EXOSKELETT

Abstract

The invention relates to an exoskeleton, in particular a finger exoskeleton (1), with two exoskeleton links (2, 3) connected to each other via pivot bearings. Stops are integrated into the pivot bearing, one stop being integrated into a bearing eye (16, 16b) of an exoskeleton link (2, 3), while the other stop can be formed by a pivot bearing insert (13). Alternatively or additionally, a fingertip link (5) can have a sensor element (42). The sensor element (42) then has external contact elements projecting from the outside of the fingertip link (5), which extend through recesses in the fingertip link (5). A contact force acting on the external contact elements can be transmitted via the external contact elements through the recesses to the fingertip in order to provide the wearer of the finger exoskeleton (1) with haptic feedback regarding the contact force.

Description

TECHNICAL AREA OF INVENTION

[0001] The invention relates to an exoskeleton that can be used on any body part in the region of at least two limbs. For example, it can be a knee exoskeleton or an elbow exoskeleton. Preferably, it is a finger exoskeleton that can be used on any finger, including the thumb. In the following, reference is preferably made to a finger exoskeleton, although the same applies to an exoskeleton used on any other body part.

[0002] A finger exoskeleton is a mechanical external support structure worn on a finger that can be applied and removed as needed. Finger exoskeletons can be active, using an actuator (especially an electric one), or passive, without an actuator, but in some cases also incorporating springs or integrated elastic elements. A finger exoskeleton can be designed as a finger orthosis for medical or therapeutic purposes. It can also support, guide, and / or amplify finger movements, relieve stress on the finger joints and / or fingers, and / or protect against injury or irritation. One possible application of such a finger exoskeleton is to support a technician during assembly work. STATE OF THE ART

[0003] The company Ottobock SE & Co. KGaA sells a thumb exoskeleton under the brand name "paexo thumb", see below. https: / / ottobockexoskeletons.com / paexo-thumb / (Date accessed: 04.09.2023).

[0004] The thumb exoskeleton has a first exoskeleton segment that accommodates the distal phalanx (the final segment of the thumb). The proximal phalanx (the first segment of the thumb) is accommodated in a second exoskeleton segment. The two exoskeleton segments are connected by angled connecting struts located on both sides of the thumb. The elasticity and shape of these connecting struts are designed to maintain full mobility of the thumb's distal joint, creating a hinge-like effect. To protect the tip of the thumb from mechanical impact, the first exoskeleton segment covers the tip on its frontal and underside. The way the thumb's tip is held in the first exoskeleton segment is similar to a thimble. Furthermore, the first exoskeleton segment has a support ring on its underside.The thumb exoskeleton is designed to relieve stress on the thumb, particularly the distal interphalangeal joint and the carpometacarpal joint, by distributing forces throughout the hand. It is used in assembly processes involving clipping, plugging, or plugging. The thumb exoskeleton can also be worn under gloves. Available in various sizes, the exoskeleton's elastic openings allow for quick and easy application and removal.

[0005] A fundamentally similar embodiment is known from US 2021 / 0267782 A1, which additionally addresses the possibility that the angled connecting struts on both sides of the thumb can also limit the swivel angle of the thumb's distal interphalangeal joint. Furthermore, US 2021 / 0267782 A1 proposes that a tool, such as a cable connector, a screwdriver, a wrench, a clamping aid, or similar, can be mounted or formed on the end face of the first exoskeleton element of the thumb exoskeleton. According to US 2021 / 0267782 A1, the components of the thumb exoskeleton can be manufactured using 3D printing, injection molding, or a lamination process.

[0006] US 2021 / 022899 A1 discloses a finger orthosis with two or three orthotic links connected by joints. The orthotic links have outwardly oriented pivot pins on both sides of the finger, defining a pivot axis. These pivot pins are received in correspondingly shaped bearing eyes of the adjacent orthotic link. The joints are assembled by elastically deforming the orthotic links, which then inserts the pivot pins into the bearing eyes. To prevent hyperextension, an orthotic link adjacent to the pivot pin has a laterally outwardly oriented extension. This extension acts as a stop, limiting the pivot angle, and contacts a stop on the adjacent orthotic link. This stop is formed by the outer contour of the adjacent orthotic link in the area surrounding its bearing eye.

[0007] Another thumb exoskeleton, whose degrees of freedom are ensured by the elasticity of the material used, is available from the website. https: / / exo.iturri.com / de / prexer-de (Date of access: September 4, 2023) known. The website

[0008] https: / / www.ruck-produkte.de / produkt-infos (Date accessed 04.09.2023) Disclosing the connection of two orthotic links of a finger orthosis by means of a metallic spiral spring, the spring base points of which are each firmly connected to an orthotic link of the finger orthosis. TASK OF INVENTION

[0009] The present invention is based on the objective of proposing an exoskeleton which is particularly advantageous with regard to - of the constructive structure and / or - the strength and / or - the force transmission between exoskeleton links and / or - the provision of a swivel bearing and / or - the limitation of the swivel angle of the swivel bearing and / or - the assembly and disassembly and / or - the geometry and design and / or - the interaction with the body parts, especially the fingers of the wearer of the (finger) exoskeleton and / or - of user and wearing comfort and / or - the behavior in the event of exoskeleton failure in the area of ​​a pivot bearing is improved. SOLUTION

[0010] The object of the invention is achieved according to the invention by the features of the independent claims. Further preferred embodiments of the invention can be found in the dependent claims. DESCRIPTION OF THE INVENTION

[0011] In the following description of the solutions according to the invention, reference is made in part to an embodiment of the exoskeleton as a finger exoskeleton, whereby the same may also apply to an exoskeleton used on another part of the body.

[0012] To solve the problem underlying the invention, the exoskeleton has two exoskeleton links. Each exoskeleton link is designed to receive and support an associated body part or finger segment. The exoskeleton can consist of only these two links, in which case it is supported by only two body parts or fingers. However, it is also possible for the exoskeleton to have at least one additional link, which can support another body part or finger segment, and / or for the finger exoskeleton to be additionally supported (for example, via a plate and / or loop) by a palm, the back of the hand, a wrist, or another part of the body.

[0013] The exoskeleton according to the invention has a pivot bearing that connects the two exoskeleton elements so that they can pivot about a pivot axis. When the exoskeleton is worn, the pivot axis of the pivot bearing preferably extends coaxially with the pivot axis of the body or finger joint through which the two body or finger segments, which are housed in the exoskeleton elements, are connected to each other. The pivot bearing of the exoskeleton is designed with a bearing eye and a bearing body arranged in the bearing eye.

[0014] In the exoskeleton according to the invention, a minimum or maximum pivot angle of the exoskeleton elements (and thus the body or finger segments) relative to each other is predefined. According to the invention, this is achieved by two stops coming into contact with each other when the minimum and maximum pivot angles are reached. The invention includes embodiments in which either the minimum or the maximum pivot angle is predefined by means of two stops. However, it is also possible that both the minimum and the maximum pivot angle of the pivot bearing are predefined by at least three, preferably four, stops.

[0015] The invention is based on the finding that, for the embodiments known from the prior art (see, for example, US 2021 / 022899 A1), the provision of stops via an outwardly oriented extension of an orthosis element and an outer contour of the adjacent orthosis element providing the stop - is complex to manufacture, - results in a design with protrusions and edges, which is a hindrance in use, and - which contradicts a simple, slim, appealing and unobtrusive design for the exoskeleton. Furthermore, with such a design, there is a possibility that skin of a neighboring finger or body part, or objects in the vicinity of the exoskeleton, could become trapped between the two stops.

