Finger orthosis and hand orthosis

Abstract

The invention relates to a finger orthosis comprising several finger elements (1a, 1b, 1c) arranged one behind the other, wherein at least one of the finger elements (1a, 1b, 1c), preferably several finger elements (1a, 1b, 1c), in particular each finger element (1a, 1b, 1c), comprises a fastening means (2) with which the finger element (1a, 1b, 1c) can be fastened to a finger segment (3a, 3b, 3c) of a finger (3), at least one spacer element (4) with which the finger elements (1a, 1b, 1c) can be kept at a distance from each other, a drive band (5) which is slidably guided through several of the finger elements (1a, 1b, 1c) and is fixed with one end (5a) of its two ends (5a, 5b) in a last finger element (1c) of the sequential arrangement, wherein the drive band (5) has a relaxed state in which it is curved. The invention also relates to a hand orthosis comprising at least one finger orthosis.

Description

[0001] The invention relates to a finger orthosis comprising several finger elements arranged one behind the other, wherein at least one of the finger elements, preferably several finger elements, in particular each finger element, comprises a fastening means with which the finger element can be attached to a finger joint of a finger, and comprising at least one spacer element with which the finger elements can be kept at a distance from each other, preferably at a fixed distance or in a distance range, and comprising a drive band which is slidably guided through several of the finger elements and is fixed with one of its two ends in a last finger element of the sequential arrangement.

[0002] The invention also relates to a hand orthosis with at least one finger orthosis, preferably with several finger orthoses.

[0003] These orthoses, also known as exoskeletons, are designed to support or reactivate the function of a healthy or impaired natural finger or hand, unlike prostheses, which replace natural limbs. A primary application for such orthoses is the support or reactivation of paralyzed fingers.

[0004] Finger orthoses of the aforementioned type are known in the prior art, for example, from publication EP 2 954 988 B1. The orthosis described there has the disadvantage that the drive band is integrated into a three-layered overall structure, and high forces and ranges of motion must be applied to the drive band by means of a drive mechanism to move a finger from an extended position (extension) to a flexed position (flexion), since the drive band is subject to high friction in the layered structure and is straight in its relaxed state.

[0005] This means that only the extended position of a finger can be held without force; any deviation from this position towards flexion must be generated by a force exerted by the actuator. The force required at the drive ligament, and simultaneously the range of motion needed from the original position or the relaxed state of the drive ligament, increases with increasing flexion.

[0006] Against this background, it is an object of the invention to provide a finger orthosis of the aforementioned type or a hand orthosis with several such finger orthoses, in which flexion of a finger with less effort and preferably also with smaller ranges of motion from the relaxed state of the drive ligament is made possible.

[0007] This problem is solved by the invention in that the drive belt has a relaxed state in which it is curved.

[0008] A relaxed state is understood to be a stable state that the drive band exhibits when no external forces act upon it. Unlike the prior art, in a drive band according to the invention, a curvature is imprinted upon the drive band in the force-free state, i.e., the drive band is pre-curved. In particular, this means that, after such an orthosis is applied to the finger, the finger is already flexed in the force-free state, i.e., when no external force acts upon the drive band.

[0009] Starting from this relaxed state, by applying force, especially exceeding a predetermined minimum force, to the drive band in a first direction (pushing towards the last finger element) the curvature of the drive band and thus the flexion of the finger can be increased, and by pulling the drive band away from the last finger element the curvature of the drive band and thus also the flexion of the finger can be reduced, especially to a straight extension.

[0010] Although the total range of motion that the drive belt must travel does not change due to the shift from the force-free relaxed state to a curved state, the range of motion is split into two different directions starting from the relaxed, curved position of the drive belt, whereby only a difference in force is required to effect a greater or lesser curvature starting from the curvature in the relaxed state.

[0011] When the finger orthosis is applied to an extended finger, the direction in which the finger elements are arranged corresponds to the direction of extension of the finger. When the finger is flexed, the finger elements are arranged one behind the other along a curved line corresponding to the flexion. This curved line corresponds, at least substantially, to the course of the drive ligament.

[0012] Preferably, the finger elements can be positioned on a respective finger segment, preferably attached, in such a way that they are arranged on top of the finger, in particular on the side of the finger on which the fingernail is located and / or the side that transitions into the back of the hand.

[0013] A fastening element can, for example, be designed to be arranged on the finger element and be suitable for surrounding / encircling a finger segment. For instance, a fastening element can be designed as an openable and closeable strap or as a sleeve through which a finger segment can be inserted. Such a finger element, which has a fastening element, can be attached to a finger segment, preferably by force-fit, positive-fit, and / or friction-fit. In particular, at least one of the finger elements has a fastening element; preferably, a subset of all finger elements has a fastening element; and more preferably, all finger elements have a fastening element.

