traction cable (109) which is connected to the base (112) via the second pair of pulleys (106), the method comprising:; - detecting (1010) a movement cycle of the movably mounted leg; - storing (1020) the detected movement cycle; and - replicating (1030) the detected movement cycle by means of a movement means (34, 134) which is designed to actively influence a movement of the first support (14, 114) and / or the second support (16, 116) in space. [13] A method (1100) for operating a system (200) according to claim 11, wherein the method (1100) comprises: - detecting (1110) movements of the movable legs; - sending (1120) data representing the detected movements to an external interface (36, 136).

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