[0016] Against this background, the invention proposes that the stops, which define the minimum or maximum pivot angle of the pivot bearing and thus of the exoskeleton elements, are integrated into the pivot bearing. Preferably, the stops are arranged in an overlap area of ​​material regions of the two exoskeleton elements (in particular, in the area of ​​overlapping bearing surfaces of the exoskeleton elements). The stops can then be located within this overlap area inside these material regions, i.e., within the outer surface of the outer exoskeleton element or the outer bearing surface and the inner surface of the inner exoskeleton element or the inner bearing surface. The stops thus do not protrude beyond the outer and inner surfaces, resulting in an attractive design, a compact size, and / or preventing pinching of skin or surrounding objects.It is possible that the stops are additionally covered on the outside and / or inside, which can be achieved by an additional protective element, for example a fixing screw, or a covering surface of a component forming the stop, in particular a stop flange of a swivel bearing insert. In a particular embodiment, it is possible that the stops have a distance from the swivel axis that is less than 5 mm, less than 4 mm, less than 3 mm, or even less than 2 mm.

[0017] Alternatively or cumulatively, a stop is formed directly by a bearing eye of one exoskeleton element, in which the bearing body of the other exoskeleton element is then received. In this case, the bearing eye can be multifunctional, serving on the one hand to guide the rotary motion, in particular the rotary guidance of the bearing body, and on the other hand to provide the stop by which the swivel angle is limited. Preferably, the stop of the bearing eye then abuts a corresponding stop of the bearing body to limit the swivel angle.

[0018] The invention offers numerous possibilities for the design of the swivel bearing. For example, the components of the swivel bearing can be formed integrally by the exoskeleton elements, such that the bearing eye with a stop is formed integrally by one exoskeleton element and the bearing body with a stop is formed by the other exoskeleton element. Alternatively, at least one additional component can be used, which can then, for example, form the bearing body or the bearing eye and is fixedly mounted to an exoskeleton element.

[0019] In one aspect of the invention, the pivot bearing is provided by the bearing body having a pivot bearing section. The pivot bearing section has a wing oriented radially to the pivot axis. One wing surface of the wing then has a surface normal that has at least one component in the circumferential direction around the pivot axis.

[0020] This wing surface then forms a first stop. Furthermore, the slewing bearing section of the bearing body has an outer bearing surface that corresponds to the lateral surface of a cylindrical segment. It is possible that, on the one hand, the wing and, on the other hand, the outer bearing surface are arranged with the same axial extent, but in different circumferential regions of the slewing bearing section. It is also possible that, on the one hand, the wing and, on the other hand, the outer bearing surface are arranged in different axial sections of the slewing bearing section.

[0021] For this exoskeleton design, the bearing eye has an inner bearing surface corresponding to the outer surface of a cylindrical segment. The inner bearing surface of the bearing eye is designed to correspond to the outer bearing surface of the bearing body, in order to form a sliding bearing for pivoting about the pivot axis. The bearing eye also has a wing-receiving recess, which is suitable for receiving the wing of the bearing body. The wing-receiving recess is bounded in at least one circumferential direction by a wing stop surface, which forms a second stop. The wing-receiving recess has a circumferential extension that allows pivoting of the wing of the bearing body within the wing-receiving recess, limited by the first and second stops.In the bearing eye, the inner bearing surface and the wing receiving recess can be arranged either with the same axial extent or axially offset, depending on the design of the bearing body in the area of ​​the rotary bearing section.

[0022] In the exoskeleton, the pivoting section of the bearing body is inserted into the bearing eye. To define the minimum or maximum swivel angle of the exoskeleton links, the first stop, formed by the wing, abuts the second stop, which circumferentially limits the wing-receiving recess of the bearing eye. During the swiveling of the exoskeleton links around the pivot axis, the outer bearing surface of the bearing body is rotatably guided against the inner bearing surface of the bearing eye.

[0023] It is quite possible that the bearing body and the bearing eye have only one wing and one wing-receiving recess. Preferably, the bearing body has two wings. In this case, the two wings can be connected to each other by two cylindrical segment-shaped outer bearing surfaces. Preferably, the two wings are then arranged offset from each other by 180° in the circumferential direction, and the two outer bearing surfaces and wings are located at the same axial extent of the bearing body. In this case, the bearing eye then has two corresponding inner bearing surfaces and two wing-receiving recesses. By using two wings and two wing-receiving recesses, the impact forces can be distributed when the stops make contact at the minimum and / or maximum swivel angle, ideally resulting in a halving of the impact forces.It is also possible that more than two wings and wing-receiving recesses or even a kind of interlocking with play in the circumferential direction is used if a further reduction of the impact forces is desired.

[0024] As previously explained, the pivot bearing component, and in particular the bearing body, can be integrally formed with the exoskeleton elements. However, in one embodiment of the invention, the pivot bearing has a pivot bearing insert that forms the bearing body. This allows for the separate manufacturing of the pivot bearing insert. The design and manufacturing of the pivot bearing insert then allows for individual customization of the pivot bearing, and, if necessary (e.g., by varying the circumferential extent of the wings), the minimum and / or maximum pivot angle can also be influenced. The same or different pivot bearing inserts can then be used for different exoskeleton elements. Furthermore, it is possible to manufacture the pivot bearing insert from a different material than the exoskeleton elements.For example, the swivel bearing insert can be specifically manufactured from a material that has high strength and also enables, for example, the reliable engagement of a screw, while the material of the exoskeleton links can be specifically equipped with elasticity, reduced strength, or a material appearance and surface for suitable contact on the inside with the body part or finger and on the outside for the interaction of the exoskeleton with objects.

[0025] The invention offers numerous possibilities for the design of the swivel bearing insert and its bearing body. The bearing body of the swivel bearing insert can comprise the previously described rotary bearing section with at least one wing and at least one outer bearing surface. Additionally, according to one embodiment of the invention, the bearing body can also include a fixing section. In the area of ​​the fixing section, the bearing body can then be attached to the exoskeleton element that does not form the bearing eye. For example, the bearing body in the fixing section can have a non-circular cross-section, which can then be positively engaged in a fixing recess of the exoskeleton element that does not form the bearing eye, circumferentially around the pivot axis.It is possible that the interaction of the fixing section with the fixing recess only provides rotational protection, while one degree of axial freedom remains between the bearing body of the swivel bearing insert and the exoskeleton element that does not form the bearing eye. This freedom can then be eliminated by other measures, in particular an additional fixing element or a screw. However, it is also possible that the fixing section of the bearing body of the swivel bearing insert is pressed into a fixing recess of the exoskeleton element that does not form the bearing eye, or is otherwise additionally secured in the fixing recess, for example with an adhesive, and thus axially fixed.

[0026] In one embodiment of the invention, the bearing body of the swivel bearing insert has a fixing wing in the fixing section. In this case, the exoskeleton element that does not form the bearing eye has a fixing recess that has a receiving recess for the fixing wing. The fixing wing of the bearing body is then arranged in the receiving recess for the fixing wing, forming a rotationally fixed connection.

[0027] In one embodiment of the exoskeleton according to the invention, the pivot bearing insert has a support surface. This support surface can be designed, for example, as a flange, collar, or projection. The pivot bearing insert is then supported in an axial direction (corresponding to the direction of the pivot axis, preferably outwards) by means of this support surface on an exoskeleton element, which is preferably the exoskeleton element that has the fixing recess and does not form the bearing eye.