[0014] Preferably, a finger orthosis according to the invention has at least one limiting element with which a bulging of the drive band between two adjacent finger elements can be limited or prevented when force is applied to the drive band, in particular when a force pushing in the direction of the last finger element is applied.

[0015] Such a limiting element can, for example, be designed as a flexible band made of metal or a textile or fiber element, which is arranged above the drive belt, particularly in contact with it. Specifically, it is provided here that contact between the limiting element and the drive belt only exists when the limiting element actively restricts the bulging of the drive belt, but not when the limiting function is not being performed by the limiting element. In particular, the drive belt only comes into contact with the limiting element once bulging begins, at which point the element restricts further bulging.

[0016] In an extended orientation of the drive belt, such a limiting element preferably runs parallel to the drive belt above it, in particular without contact with it.

[0017] A limiting element and the drive belt can preferably form a layered structure consisting of two layers, in particular contacting layers. The limiting element further has the property that it can assume a curved state in the same way as the drive belt, in particular following its shape change.

[0018] Preferably, the at least one limiting element, in particular the single limiting element, is slidably guided through finger elements in which the drive belt is also slidably guided. Alternatively, a limiting element can also be flexibly connected to the finger elements. A further embodiment provides that a limiting element simultaneously functions as a spacer element.

[0019] In a finger orthosis according to the invention, it is preferably provided that each finger element can be positioned, preferably attached, to another finger joint of a finger. Preferably, on all finger elements that have a fastening means, with the exception of the last finger element in the series arrangement, a finger is passed through the respective fastening means. This can also be provided for the last finger element, but it is also possible that the last finger element is placed on the last finger joint / fingertip of a finger, so that the finger does not pass through the last finger element.

[0020] The drive belt's movement in some of the finger elements, particularly in all finger elements except the last finger element of the series arrangement, in which its end is fixed (but possibly also in this last element), is in the direction of the series arrangement of the finger elements. The drive belt is guided perpendicular to this direction within the respective finger element.

[0021] Preferably, "fixed" means at least that the drive belt is secured against being pulled out of the last finger element. Thus, there can be a design in which one end of the drive belt is fixed in place within the last finger element, or there can be another design in which one end is partially movable back and forth within the last finger element, e.g., between two stop points, but in particular, cannot be completely pulled out of the last finger element.

[0022] The drive belt is preferably a flexible belt, in particular made of metal, plastic or fiber composite material, which automatically returns to the relaxed curved state after deformation from its curved relaxed state (in particular after the previously deforming force is removed), especially if the deformation does not exceed a certain limit.

[0023] Preferably, the band is longer in the direction of the sequential arrangement of the finger elements than it is wide in a direction perpendicular to that direction. In an orthosis applied to a finger, the direction of the sequential arrangement of the finger elements is the direction in which the finger joints or finger phalanges follow one another. Preferably, the width is considered in a plane parallel to the back of the hand and perpendicular to the direction of the sequential arrangement, particularly if the back of the hand is ideally assumed to be flat. In other words, the direction of the width, when the finger orthosis is applied, is the direction in which several fingers of a hand, especially in the extended state, lie side by side. Furthermore, the drive band is wider than it is thick in a direction perpendicular to its width.Preferably, the thickness is considered perpendicular to the direction of the width and perpendicular to the direction of the arrangement in series.

[0024] Such a drive band thus forms at least essentially a flat band, in particular into which, according to the invention, a curvature is imprinted in a relaxed state, which lies in a plane perpendicular to the width direction and parallel to the direction of the sequential arrangement of the finger elements. The curvature of the drive band can thus cause a curvature or flexion about the finger joint axes of the finger on which the finger orthosis is applied.

[0025] Advantageously, the invention allows for the flexion / curvature of a finger using the finger orthosis according to the invention, without requiring an external force to be applied to the drive band. Starting from this relaxed curvature, the curvature can be increased by applying a pushing force towards the last finger element to the other end of the drive band, and it can be decreased by applying a pulling force away from the last finger element to the drive band. Such a force can preferably be applied using the drive mechanism described below.

[0026] A preferred first embodiment of the invention provides that the drive belt is designed as a flexible spring belt which has exactly one relaxed state in which the spring belt is curved, preferably wherein the spring belt is fixed at one of its two ends in the last finger element of the serial arrangement. Such a drive belt is preferably arranged in a plane when extending in a straight line or uniformly on both sides of a plane. In particular, in the extended state it has flat, preferably mutually parallel, upper and lower surfaces which are spaced apart in the thickness direction of the drive belt.