[0028] In a further embodiment of this solution, the invention proposes that the pivot bearing insert is secured to at least one exoskeleton element by means of a fixing element. Preferably, the fixing element secures the pivot bearing insert in the opposite axial direction, i.e., opposite to the support of the pivot bearing insert via the insert's support surface or inwards. It is possible that a rigid connection between the pivot bearing insert and the exoskeleton element forming the fixing recess is created via the insert's support surface, the fixing element, and the receiving of the fixing section in the fixing recess.

[0029] There are numerous possibilities for the design of the fixing element within the scope of the invention. For example, the fixing element can be a snap-fit ​​or locking connection, a clamping connection, a connection created by crimping, or a connection created by adhesive bonding. In one embodiment of the invention, the fixing element is a fixing screw. Preferably, in this case, the head of the fixing screw serves to secure the pivot bearing insert to the associated exoskeleton member in the axial direction, in which no securing is achieved via the insert's support surface (especially inwards).

[0030] It is possible that the connection between the two exoskeleton elements is achieved solely by means of a pivot bearing located on one side of the body part or finger. However, a further aspect of the invention preferably involves pivot bearings being arranged on both sides of the exoskeleton, with the two pivot bearings then having aligned pivot axes. This ensures greater reliability and improved guidance of the exoskeleton elements during pivoting.

[0031] A further aspect of the invention addresses the strength of the stops and their force transmission and absorption. If the stop surfaces formed by the wing on the one hand and the fixing wing receiving recess on the other, which limit the pivot angle of the pivot bearing, have surface normals oriented tangentially to the circumferential direction, the stop forces are oriented in a plane perpendicular to the pivot axis. This generates a radial stress on the bearing body with respect to the pivot axis, and, due to the radial offset of the wing stop surface and the wing surface to the pivot axis, a moment acts which causes a torsional moment about the pivot axis.According to one aspect of the invention, a change in the stress on the components of the pivot bearing can be achieved when the stops reach contact if the wing surfaces and the wing stop surfaces are inclined relative to a plane defined by the pivot axis and an axis radially oriented to the pivot axis and passing through the wing surfaces. This involves using an acute angle of inclination (for example, in the range of 2° to 45°, 4° to 30°, 5° to 80°, 10° to 20°, 10° to 30°, 15° to 30°, 25° to 40°, 30° to 50°, 40° to 60°, 45° to 70°, 50° to 80°, or 65° to 80°).This angle of inclination arises particularly when the wing surface and the wing stop surface are projected onto a longitudinal plane of the bearing body that has the pivot axis and is oriented vertically to the radial orientation of the wing surface. The inclination of the wing surface and the wing stop surface results in the stop forces being distributed into a component that runs in the plane oriented transversely to the pivot axis and a component that runs axially, i.e., parallel to the pivot axis. The first component is reduced by this distribution, thus reducing the stress caused by this component. Instead, an axial force component is generated, which can be absorbed at other points, preferably in a contact area of ​​a fixing screw head and / or in the area of ​​a support of the insert support surface.Here, appropriate measures can be taken to ensure suitable absorption and rigid and reliable support of this axial force component, for example by selecting a suitable size for the contact surface of the head of the fixing screw and / or the size of the insert support surface.

[0032] In a particular embodiment of the exoskeleton according to the invention, the bearing body of the pivot bearing insert, with its rotary bearing section, is inserted from the inside, i.e., from the side of a bearing flange facing the body part or finger, into the bearing eye formed by the bearing flange of a first exoskeleton element. The bearing body of the pivot bearing insert is then supported from the inside out via the insert's support surface on the bearing flange of the first exoskeleton element. The bearing body of the pivot bearing insert extends with its fixing section (on the side facing away from the insert's support surface) out of the bearing flange of the first exoskeleton element. On the outside of the bearing flange of the first exoskeleton element, this fixing section is then connected to the fixing section in the fixing recess of the bearing flange of the second exoskeleton element. As explained, this connection can preferably be used exclusively, or alternatively, for rotational fixing.The locking screw is then screwed into the outer end face of the bearing body. This locking screw has a head that secures the swivel bearing insert against inward disassembly. It is possible that the locking section transitions into the pivot bearing section via a shoulder, and the bearing flange of the exoskeleton element, which incorporates the locking section, is caught between this shoulder and the head of the locking screw. With sufficient tightening or pressing in of the locking screw, the swivel bearing insert is thus fixed to this exoskeleton element. The pivot bearing section then projects inward from this exoskeleton element, possibly with the insert's support surface. The other exoskeleton element is then rotatably mounted on this projecting part of the swivel bearing insert.

[0033] The following further solution to the problems underlying the invention can be used alternatively or cumulatively to the previously mentioned embodiments of the exoskeleton.

[0034] For this alternative or cumulative solution to the problem underlying the invention, the exoskeleton designed as a finger exoskeleton has a fingertip element. The fingertip element covers at least part of the frontal surface of the fingertip and / or the underside of the finger. According to the prior art, the design of finger exoskeletons with such a fingertip element may present a conflict of objectives as follows: - To ensure support for the terminal finger joint located in the fingertip segment, the fingertip segment should be designed to be as stiff as possible. The rigid design of the fingertip phalanx means that it lies in full contact with the sensitive skin of the fingertips. This rigidly supports the sensitive, tactile, or haptic feedback of the contact force between the fingertip phalanx and a contacted object, preventing or limiting its transmission to the fingertip. Therefore, for good feedback of the contact force to the fingertip, it would be advantageous for the stiffness of the fingertip phalanx to be as low as possible.

[0035] Against this background, the invention proposes that the fingertip segment has a sensor element. The sensor element comprises an outer contact element arranged on the outside of the fingertip segment and an inner contact element arranged on the inside of the fingertip segment. The outer contact element serves to make contact between the sensor element and an object that is grasped or subjected to force by the finger with the finger exoskeleton. The inner contact element, on the other hand, serves to make contact between the sensor element and the fingertip. The outer contact element is coupled or connected to the inner contact element in such a way that a contact force exerted by the object on the outer contact element is transmitted to the inner contact element, which in turn transmits this contact force from the inner contact element to the fingertip.To ensure this, the outer contact element and inner contact element of the sensor element are both movable relative to the fingertip segment, so that a contact force acting on the outer contact element causes a displacement of the sensor element inwards relative to the fingertip segment.

[0036] The inventive design resolves the aforementioned conflict of objectives: The sensor element enables the transmission of the contact force in the area of ​​the outer contact element to the fingertip, thus ensuring sensitive feedback when an object contacts the finger exoskeleton. On the other hand, the fingertip segment can be equipped with any desired stiffness optimized for the mechanical support of the finger within the finger exoskeleton, without impairing the sensitive feedback due to the degree of displacement between the sensor element and the fingertip segment.

[0037] Within the scope of the invention, the sensor element can, for example, surround a material ridge of the fingertip in a U-shape, with the base leg of the U forming the inner contact element, while the end regions of the side legs of the U facing away from the base leg form two outer contact elements of the sensor element. In a particular embodiment of the invention, the fingertip has at least one recess through which the sensor element extends. The boundary of the recess in the fingertip can then guide the sensor element.

[0038] It is possible that the sensor element is rigid under the forces typically generated by the finger, meaning in particular that the sensor element does not experience any elongation under these forces that is greater than, for example, 1%, 0.5%, or 0.1%. In this case, the sensor element may be able to slide inwards against the force exerted by a spring that supports the sensor element on the fingertip.

[0039] Alternatively or cumulatively, it is also possible that the sensor element is elastic. In this case, the elasticity of the sensor element can be used to displace the outer contact element and / or the inner contact element of the sensor element relative to the fingertip. It is quite possible that the sensor element has sections with different stiffnesses.

[0040] It is possible for an inner contact element, for example a surface element which may be curved according to the curvature of the fingertip, to be connected to several outer contact elements. The inner contact element can then be connected to the multiple outer contact elements via a common recess or multiple recesses in the fingertip segment. The multiple outer contact elements can then specifically absorb contact forces at their respective locations. The contact forces acting on the outer contact elements are then transmitted as a resultant force from the inner contact element to the fingertip.By selecting the number of external contact elements, their spacing and arrangement, and the size of the contact area of ​​the internal contact element with the fingertip, a kind of translation of the force transmission can be achieved, thereby allowing the sensitivity of the sensing by the fingertip to be specifically and constructively predetermined.

[0041] It is also possible that several internal contact elements (through one or more recesses of the fingertip segment) are connected to a common external contact element.

[0042] If multiple external and internal contact elements are present, they can be displaceable in parallel directions relative to the fingertip. However, it is also possible for external contact elements and their associated internal contact elements to be displaceable in different arbitrary directions relative to the fingertip. In one embodiment, first groups of external contact elements and their associated internal contact elements can be oriented vertically to the underside of the fingertip, while second groups of external contact elements and their associated internal contact elements can be oriented laterally. These different orientations allow forces to be sensed in different directions.

[0043] If several internal contact elements are mentioned here, they can be individual, unconnected internal contact elements or partial internal contact elements formed by a common internal contact body, in particular a surface element.

[0044] In a particular aspect of the invention, external contact elements can be used multifunctionally, also serving to secure the sensor element to the fingertip. In this case, two pairs of external contact elements and associated internal contact elements extend on opposite sides through (e.g., lateral) recesses in the fingertip. To mount the sensor element to the fingertip, the external contact elements must be moved inwards and / or the fingertip must be widened in the opposite direction so that the sensor element, along with the external contact elements, can be threaded into the recesses. The sensor element is then held securely on the fingertip by the elastic restoring forces.

[0045] In another aspect of the invention, the movement of the sensor element in the finger exoskeleton can be limited outwards and / or inwards by a stop. If the sensor element is limited inwards, this prevents the fingertip from being subjected to excessive force. Conversely, limiting the movement of the sensor element inwards and / or outwards can ensure that the sensor element is securely held in place on the finger exoskeleton.

[0046] In a further aspect of the invention, at least one outer contact element and / or at least one inner contact element has at least one projection, rib, recess, groove, or slot. This allows for the creation of raised sections of the outer contact element and / or inner contact element, which can provide primary contact points between the outer contact element and the object or between the inner contact element and the fingertip. This improves both the grip on the object and the sensitive feedback to the fingertip. Alternatively or cumulatively, the projection, rib, recess, groove, or slot can be used to provide different stiffnesses in the area of ​​the outer contact element and / or inner contact element.It is possible that the material thickness of the outer and / or inner contact element is altered in the area of ​​the projection, rib, recess, groove, or slot, which can result in a change in stiffness. Alternatively or cumulatively, it is possible that the projection, rib, recess, groove, or slot is formed by an indentation or protrusion or other shaping of the outer and / or inner contact element without a change in material thickness.

[0047] Advantageous further developments of the invention result from the patent claims, the description and the drawings.

[0048] The advantages of features and combinations of features mentioned in the description are merely exemplary and can have an effect alternatively or cumulatively, without the advantages necessarily having to be achieved by embodiments according to the invention.

[0049] Regarding the disclosure content—not the scope of protection—of the original application documents and the patent, the following applies: Further features can be derived from the drawings—in particular, the geometries depicted and the relative dimensions of several components to one another, as well as their relative arrangement and functional connection. The combination of features from different embodiments of the invention or from features of different claims is also possible, deviating from the chosen cross-references of the claims, and is hereby encouraged. This also applies to features that are illustrated in separate drawings or mentioned in their description. These features can also be combined with features from different claims.Likewise, features listed in the patent claims may be omitted for further embodiments of the invention, but this does not apply to the independent patent claims of the granted patent.

[0050] The features mentioned in the claims and the description are to be understood, with regard to their number, as meaning that exactly that number or a greater number than the stated number is present, without the need for the explicit use of the adverb "at least". Thus, for example, if an external contact element is mentioned, this is to be understood as meaning that exactly one external contact element, two external contact elements, or more external contact elements are present. The features listed in the claims may be supplemented by further features or may be the only features that the subject matter of the respective claim possesses.

[0051] The reference numerals contained in the patent claims do not constitute a limitation of the scope of the subject matter protected by the patent claims. They merely serve the purpose of making the patent claims easier to understand. BRIEF DESCRIPTION OF THE FIGURES

[0052] The invention will now be further explained and described with reference to preferred embodiments shown in the figures. Fig. Figure 1 shows a spatial view of an exoskeleton designed as a finger exoskeleton with three exoskeleton links. Fig. 2 shows the finger exoskeleton according to Fig. 1 in a side view, with the finger exoskeleton in an extended operating position and one outer bearing cheek and one fixing screw of the swivel bearings not shown. Fig. 3 shows the finger exoskeleton according to Fig. 1 and Fig. 2 in a side view, where the finger exoskeleton is in a bent operating position and one outer bearing cheek and one fixing screw of the swivel bearings are not shown. Fig. Figure 4 shows a spatial exploded view of the finger exoskeleton according to Fig. 1 to 3 diagonally from below. Fig. Figure 5 shows a spatial exploded view of the finger exoskeleton according to Fig. 1 to 4 diagonally from above. Fig. Figure 6 shows a spatial view of a pivot bearing insert of a finger exoskeleton according to Fig. 1 to 5. Fig. Figure 7 shows a side view of the swivel bearing insert according to Fig. 6. Fig. Figure 8 shows in detail VIII of the finger exoskeleton according to Fig. 2 in the area of ​​a swivel bearing. Fig. Figure 9 shows a side view of a finger exoskeleton according to Fig. 1 to 5 with the outer bearing cheeks of the swivel bearings, but without the fixing screw. Fig. Figure 10 shows a section XX of a finger exoskeleton according to Fig. 1 to 5 and 9 at the in Fig. 9 marked cutting line. Fig. Figure 11 shows a detail XI of the cutaway view according to Fig. 10. Fig. Figure 12 shows an alternative design of an exoskeleton designed as a finger exoskeleton with two exoskeleton links in a spatial view obliquely from below. Fig. Figure 13 shows a spatial view obliquely from above of a sensor element of a finger exoskeleton according to Fig. 12. Fig. 14 shows the sensor element according to Fig. 13 in a spatial view obliquely from below. Fig. Figure 15 shows a spatial view obliquely from below of an exoskeleton element designed as a fingertip segment with a sensor element. Fig. Figure 16 shows the sensor element in a spatial view from an oblique angle above, according to Fig. 15. FIGURE DESCRIPTION

[0053] In the following figure description, components and features that correspond or are similar are identified with the same reference numbers, which can then be distinguished from one another by an additional letter a, b, ... In this case, reference can be made to the components and features without the additional letter, which can then refer to one component or feature, any number of components or features, or all components or features.

[0054] The figures and the figure description relate to a design of the exoskeleton as a finger exoskeleton, whereby the same can then also apply to an exoskeleton used on another part of the body.

[0055] Fig. Figure 1 shows a finger exoskeleton 1. The finger exoskeleton 1 has exoskeleton segments 2, 3, and 4. The exoskeleton segment 2 is a fingertip segment 5, in which the third finger segment (distal phalanx) is incorporated. If the finger exoskeleton 1 differs from the Fig. 1 not formed with three exoskeleton links 2, 3, 4 and not intended for an index finger, middle finger, ring finger and little finger, but formed with two exoskeleton links 2, 3 and intended for a thumb, the end segment of the thumb is accommodated in the exoskeleton link 2.