[0027] A second preferred embodiment provides that the drive belt has two relaxed states, preferably exactly two relaxed states, in particular meaning that the drive belt is bistable, wherein the drive belt is curved in one of the two relaxed states, preferably wherein it is straight in a second of the relaxed states.

[0028] This offers the advantage that the finger orthosis is both force-free and stable in a defined state of curvature, resulting in finger flexion, and force-free and stable in a straight, extended state. If an actuator / drive is provided to move the drive band (and thus the finger) between these bistable states, only one triggering force needs to be applied to cause the transition from one stable state to the other, specifically from the second stable state to the first stable state, in which the drive band is curved.

[0029] In particular, once the first relaxed state has been reached, a change in curvature can be generated by applying further force to the drive belt, preferably at its other end by means of an actuator, starting from the curvature that is present in the first relaxed state.

[0030] The invention preferably provides that the drive belt can be transformed from the first relaxed state with its curvature into the second relaxed state, in which it is straight, by applying a pulling force to the drive belt, e.g., with a drive mechanism. Preferably, the drive belt automatically flips from the first to the second relaxed state when it reaches a straightened state upon application of the force.

[0031] An embodiment can also be provided in which the drive belt has more than two relaxed states, wherein in at least one of these several stable states (without external force) the drive belt exhibits a curvature. Preferably, the drive belt can have a straight extension in another of these several relaxed, stable states. It is further preferably provided that the drive belt has different curvatures in at least two different of these several relaxed states. This offers the advantage that forces only need to be applied with a single drive to move the drive belt between different curvatures. Once a stable curvature is reached, no further forces are required to maintain the curvature.

[0032] In a preferred embodiment, the invention provides that finger elements through which the drive belt is guided have a guide cam extending through the respective finger element in the direction of the series arrangement, which includes an upper guide surface adapted to the shape of the surface of the drive belt contacting this guide surface.

[0033] An upper guide surface lies above the drive band on the side of the drive band pointing away from the finger when the finger orthosis is worn on one finger.

[0034] In the version with the aforementioned spring band as the drive band, which has exactly one relaxed state in which the spring band is curved, this upper guide surface can be, for example, flat.

[0035] It is further preferably provided that finger elements through which the drive belt is guided have a guide cam extending through the respective finger element in the direction of the serial arrangement, in particular the guide cam mentioned above, which includes a lower guide surface that is curved between the entrance and the exit of the guide cam.

[0036] A lower guide surface lies beneath the drive band on the side of the drive band facing the finger when the finger orthosis is worn on a finger, in particular between the drive band and the finger.

[0037] Such a curved design of the lower guide surface in the guide track allows the drive belt to more easily assume a curved path through the finger element. In particular, the drive belt can fully conform to the lower guide surface in a specific curved path, preferably the one present in the relaxed state.

[0038] Preferably, a minimum distance may be provided between the upper and lower guide surfaces of a guide track, in particular which is considered in the thickness direction of the drive belt, which corresponds to the thickness of the drive belt or which corresponds to the thickness of the drive belt multiplied by a tolerance factor, in particular wherein the tolerance factor is in a range of 1 to 2.

[0039] A bistable drive belt can be implemented in various designs. One possible design is a drive belt made of a shape memory material, particularly a metallic shape memory alloy. Depending on the temperature, such a drive belt can exist in one of its two stable states or the other. For example, an energy source and / or sink can be incorporated into the orthosis as a primary actuator, allowing the drive belt to be switched between these states. Such an actuator could be, for example, a Peltier and / or Seebeck element. An additional actuator / drive can be provided to exert a pushing and / or pulling force on the drive belt.

[0040] However, a preferred design provides that the drive belt, in its second relaxed state in which it is extended in a straight line, forms a groove on its upper side running in the direction of the series arrangement of the finger elements.

[0041] With the finger orthosis in place, the groove is open when viewed from the back of the hand or from the fingernail. This causes the drive ligament to be concave or curved upwards in the width direction. This concave shape prevents any curvature that would cause finger flexion until a force deforming the concave shape acts on the drive ligament, after which the drive ligament automatically folds back into the curved shape of its initial relaxed state.

[0042] Unlike a shape memory material, here the flipping between the two stable states of the bistable drive belt can be triggered by a mechanical deformation of the drive belt.

[0043] Such a finger orthosis design can function entirely without an actuator to drive the drive band, but it can also be used with an actuator. It is possible for the user of the orthosis to initiate the folding of the drive band between its two stable states, particularly the folding towards the state where the drive band is curved, by pressing their hand or finger against an object to exert a triggering force on the drive band.