[0056] The exoskeleton limb 3 accommodates the second phalanx of the index finger, middle finger, ring finger or little finger (phalanx media) or the first phalanx of the thumb.

[0057] When the finger exoskeleton is designed with the three exoskeleton links 2, 3, 4, the first finger joint of the index finger, middle finger, ring finger or little finger (phalanx proximalis) is accommodated in the exoskeleton link 4.

[0058] Exoskeleton limb 2 surrounds, similar to a thimble, the fingertip of the third finger joint or thumb end joint.

[0059] Exoskeleton links 3 and 4 are ring-shaped, so that they circumferentially enclose the incorporated finger segment. It is possible that the ring formed by exoskeleton links 3 and 4 is either closed or slit-shaped in the circumferential direction.

[0060] On both sides of the finger, they form - the exoskeleton element 2 in the proximal end region bearing cheeks 6a, 6b, - the exoskeleton link 3 in the distal end region bearing cheeks 7a, 7b and in the proximal end region bearing cheeks 8a, 8b and - the exoskeleton link 4 in the distal end region bearing cheeks 9a, 9baus.

[0061] The bearing cheeks 6a, 6b and 7a, 7b abut each other in the area of ​​overlaps, forming a sliding contact and forming parts of pivot bearings 10a, 10b on both sides of the finger. Similarly, the bearing cheeks 8a, 8b and 9a, 9b abut each other in the area of ​​overlaps, forming a sliding contact and forming parts of pivot bearings 11a, 11b on both sides of the finger.

[0062] The pivot bearings 10, 11 are each formed with the bearing cheeks 6, 7, 8, 9 of the exoskeleton links 2, 3, 4 connected via the pivot bearing, a fixing screw 12 and a pivot bearing insert 13.

[0063] The pair of pivot bearings 10 has a common pivot axis 14. Similarly, the pair of pivot bearings 11 has a common pivot axis 15. The pivot axes 14 and 15 are preferably oriented parallel to each other.

[0064] Fig. Figure 2 shows the finger exoskeleton 1 in an extended position, for which the pivot bearings 10, 11 have reached the maximum pivot angle, which, as will be explained in detail below, is specified and limited by stops of the pivot bearings 10, 11.

[0065] However, it shows Fig. 3 the finger exoskeleton 1 in the maximum flexion position, for which the pivot bearings 10, 11 have reached the minimum swivel angle, which, as will be explained in detail below, is also specified and limited by stops integrated into the pivot bearings 10, 11.

[0066] Fig. 4 and Fig. Figure 5 shows the finger exoskeleton 1 in three-dimensional exploded views. It can be seen that the bearing cheeks 6 of exoskeleton element 2 have continuous bearing eyes 16a, 16b. Similarly, the bearing cheeks 9a, 9b of exoskeleton element 4 also have bearing eyes 17a, 17b.

[0067] The bearing cheeks 7a, 7b of exoskeleton element 3 each have a continuous fixing recess 18. Correspondingly, the bearing cheeks 8a, 8b of exoskeleton element 3 have fixing recesses 19a, 19b.

[0068] Fig. 6 and Fig. Figure 7 shows the swivel bearing insert 13 as a single component. The swivel bearing insert 13 has a stop flange 20 designed as a circular ring disc, which, when installed, rests against the cheek 6 or 9 in the direction of the swivel axis 14 or 15, respectively, facing outwards. A bearing body 21 is held on the stop flange 20. In the illustrated embodiment, the stop flange 20 and the bearing body 21 are formed in one piece.

[0069] The bearing body 21 has two longitudinal sections, namely a rotary bearing section 22 and a fixing section 23.

[0070] The rotary bearing section 22 has fixing wings 24a, 24b arranged diametrically opposite each other with respect to the pivot axis 14, 15.

[0071] The pivot bearing section 22 also has wings 25a, 25b arranged diametrically opposite each other with respect to the pivot axis 14, 15.

[0072] Pairs of wings 24, 25 preferably close directly against each other in the direction of the pivot axis 14, 15 without forming a step.

[0073] The fixing wings 24 have fixing wing surfaces on both sides, which are distinguished from each other by the suffixes “-1” and “-2”. The fixing wing surfaces 26 are planar and have a surface normal that is oriented circumferentially around the pivot axis 14, 15.

[0074] The wings 25 also have wing surfaces 27 on both sides, which are distinguished from each other by the suffixes "-1" and "-2". The wing surfaces 27 are flat. However, the wing surfaces 27 are inclined at an angle 28. This angle of inclination is the angle between the projection of the pivot axis 14, 15 onto the cylindrical surface of the pivot bearing insert 13 in the area of ​​the respective wing surface and the projection of the respective wing surface 27 onto the cylindrical surface. The fixing wing surfaces 26 transition into the wing surfaces 27 via a kink.

[0075] In the rotary bearing section, the vanes 25 are connected circumferentially via bearing outer surfaces 29, which are distinguished from one another by the suffixes "-1" and "-2". The bearing outer surfaces 29 have a shape corresponding to the lateral surface of a cylindrical segment.

[0076] In the transition area from the bearing outer surfaces 29 to the stop flange 20, a rounding may be present both in the area of ​​the bearing outer surfaces 29 and in the area of ​​the wing surfaces 27 (see Fig. 7).

[0077] In the fixing section 23, the fixing wings 24 extend from a hollow cylindrical hub 30. The hub 30 has an internal bore 31, which also extends through the pivot bearing section 22 and the stop flange 20 and is intended for receiving the shaft of the fixing screw 12.

[0078] Fig. 8 shows a detail VIII of Fig. 2 in the area of ​​the swivel bearing 10. The rotary bearing section 22 of the bearing body 21 is arranged in the area of ​​the bearing eye 16, 17, the extent of the bearing eye 16, 17 corresponding to the extent of the rotary bearing section 22 in the direction of the pivot axis. It can be seen that the bearing eye 16, 17 has two bearing inner surfaces 32-1 and 32-2, which correspond to the outer surface of a cylindrical segment. In the circumferential direction between the bearing inner surfaces 32-1 and 32-2, wing-shaped receiving recesses 33a, 33b are arranged. The wing-shaped receiving recesses 33 are designed according to a cylindrical segment whose radius is larger than the radius of the cylindrical segment whose outer surface corresponds to the bearing inner surface 32. In the circumferential direction, the wing receiving recesses 33 are bounded by radially oriented wing stop surfaces 34, which are inclined at an angle 28 corresponding to the wing surfaces 27.

[0079] Fig. Figure 9 shows a side view of the finger exoskeleton 1 with a section line XX indicated. The sectioned view is in Fig. 10 reproduced, whereby Fig. 11 a detail XI of the sectioned representation according to Fig. 10 shows. In the Fig. Figures 9 to 11 show the swivel bearings 10, 11 without the fixing screws 12.

[0080] The bearing cheek 6, which forms the bearing eye 16, is located on the inside, i.e., on the side facing the finger, of the bearing cheek 7. On its inner side, the bearing cheek 6 has a receptacle 35 (see also Fig. 5), in which the stop flange 20 is received such that the end face of the stop flange 20 facing the finger is flush with the inside of the bearing cheek 6. The pivot bearing section 22 with the wings 25 and the outer bearing surfaces 29 is arranged in the area of ​​the bearing eye 16 and in the area of ​​the inner bearing surfaces 32 and the wing receiving recesses 33 as well as the wing stop surfaces 34 of the bearing eye 16. The fixing section 23 projects outwards from the bearing cheek 6 and extends into the fixing recess 18 of the bearing cheek 7.