[0044] In the embodiment with a bistable drive belt, in particular a bistable drive belt that can be triggered by mechanical deformation, the invention preferably provides that the drive belt is partially displaceable with one of its ends in the last finger element, in particular in the direction of the series arrangement of the finger elements, preferably so that the drive belt is secured against being pulled out of the last finger element.

[0045] In particular, this can result in the orthosis being configured to mechanically trigger the flipping between stable states, especially from the second stable (relaxed) state with a preferably straight extension to the first stable (relaxed) state with curvature of the drive band, by pushing the end of the drive band, fixed in the last finger element, into the finger element. In this specific embodiment, "fixed" is understood to mean that the drive band is only secured against being pulled out of the last finger element, e.g., by the action of a stop between the finger element and the drive band end, but has limited movement within the finger element.

[0046] Preferably, the last finger element has a guide track which, in an initial region, forms a first upper guide surface which has a convex curvature in the width direction pointing towards the interior of the finger element, in particular which is adapted to the concave curvature in the width direction of the groove of the drive belt, preferably which runs straight in the direction of the straight drive belt in the initial region, and which, in an end region, transitions in the width direction into a less curved or a flat or a second upper guide surface which is curved in the opposite direction, preferably which is angled away from the direction of the first guide surface, in particular towards the interior of the finger element.

[0047] This means that the second upper guide surface is angled towards the fingernail of a finger when the finger orthosis is worn on one finger. These upper guide surfaces are again positioned above the drive band on the side of the drive band facing away from the finger when the finger orthosis is worn on one finger.

[0048] According to the invention, this structurally preferred embodiment makes it clear that by inserting the end of the drive belt into the finger element, the bistable drive belt is forced from its second relaxed state, in which it is preferably straight, into the first relaxed state, in which it is curved, because upon crossing the transition between the first and second upper guide surface at the belt end, the groove is flattened in the width direction, i.e., its curvature in the width direction is reduced or eliminated, and thereby the drive belt folds over.

[0049] This preferably demonstrates that, compared to the prior art, the finger orthosis requires less force to effect a transition of the supported finger from an extended to a flexed position. The finger flexion is achieved primarily through the transition to the first stable state, which occurs automatically after activation by the drive band without any further external force. A displacement of the drive band, moving its end from the first upper guide surface to the second upper guide surface, is sufficient to trigger the flexion.

[0050] A preferred embodiment of all possible designs provides that a spacer element arranged between two finger elements is formed from two struts, in particular from two rigid struts, which are articulated between adjacent finger elements. This achieves spacing in both the tensile and shear directions, with the articulated connection allowing flexion of the finger. Preferably, the articulated connections of the struts are collinear with the finger joint axes when the orthosis is applied.

[0051] Another further development provides that a spacer element arranged between two finger elements is formed from a flexible, in particular flexible, preferably not or only partially stretchable element, in particular a fiber element or textile element.

[0052] Preferably, it is therefore provided that the at least one spacer element prevents or limits at least an increase in the distance between the finger elements.

[0053] Such a spacer can be formed, for example, by a piece of rope or by a textile sleeve, such as a finger cot (a "glove" for a single finger) through which a finger can be inserted. Such a sleeve can then also form fasteners in sections. In particular, sections of a sleeve under a finger element form a fastener, and sections between adjacent finger elements form a spacer.

[0054] In all possible designs of spacers, it is preferably provided that, in the case of a finger orthosis applied to a finger, the spacers are arranged laterally, and in particular only on one side, next to the finger. This takes into account the fact that there is little space between adjacent fingers of a hand.

[0055] All possible embodiments of the invention preferably provide that the finger orthosis has a drive mechanism, with the other of the two ends of the drive band being coupled to the drive mechanism. This allows the drive band and drive mechanism to be moved back and forth in the direction of the sequential arrangement of the finger elements. It is particularly preferred that the drive mechanism, in the case of a worn finger orthosis or a hand orthosis, is located on the back of the hand. The spacer elements may be supported by the drive mechanism or by an element / fixed point on which the drive mechanism is also supported.

[0056] A hand orthosis of the invention comprises at least one, preferably at least two, finger orthoses according to the invention; preferably, it comprises a number of finger orthoses according to the invention corresponding to the number of fingers of the hand.

[0057] Here, it is preferably provided that a hand orthosis includes at least one drive, preferably a number of drives corresponding to the number of fingers of the hand, wherein the drive band of at least one finger orthosis can be driven with each drive.

[0058] One possible training method may stipulate that at least two of the finger orthoses are driven by the same drive; for example, these could be the finger orthoses assigned to the little finger and the ring finger of one hand.

[0059] For example, the drive bands of at least two finger orthoses can be coupled, in particular by means of joints or coupled via a gearbox or differential.

[0060] In one possible embodiment, a drive can be a linear drive that pushes or pulls the drive band linearly in the direction of the series arrangement (with a finger extended). For this purpose, the drive can, for example, have a spindle extending in the direction of the series arrangement, on which a nut runs that is indirectly or directly connected to at least one end of a drive band. A drive can also be designed to wind or unwind a spiral spring, the end of which pointing away from the winding shaft is attached to the end of the drive band.

[0061] Embodiments of the invention are described below with reference to the figures: The Fig. Figure 1 shows a finger orthosis according to the invention without a finger being shown and the Fig. Figure 2 shows a finger orthosis according to the invention on a finger 3, which comprises several finger elements, namely the elements 1a, 1b and 1c, which according to Fig. 1 a series arrangement on a curved line and according to Fig. 2 according to the arrangement of finger segments 3a, 3b and 3c of a finger 3. Here, finger element 1c forms a last finger element of the sequential arrangement, which can be attached to the last finger segment 3c of a finger 3. Each finger element 1a, 1b and 1c is thus assigned to a different finger segment 3a, 3b, 3c.

[0062] For attachment to the respective finger segment 3a, 3b, 3c, i.e., between two finger joints or next to a finger joint, which is symbolized here as a circle, a fastening means 2 is provided on the respective finger element 1a, 1b, 1c. Such fastening means 2 can be designed arbitrarily and are suitable or configured to attach the respective finger element 1a, 1b or 1c to a finger segment 3a, 3b, 3c, e.g., by positive locking and / or force locking.

[0063] A fastening element 2 can, for example, be a strap that surrounds / encircles the finger joints 3a, 3b, 3c. Particularly for fastening to the last finger joint 1c, a fastening element 2 can also be a cup-shaped or thimble-shaped element into which the fingertip can be inserted. The finger joints 1a, 1b, 1c are held at a distance from each other by the spacer elements 4, which are connected here by means of joints and can, for example, be designed as rigid struts. The joint axes of the joints of the spacers 4 are preferably at least substantially congruent with the joint axes of the finger joints.

[0064] A drive belt 5 is slidably guided through the finger elements 1a and 1b and fixed at one end 5a in the last finger element 1c. "Fixed" here means, for example, permanently attached or movable in certain areas, e.g., between two stops, but at least secured against being pulled out of the finger element 1c.

[0065] The other end 5b of the drive belt 5 is shown here symbolically without a possible drive, which symbolizes that in the representations of the Fig. 1 and Fig. 2. No external forces are exerted on the drive belt 5.

[0066] In this force-free state, also referred to as the relaxed state, the drive belt 5 assumes a curved path according to the invention; in particular, the curvature is thus "imprinted" into the drive belt. Accordingly, Fig. 2. The finger 3, to which the finger orthosis is applied, assumes a similarly curved / flexed position and is held in this flexed position solely by the drive band 5, without any external forces acting on the finger 3 or the drive band 5. This represents a key concept of the invention.

[0067] The Fig. Figure 3 shows the finger orthosis according to the invention with a finger 3 in the extended state of the drive band 5 and the finger 3. This extended state is achieved by preferably applying a pulling force to the drive band 5 at the end 5b of the drive band 5 in accordance with the arrow shown, or by extending the finger in another way.

[0068] According to the invention, the extended state is thus a state that is achieved by applying force, starting from the curved, force-free state, and must be maintained by applying force. Compared to the Fig. 1 and Fig. 2. However, an increase in curvature can also be achieved by applying a pushing force to the end 5b of the drive belt 5.

[0069] Because the finger elements 1a, 1b, 1c are held at a distance by the spacer elements 4 at the level of finger 3, the distance between the finger elements 1a, 1b, 1c above finger 3, i.e., at the level of the drive belt 5 running through the finger elements 1a, 1b, can only change by changing the curvature of the drive belt 5 and the curvature of the series arrangement of the finger elements 1a, 1b, 1c. The series arrangement of the finger elements is thus essentially curved along a line represented by the course of the drive belt 5.

[0070] The Fig. Figure 4 shows the finger orthosis together with a drive unit 6. This drive unit 6 is preferably attached over or to the back of the hand, and the end 5b of the drive band 5 is coupled to the drive unit 6, which can exert a pushing or pulling force on the drive band 5. In the Fig. The spacer elements 4 are not shown. These can, for example, be supported by the drive 6.