[0081] The outer end face of the bearing body 21 is flush with the outer surface of the bearing cheek 7. A [missing text] is incorporated into this end face (not shown in the figures). Fig. 9 to 11) the fixing screw 12 is screwed or pressed in, wherein for this purpose the bearing body 21 may have an end-face bore and the fixing screw 12 cuts a thread into this bore when screwed or pressed in. or may become entangled in it.

[0082] The operating principle of the pivot bearing 10 formed in this way is as follows: In the assembled operating position, the swivel bearing insert 13 is secured axially outwards by the contact of the stop flange 20 against the bearing flange 6 in the area of ​​the receptacle 35. Conversely, axial securing of the swivel bearing insert 13 inwards is achieved by the contact of the head 37 of the fixing screw 12 against the outer surface of the bearing flange 7.

[0083] A relative rotation of the bearing cheeks 6, 7 and thus of the exoskeleton links 2, 3 about the pivot axis 10 is guided by the sliding bearing, which is formed with the outer bearing surfaces 29 of the pivot bearing insert 13 and the inner bearing surfaces 32 of the bearing eye 16, i.e. the bearing cheek 6.

[0084] When a minimum pivot angle corresponding to a maximum bending angle is reached for the pivoting of the exoskeleton elements 2, 3, the wing surfaces 27a-2, 27b-2 come into contact with the wing stop surfaces 34a-2, 34b-2, thus blocking further pivoting in the bending direction. The wing surfaces 27-2 and the wing stop surfaces 34-2, 34-2 therefore form pairs of stops 39, 40.

[0085] However, a pivoting motion in the extension direction to specify a maximum pivoting angle is blocked because the wing surfaces 27a-1, 27b-1 come into contact with the wing stop surfaces 34a-1, 34b-1. Thus, the wing surfaces 27-1, 27-1 and the wing stop surfaces 34-1, 34-1 also form stops 39, 40.

[0086] Since the wing surfaces 27 and the wing stop surfaces 34 are inclined at an angle of inclination 28, the stop force acting on the wing surface 27 and the wing stop surface 34 is also inclined accordingly, such that it has a component acting in the axial direction, i.e., parallel to the pivot axis 14. This axial force component is oriented such that it increases the contact pressure of the stop flange 20 against the bearing cheek 6. Therefore, this axial force component does not result in an additional axial force being exerted on the fixing screw 12. Rather, the axial force component can be supported by a relatively large contact area of ​​an insert support surface 41 between the stop flange 20 and the bearing cheek 6.Preferably, in the embodiment according to the invention, the fixing screw 12 is completely free of forces caused by the external application of pressure to the finger exoskeleton 1, so that the fixing screw 12 serves only to secure the axial mounting position.

[0087] Especially in Fig. Figure 4 shows that the fixing recess 18 has sections corresponding to the lateral surface of a cylindrical segment, which are connected to each other via fixing wing receiving recesses 38 formed by a radial extension of the fixing recess 18. The bearing body 21 is received (in particular, precisely fitting) in the fixing recess 18 by the fixing section 23, whereby the fixing wings 24 are received in the fixing wing receiving recesses 38 with as little play as possible and ensure a rotationally fixed support of the bearing body 21 on the bearing cheek 7.

[0088] A minimum and / or maximum swivel angle is limited by bringing about contact between pairs of stops 39, 40, which are provided on the one hand by an exoskeleton element 2, here the bearing eye 16, and on the other hand by the other exoskeleton element 3 or the swivel bearing insert 13.

[0089] In the preceding, particular reference was made to the pivot bearing 10 between the exoskeleton links 2, 3. The same can also apply to the pivot bearing 11 between the exoskeleton links 3, 4.

[0090] Fig. Figure 12 shows another embodiment of a finger exoskeleton 1, which (with otherwise corresponding design) has only two exoskeleton elements 2, 3, which are connected to each other via a pivot bearing 10. The finger exoskeleton 1 according to Fig. For example, finger 12 can be designed as a thumb exoskeleton or, in the case of another finger, serve exclusively to hold the second and third phalanges.

[0091] Optionally, the finger exoskeleton 1 can be customized according to the Fig. 1 to 5 or according to Fig. 12 be equipped with at least one sensor element 42. This will be exemplified by the finger exoskeleton 1 according to Fig. 12 explained, the same also applies to the finger exoskeleton 1 according to Fig. 1 to 5 apply.

[0092] Fig. Figure 13 shows the sensor element 42 as a single component in a three-dimensional, oblique view from above. The sensor element 42 is shown here as a single piece, although this is not necessarily the case. The sensor element 42 has several external contact elements 43 and one internal contact element 44. The internal contact element 44 is designed as a curved surface element 45. The surface element 45 has a generally constant wall thickness and is adapted to the shape of the fingertip. The surface element 45 covers the underside of the fingertip, at least partially the frontal surface of the fingertip, and the lateral side areas of the fingertip.

[0093] The outer contact elements 43 extend vertically from the surface element 45 and vertically to the fingertip in the associated area.

[0094] The shaping of the external contact elements 43 is particularly important in Fig. Figure 14 shows that two external contact elements 43a and 43b are arranged flush with each other on opposite sides. These external contact elements are located in the area of ​​the surface element 45, which corresponds to the lateral side of the fingertip. The external contact elements 43a and 43b are rib-like with rounded ends and may have a curved rib profile, extending parallel to the longitudinal axis of the fingertip.

[0095] On the underside, 45 external contact elements 43c, 43d, 43e, 43f, 43g extend from the surface element.

[0096] The external contact element 43c is arranged in the front end region of the underside and oriented in the transverse direction, designed as a kind of rib, preferably with rounded ends and a circular arc curvature corresponding to the curvature of the front side of the fingertip.

[0097] Parallel to the corresponding contouring, pairs of external contact elements 43d, 43e or 43f, 43g are arranged behind the front external contact element 43c, with a gap remaining between these pairs of external contact elements 43d, 43e, or 43f, 43g on the one hand and between the adjacent pairs on the other.

[0098] The fingertip 5 has recesses 46. The surface element 45 lies fully against the inside of the fingertip 5. The outer contact elements 43 extend through the recesses 46 and project out of the fingertip 5. The end faces of the outer contact elements 43 form contact surfaces 47.

[0099] The sensor element 42 can be flexible, flexible, or elastic, with a constant stiffness or a stiffness that varies in different sections. When the wearer of the finger exoskeleton 1 contacts an object with the fingertip 5, the contact surfaces 47 come into contact with the object. The contact force is then transmitted via the outer contact elements 43 to the inner contact element 44, which in turn transmits the contact force to the fingertip, so that the wearer of the finger exoskeleton 1 receives sensitive feedback on the contact force. The outer contact elements 43a and 43b transmit a lateral contact force, while the outer contact elements 43d to 43g transmit a contact force acting on the underside of the fingertip.

[0100] For mounting and attaching the sensor element 42 to the fingertip segment 5, the following alternative or cumulative possibilities are preferably available: a) If the sensor element 42 has external contact elements 43a, 43b arranged on opposite sides, these can be inserted into the associated recesses 46a, 46b under elastic compression of the sensor element 42. The elastic restoring force of the sensor element 42 then secures the external contact elements 43a, 43b in the recesses 46a, 46b. b) It is also possible that the sensor element 42 has mounting projections 48 which (also under elastic deformation of the sensor element 42) can be received in a recess of the fingertip segment 5 which may then not be continuous. c) It is possible that the fingertip 5 has a through-hole 49 through which an adjacent contact surface between the sensor element 42 and the fingertip 5 is supplied with an adhesive, thereby creating an adhesive bond between the sensor element 42 and the fingertip 5. It is also possible that the through-hole 49 is arranged in the area of ​​the connection between a mounting projection 48 and a recess according to b).