[0071] Preferably, in all possible embodiments, the drive band 5 is free from contact with other elements of the orthosis except in the passage areas through the finger elements 1a, 1b or the coupling points in the last finger element 1c or the drive 6, thereby avoiding friction between the drive band 5 and other elements of the orthosis.

[0072] The Fig. Figure 5 symbolically visualizes a possible design of the spacer elements 4 by means of struts connected by means of joints 4a, in particular rigid struts, as shown in the previous figures.

[0073] The Fig. Figure 6, however, shows a symbolic representation of the spacer elements 4 using flexible elements 4, e.g., rope elements, fiber elements, textile elements, which secure the finger elements 1a, 1b, 1c at least against an increase in the distance. A decrease in the distance is specifically prevented if the last finger element 1c is secured in the direction of pull of the drive belt 5 at the last finger segment or fingertip, e.g., if the finger element 1c is slipped over the fingertip. In this case, the finger 3 itself limits the decrease in the distance between the finger elements 1a, 1b, 1c.

[0074] In the kinematic chain, the connected, flexible spacer elements 4, in particular those which may be formed as sections of a continuous element, are connected at their end facing the back of the hand to a common fixed point 7, which may also be formed by the drive 6 or to which the drive 6 is also attached. The fixed point 7 may, for example, be formed by a cuff worn on the hand. This also applies to rigid spacer elements 4 according to Fig. 5 or in all other possible embodiments of the invention, such a fixed point 7 can be provided on which the spacer elements 4 are supported.

[0075] The Fig. 7 and Fig. Figure 8 shows a preferred embodiment of a drive belt 5 which is bistable, i.e. has two relaxed states in which the shape of the drive belt 5 is stable without external force being applied to the drive belt 5.

[0076] The Fig. Figure 7 shows the second relaxed state, in which the drive band 5 extends in a straight line. In this state, the drive band 5 has an upwardly concave surface in the lateral direction, i.e., the direction in which the fingers of a hand lie side by side, forming a groove open in the direction of the straight extension of the sequential arrangement of finger elements (not shown here), which extends between the ends 5a and 5b.

[0077] Triggered by a force that deforms the drive belt 5, reducing, preferably eliminating, the curvature present in the lateral direction, the drive belt 5 folds into its first relaxed state, in which it assumes a curved path that in the Fig. 8 is shown.

[0078] The Fig. Figure 9 shows the essential components of a finger orthosis according to the invention with such a bistable drive band 5 and the finger elements 1a, 1b, 1c, without showing the finger 3, the spacer elements 4 and the fastening means 2 in the relaxed curved state and the Fig. Figure 10 shows the relaxed stretched state, i.e., both states shown are force-free stable.

[0079] It is essential to recognize here that the finger elements 1a, 1b, through which the drive belt 5 is slidably guided, each have a guide cam 8 comprising an upper guide surface 8a and a lower guide surface 8b. The upper guide surface 8a is adapted to the curved path of the concave curvature of the drive belt 5's surface in the lateral direction. The lower guide surface 8b is curved between the entrance and exit of the guide cam 8 and thus adapted to the path of the drive belt 5 in its curved, first relaxed state. These corresponding adaptations are shown in the Fig. 11 for the finger element 1a or 1b shown alone.

[0080] The Fig. 12 and Fig. Figure 13 shows a preferred design of a final finger element 1c in which the end 5a of the drive bath 5 is fixed in such a way that it is partially displaceable within the finger element 1c, but is secured against being pulled out. This is achieved, for example, by a stop pin fixed in the finger element 1c that penetrates an elongated hole in the end 5a. This allows the drive belt 5 to move back and forth within the finger element 1c over the length of the elongated hole minus the cross-sectional area of ​​the pin.

[0081] The essential structure here is defined by the guide rail 8. This, like the others, features Fig. 9 and Fig. 10 a lower guide surface which is curved according to the curvature of the drive belt 5 in the first relaxed state.

[0082] The upper guide surface 8a, on the other hand, is divided into two parts: a first upper guide surface 8a1 in an initial region and a second upper guide surface 8a2 in an end region. The first upper guide surface 8a1 has a convex curvature in the width direction, pointing towards the interior of the finger element 1c. This curvature is adapted to the curvature of the groove of the drive belt 5, preferably running in a straight line in the initial region in the direction of the straight drive belt 5. The second upper guide surface 8a2 is flat in the width direction, or at least less curved, or curved in the opposite direction. The second upper guide surface 8a2 is angled away from the direction of the first upper guide surface 8a1 towards the interior of the finger element 1c.

[0083] As long as the end 5a of the drive belt 5 moves within the area of ​​the first upper guide surface 8a1, the first upper guide surface 8a1 stabilizes the concave curvature of the groove in the surface of the drive belt 5. However, if the end 5a is pushed onto the second upper guide surface 8a2, the concave curvature is reduced or even eliminated, thus reshaping the drive belt 5. Preferably, the angled shape of the second upper guide surface 8a2 forces the drive belt 5 towards a curved path, causing it to flip from the second relaxed state to the first relaxed state. From this force-free state, the curvature can be further modified, for example, by a drive 6.

[0084] The Fig. 14, Fig. 15 and Fig. 16 show the same situation as the Fig. 9, Fig. 10 and Fig. 11 for a drive belt 5, which has only a single relaxed state in which a curvature exists. Here, the drive belt 5 is designed as a flat belt, e.g., as a spring steel, which has two opposing flat surfaces when it extends in a straight line. Accordingly, the guide cam 8 in the finger elements 1a and 1b is provided with an upper guide surface 8a, which is flat, and with a lower guide surface 8b, which, as in the other embodiments, runs curved between the inlet and outlet of the guide cam 8, in particular corresponding to the curved path of the drive belt 5 in the relaxed state.

[0085] In the last finger element 1c, the end 5a of the drive belt is preferably fixed in this embodiment.

[0086] The multiple representations of Fig. Figure 17 illustrates different concepts for the linear drive of the drive belt 5 using a) e.g. a spindle 6a rotated by motor with the drive 6, which converts the rotation into a linear movement of the end of the drive belt 5 via a slide / spindle nut 6b, or b) a drive 6 which drives a winding roller 6c on which the end of the drive belt 5 can be wound or unwound in a spiral, or c) a gear 6d driven by the drive 6, which converts the rotation into a movement of a rack-shaped end of the drive belt 5, or d) two rollers between which the drive belt 5 is moved by friction.

[0087] In addition to the designs shown, other concepts for the linear drive of the drive belt 5 are possible.

[0088] The Fig. Figure 18 shows an embodiment of a drive 6 in which two drive bands 5 of different finger orthoses, e.g., of the same hand orthosis, can be driven by the same drive 6. For this purpose, the drive bands 5 are connected to a spindle 6a of the drive 6 via a common coupling element 6f. The coupling element 6f can, for example, rotate about an axis perpendicular to the spindle and thus acts as a differential.

[0089] The Fig. Figure 19 shows, in side view and as sectional views, embodiments of a finger orthosis with one or more limiting elements 9, whereby spacers and fastening means are not shown, but are present, as described in relation to the other figures. It can be seen here that at least one limiting element 9 is arranged above the drive element 5 without contact and at a distance from it when the finger orthosis or its drive element 5 is extended.

[0090] The lower illustration shows an embodiment in which only a single limiting element 9 is provided. This element is attached at one end to the last finger element 1c, in particular fixedly, and at the other end to a fixed point. The limiting element 9 passes between its ends through the finger elements 1a and 1b, as is also the case with the drive belt 5, preferably in its own guide track.

[0091] The middle illustration shows that several limiting elements 9 are provided. One limiting element 9 extends between adjacent finger elements, and another extends between the first finger element 1a and a fixed point. Within finger elements 1a, 1b, and 1c, the respective end of each limiting element 9 is movable within a limited range, e.g., between two stops, and in particular such that it cannot be pulled out of the respective finger element. Here, too, separate guide grooves are provided for the limiting elements 9 within each finger element.

[0092] Both sectional views show that in this case there is no contact between the drive belt 5 and the limiting element 9. However, if the drive belt 5 bulges upwards, it comes into contact with the limiting element 9, which restricts further bulging.

[0093] The distance between the limiting element 9 and the drive belt 5, in the case that there is no bulge, has the advantage that in this case no friction losses occur due to friction between the drive belt 5 and the limiting element 9. 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] EP 2 954 988 B1

[0004]