[0101] It is possible that the sensor element 42 has ventilation recesses 50, preferably in the area of ​​the outer contact elements 43.

[0102] Fig. 15 and Fig. Figure 16 shows an alternative embodiment of the fingertip 5 with the sensor element 42. Here, the surface element 45 has recesses 51a, 51b adjacent to the outer contact elements 43a, 43b. The recesses 51a, 51b allow for the targeted definition of deformation paths of the surface element 45 and / or for influencing the stiffness of the surface element 45.

[0103] According to the embodiment in Fig. 15 and Fig.16. The external contact elements 43a, 43b, 43c, 43d do not have a continuous end-face contact surface 47. Instead, the external contact elements 43 have recesses 52 in the area of ​​the end-face contact surfaces 47, in particular in the form of grooves 53, by which the contact surfaces 47 are subdivided into partial contact surfaces. The recesses 52 or grooves 53 can also serve to influence the stiffness and provide deformation paths of the partial sections of the external contact elements 43.

[0104] As shown, it is possible that external contact elements 43a, 43b preferably have crosswise intersecting grooves 53a, 53b and / or external contact elements 43c, 43d have non-intersecting, preferably parallel grooves 53c, 53d.

[0105] The pivot joints 10, 11 preferably limit a maximum pivot angle such that no hyperextension or a pivot angle greater than 170°, greater than 175°, greater than 180°, greater than 185°, greater than 190° or even greater than 195° occurs.

[0106] The finger exoskeleton 1 and the pivot bearings 10, 11 are dimensioned to withstand forces of up to 400 Newtons. The stops 39, 40 can also be subjected to the moments resulting from such forces.

[0107] The exoskeleton elements 2, 3, 4 and, in particular, the bearing cheeks 6, 7, 8, 9 preferably have a material thickness of 1.5 mm (especially ±0.8 mm, ±0.5 mm, ±0.3 mm or ±0.2 mm). The longitudinal extent of the pivot bearing insert 13 in the direction of the pivot axis 14, 15 is twice the wall thickness.

[0108] The overall dimension of the swivel bearing insert 13 transverse to the swivel axis 14, 15 is preferably less than 10 mm, 9 mm, 8 mm, or 7 mm.

[0109] Alternatively or cumulatively, the bearing flanges may not be in direct contact with each other, but rather a gap may remain between them. In this case, the gap can remain empty. It is also possible for the swivel bearing insert to extend into this gap, in which case the dimensions of the swivel bearing insert within this gap may be larger than the aforementioned overall dimensions. Providing a free gap or extending the swivel bearing insert into the gap can be advantageous, for example, to compensate for manufacturing tolerances, improve material performance, and / or reduce friction that counteracts swiveling, or to generate friction with a larger radius and lever arm.

[0110] The fixing screw 12 is preferably an M2 screw.

[0111] The tilt angle 28 results in the conversion of the contact force acting on the wings 25 into an axial force oriented vertically to the plane of rotation for the relative twisting of the exoskeleton links 2, 3. This axial force can then be reliably supported with high mechanical strength via the stop flange 20 and the insert support surface 41. The axial force generated by the tilt angle 28 acts outwards. If a component of the pivot bearing 10, 11 fails, the fracture will also be outwards, thus preventing damage to the finger exoskeleton support 1. Instead of a fixing screw 12, a pressed-in fixing pin with a head can also be used. The fixing screw 12 or a fixing pin can provide a core that supports the other components and at least reduces deformation of the other parts.

[0112] Furthermore, the resistance of the swivel bearing 10, 11 generated by friction can be adjusted via the tightening torque of the fixing screw 12.

[0113] It is possible that the components of the finger exoskeleton 1, in particular the exoskeleton links 2, 3, 4 and / or the pivot bearing insert 13, are manufactured using 3D printing from a plastic material, whereby different materials may be used for the exoskeleton links 2, 3, 4 on the one hand and the pivot bearing insert 13 on the other. Preferably, the pivot bearing insert 13 is manufactured from a hard plastic or a plastic with greater stiffness and strength than the exoskeleton links 2, 3, 4.

[0114] Alternatively or additionally to the guidance by the designated inner bearing surface 32 and the outer bearing surface 29, the rotational movement of the swivel bearing can be guided by an inner bearing surface of the bearing eye 16, 17 with the outer cylindrical segment-shaped outer surface of the wings 25, which then form outer bearing surfaces.

[0115] Since the fixing screw 12 does not perform any relative movement during pivoting with respect to the pivot bearing insert 13 on the one hand and the bearing cheek against which the head 37 rests on the other hand, friction and material wear are reduced.

[0116] The fixing screw 12 is preferably made of metal.

[0117] The fixing screw 12 can also be pressed into a bore of the swivel bearing insert 13 without being screwed in.

[0118] The material used for the exoskeleton links 2, 3, 4 is preferably polyamide (in particular PA11, PA12 and / or a thermoplastic polyurethane), manufactured, for example, by 3D printing. In contrast, the swivel bearing insert 13 can be manufactured from acrylonitrile butadiene styrene using 3D printing.

[0119] It is possible that the exoskeleton links 2, 3, 4 are individually adapted to a user with regard to the dimensions, in particular the length and / or diameter, of the finger segments. In this manufacturing process, the wing stop surfaces 34 provided by the bearing eyes 16, 17 can also be individually manufactured to equip the finger exoskeleton 1 with the minimum and / or maximum swivel angle specific to the user. In this case, identical swivel bearing inserts 13 can be used regardless of the specific minimum and / or maximum swivel angles to be specified. It is also possible that the bearing eyes 16, 17 are not manufactured specifically, but instead the arrangement and circumferential extent of the wings 25 of the swivel bearing insert 13 are manufactured specifically.

[0120] For the illustrated embodiments, it is evident that even without the installation of the fixing screw 12, the swivel bearing 10, 11 is fundamentally functional and can absorb and transmit the forces and moments acting on the exoskeleton elements 2, 3, 4, and guidance of the swivel movement is ensured. In this embodiment, the fixing screw 12 serves only to axially secure the components of the swivel bearing 10, 11.

[0121] The attached claims describe the use of the pivot bearing 10, 11 for an exoskeleton, in particular a finger exoskeleton 1. For another application not covered by these claims, a correspondingly designed pivot bearing can be used in any other technological field to connect two links pivotably about a pivot axis 14, 15. The provisions apply accordingly to these other applications, with the following substitutions to be made in particular to the claims: - Replacement of the exoskeleton with a swiveling assembly and / or - Replacement of exoskeleton links with links and / or - Replacement of body or finger limb by swivel assembly part and / or - Replacement of fingertip segment with sensory segment.