Claims

[1] Finger orthosis a. several finger elements (1a, 1b, 1c) arranged one behind the other, wherein at least one of the finger elements (1a, 1b, 1c), preferably several finger elements (1a, 1b, 1c), in particular each finger element (1a, 1b, 1c), comprises a fastening means (2) with which the finger element (1a, 1b, 1c) can be fastened to a finger segment (3a, 3b, 3c) of a finger (3), b. at least one spacer element (4) with which the finger elements (1a, 1b, 1c) can be held at a distance from each other, c. a drive belt (5) which is slidably guided through several of the finger elements (1a, 1b, 1c) and is fixed with one end (5a) of its two ends (5a, 5b) in a last finger element (1c) of the series arrangement, characterized by , that d. the drive belt (5) is in a relaxed state in which it is curved. [2] Finger orthosis according to claim 1, characterized by, that the drive band (5) is designed as a flexible spring band which has exactly one relaxed state in which the spring band is curved, preferably wherein the spring band is fixed in place with one of its two ends in the last finger element (1c) of the series arrangement. [3] Finger orthosis according to claim 1, characterized by , that the drive belt (5) has two relaxed states, in particular is bistable, wherein the drive belt (5) is curved in one of the two relaxed states, preferably wherein it is straight in a second of the relaxed states. [4] Finger orthosis according to any one of the preceding claims, characterized by, that finger elements (1a, 1b) through which the drive belt (5) is passed have a guide cam (8) passing through the respective finger element (1a, 1b) in the direction of the series arrangement, which includes an upper guide surface (8a) which is adapted to the shape of the surface of the drive belt (5) contacting this guide surface (8a). [5] Finger orthosis according to one of the preceding claims, in particular according to claim 4, characterized by , that finger elements (1a, 1b) through which the drive belt (5) is passed have a guide cam (8) passing through the respective finger element (1a, 1b) in the direction of the series arrangement, which includes a lower guide surface (8b) that is curved between the entrance and the exit of the guide cam (8). [6] Finger orthosis according to any one of the preceding claims 3 to 5, characterized by, that the drive belt (8) in its second relaxed state, in which it is extended in a straight line, forms a groove on its upper side running in the direction of the series arrangement. [7] Finger orthosis according to claim 3 or 4, characterized by , that the drive band (5) is partially displaceable with one of its ends (5a) in the last finger element, in particular in the direction of the series arrangement of the finger elements (1a, 1b, 1c), preferably the drive band (5) is secured against being pulled out of the last finger element (1c). [8] Finger orthosis according to claims 6 and 7, characterized by , that the last finger element (1c) has a guide track (8) which a. in an initial region forms a first upper guide surface (8a1) which has a convex curvature in the width direction pointing into the interior of the finger element (1c), in particular which is adapted to the curvature of the groove of the drive belt (5), preferably which runs in a straight line in the direction of the straight drive belt (5) in the initial region, and b. which in an end region transitions in the width direction into a less curved, flat or oppositely curved second upper guide surface (8a2), ​​preferably angled from the direction of the first guide surface, in particular towards the interior of the finger element (1c). [9] Finger orthosis according to any one of the preceding claims, characterized by , that a spacer element (4) arranged between two finger elements (1a, 1b, 1c) a. is formed from two struts, in particular from two rigid struts which are articulated between adjacent finger elements (1a, 1b, 1c), or b. is formed from a flexible, in particular flexible, preferably non-stretchable element (4), in particular a fiber element or textile element, in particular with which at least an increase in the distance between adjacent finger elements (1a, 1b, 1c) can be prevented, preferably wherein the spacer elements (4) are arranged laterally, in particular only on one side, next to the finger (3) in a finger orthosis applied to a finger (3). [10] Finger orthosis according to any one of the preceding claims, characterized by, that it has at least one limiting element (9) with which a bulging of the drive belt (5) between two adjacent finger elements (1a, 1b, 1c) can be limited or prevented when a force is applied to the drive belt (5), in particular when a force pushing in the direction of the last finger element (1c), preferably wherein the limiting element (9) is designed as a flexible band which is arranged over the drive belt (5), in particular in contact with it. [11] Finger orthosis according to any one of the preceding claims, characterized bythat it has a drive (6), wherein the other end (5b) of the two ends (5a, 5b) of the drive band (5) is coupled to the drive (6), in particular the drive band (5) is movable forwards and backwards with the drive (6) in the direction of the series arrangement of the finger elements (1a, 1b, 1c), preferably wherein the drive (6) is arranged on the back of the hand in the case of a worn finger orthosis. [12] Hand orthosis comprising at least one finger orthosis, preferably at least two finger orthoses, preferably comprising a number of finger orthoses corresponding to the number of fingers (3) of the hand according to one of the preceding claims. [13] Hand orthosis according to claim 12, characterized by that it comprises at least one drive (6), preferably comprising a number of drives (6) corresponding to the number of fingers (3) of the hand, wherein with each drive (6) the drive band of at least one finger orthosis can be driven. [14] Hand orthosis according to claim 13, characterized by , that at least two of the finger orthoses are driven by means of the same drive (6), in particular wherein the drive bands (5) of the at least two finger orthoses are coupled, in particular articulated or coupled via a gear or differential.

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