[0122] In this case, the links cannot serve to support a finger joint or other object. Rather, the links can be load-bearing, pivotable structural elements, part of a linkage chain, part of a hinge assembly, or part of a pivot assembly. REFERENCE MARK LIST 1-finger exoskeleton 2 Exoskeleton Link 3 Exoskeleton Link 4 Exoskeleton Link 5 fingertip joint 6 Bearing cheek 7 Bearing cheek 8 Bearing cheek 9 Bearing cheek 10 swivel bearings 11 swivel bearings 12 fixing screw 13 Swivel bearing insert 14 Swivel axis 15 swivel axis 16 Bearing eye 17 Bearing eye 18 Fixing recess 19 Fixing recess 20 Stop flange 21 bearing bodies 22 Swivel bearing section 23 Fixing section 24 fixing wings 25 wings 26 fixing wing area 27 wing area 28 tilt angles 29 outdoor storage area 30 hub 31 Internal bore 32 storage areas 33 Wing-receiving recess 34 wing stop surface 35 recording 37 heads 38 Fixing wing mounting recess 39 attacks 40 strikes 41 Deployment support area 42 Sensor element 43 External contact element 44 Internal contact element 45 surface element 46 Exclusion 47 Contact area 48 assembly lead 49 Passage opening 50 ventilation cutout 51 Exclusion 52 In-depth study 53 groove, slot QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 2021 / 0267782 A1

[0005] US 2021 / 022899 A1 [0006, 0015] Cited non-patent literature

[0000] https: / / exo.iturri.com / de / prexer-de (Date of access 04.09.2023

[0007] https: / / www.ruck-produkte.de / produkt-infos (Date of access 04.09.2023

[0008]

Claims

[1] Exoskeleton, especially finger exoskeleton (1), with a) two exoskeleton members (2, 3), each designed to support a body or finger limb, b) a pivot bearing (10) which has a bearing eye (16) and a bearing body (21) arranged in the bearing eye (16) and connects the exoskeleton members (2, 3) to one another so as to be pivotable about a pivot axis (14), and c) two stops (39, 40) which come into contact with one another to specify a minimum or maximum pivoting angle of the exoskeleton members (2, 3), characterized by , that d) the stops (39, 40) are integrated into the pivot bearing (10) and / or a stop (39) is formed by the bearing eye (26) of an exoskeleton member (2) and / or the stops (39, 40) are arranged between the outer surfaces of two bearing cheeks (6; 7; 8; 9). [2] Exoskeleton according to claim 1, wherein the pivot bearing (10) is provided in that a) the bearing body (21) has a pivot bearing section (22) which aa) has a wing (25) oriented radially to the pivot axis (14) and forming a stop (40) and ab) has a bearing outer surface (29) corresponding to a lateral surface of a cylinder segment, b) the bearing eye (16) ba) has an inner bearing surface (32) corresponding to a lateral surface of a cylinder segment and ba) has a wing receiving recess (33) delimited in the circumferential direction by a stop (39), c) where ca) the pivot bearing section (22) of the bearing body (21) into the bearing eye (16) is used, cb) to specify the minimum or maximum pivoting angle of the exoskeleton members (2, 3), the stop (40) formed by the wing (25) comes to bear against the stop (39) which delimits the wing receiving recess (33) of the bearing eye (16) in the circumferential direction, and cc) the outer bearing surface (29) of the bearing body (21) is rotatably guided on the inner bearing surface (32) of the bearing eye (16). [3] Exoskeleton according to claim 2, wherein a) the bearing body (21) has two outer bearing surfaces (29) and two wings (25) and b) the bearing eye (16) has two inner bearing surfaces (32) and two wing receiving recesses (33). [4] Exoskeleton according to one of claims 1 to 3, wherein the pivot bearing (10) has a pivot bearing insert (13) which forms the bearing body (21). [5] Exoskeleton according to claim 4, wherein the bearing body (21) has a fixing portion (23) in the region of which the bearing body (21) is fixed to the exoskeleton member (3) which does not form the bearing eye (16). [6] Exoskeleton according to claim 5, wherein a) the bearing body (21) has a fixing wing (24) in the fixing section (23), b) the exoskeleton member (3), which does not form the bearing eye (16), has a fixing recess (18) with a fixing wing receiving recess (38) and c) the fixing wing (24) is arranged in the fixing wing receiving recess (38) to form a rotationally fixed connection. [7] Exoskeleton according to one of claims 4 to 6, wherein the pivot bearing insert (13) has an insert support surface (41) via which the pivot bearing insert (13) is supported in an axial direction on an exoskeleton member (2). [8] Exoskeleton according to one of claims 4 to 7, wherein the pivot bearing insert (13) is secured to at least one exoskeleton member (3) via a fixing element. [9] Exoskeleton according to one of claims 8 when dependent on claim 7, wherein the pivot bearing insert (13) a) is supported on an exoskeleton member (2) in an axial direction via the insert support surface (41), b) is secured to one or the exoskeleton member (3) via the fixing element in the other axial direction and c) is positively connected to the exoskeleton member (3) with respect to rotation about the pivot axis (14). [10] Exoskeleton according to claim 8 or 9, wherein the fixing element is a fixing screw (12). [11] Exoskeleton according to one of the preceding claims, wherein a pivot bearing (10a, 10b) is arranged on each of the two sides of the exoskeleton, wherein the two pivot bearings (10a, 10b) have aligned pivot axes (14). [12] Exoskeleton according to one of the preceding claims, wherein at least two stops (39, 40) which come into contact with one another to limit a pivoting angle have stop surfaces inclined at an angle of inclination (28). [13] Exoskeleton according to one of the preceding claims, wherein a) the bearing body (21) of the pivot bearing insert (13) aa) with the pivot bearing section (22) inserted from the inside into the bearing eye (16) of a first exoskeleton member (2), ab) is supported from the inside to the outside via the insert support surface (41) on the first exoskeleton member (2) and ac) extends with the fixing section (23) outwardly from the first exoskeleton member (2) and is arranged with the fixing section (23) in the fixing recess (18) of a second exoskeleton member (3), b) wherein a fixing screw (12) is screwed into the outer end face of the bearing body (21), said fixing screw having a head (37) which secures the pivot bearing insert (13) against disassembly inwards. [14] Finger exoskeleton (1) with a fingertip member (5), in particular exoskeleton (1) according to one of claims 1 to 13, characterized by , that a) a sensor element (42) aa) an external contact element (43) arranged on the outside of the fingertip member (5) and ab) an inner contact element (44) arranged on the inside of the fingertip member (5), which is connected or coupled to the outer contact element (43), has, b) wherein the external contact element (43) and the internal contact element (44) of the sensor element (42) are jointly displaceable relative to the fingertip member (5). [15] Finger exoskeleton (1) according to claim 14, wherein the sensor element (42) extends through a recess (46) of the fingertip member (5). [16] Finger exoskeleton (1) according to claim 14 or 15, wherein the sensor element (42) is displaceable inwardly against the action of a spring. [17] Finger exoskeleton (1) according to one of claims 14 to 16, wherein the outer contact element (43) and the inner contact element (44) are displaceable inwards relative to the fingertip member (5) under elastic deformation of the sensor element (42). [18] Finger exoskeleton (1) according to one of claims 14 to 17, wherein a plurality of external contact elements (43) are coupled or connected to an internal contact element (44). [19] Finger exoskeleton (1) according to one of claims 14 to 18, wherein a plurality of inner contact elements (44) are coupled or connected to an outer contact element (43). [20] Finger exoskeleton (1) according to one of claims 14 to 19, wherein the external contact elements (43) and associated internal contact elements (44) are provided which are displaceable in different directions relative to the fingertip member (5). [21] Finger exoskeleton (1) according to one of claims 14 to 20, wherein the sensor element (42) is secured to the fingertip member (5) by two pairs of external contact elements (42) extending on opposite sides through lateral recesses (46) of the fingertip member (5). [22] Finger exoskeleton (1) according to one of claims 14 to 21, wherein an outward and / or inward movement of the sensor element (42) is limited by at least one stop. [23] Finger exoskeleton (1) according to one of claims 14 to 22, wherein at least one external contact element (43) and / or at least one internal contact element (44) at least a) a lead and / or b) a rib and / or c) a recess (52) and / or d) has a groove (53) or notch.

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