METHOD FOR SETTING UP A CONTROL AND ORTHOPEDIC DEVICE AS WELL AS A COMPUTER PROGRAM PRODUCT

Description

[0001] The invention relates to a method for setting up a control system for an orthopaedic device, which comprises at least one data processing unit, sensors coupled thereto, and an actuator that is activated and / or deactivated by the data processing unit, wherein the control system includes a basic function block in which a basic functionality of the actuator is defined. The invention also relates to an orthopaedic device with a data processing unit configured and equipped for carrying out the method, and to a computer program product comprising program code.

[0002] Prostheses serve to replace missing or lost limbs. Besides approximating the external form of the replacement limb, prostheses should also replicate its function as completely as possible. In addition to purely mechanical prostheses, there are numerous electronically controlled prostheses. This control refers, for example, to the adaptation of prosthetic devices to different usage conditions or requirements. Prostheses often have more than one component that can be adjusted or repositioned relative to one another. For example, prosthetic joints are provided for pivoting an upper part relative to a lower part. A resistance device or drive is located between the upper and lower parts, which can be modified based on sensor data evaluated by a control unit.An actuator, such as a motor or other adjusting device, can adjust valves to change resistance to movement. An electric drive can be switched to generator mode to provide resistance to pivoting; alternatively, the drive can be activated to perform or assist a movement. A magnetic field can be generated, for example, by an electromagnet, to alter the viscosity properties of a magnetorheological medium. The electromagnet would then be a corresponding actuator. The same applies to other movable devices or components where an actuator can be adjusted.

[0003] Orthoses are orthotic devices that are attached to an existing limb and guide, restrict, or support its movements. Actuators or resistance mechanisms can be arranged between articulated components, which can be adjusted or set in a manner corresponding to the mechanisms on prostheses. Here, too, the adjustment is based on sensor data transmitted to a data processing unit. The transmission of sensor data and adjustment commands to the actuator can be wireless. For the purposes of this application, the term "orthoses" also includes exoskeletons that are attached to a patient's body and form an external support structure, particularly to guide and influence a user's movements, for example, by providing support through actuators or by braking them via resistance mechanisms.Orthoses and exoskeletons, as special cases, can be used and deployed not only to support daily activities but also for training or therapeutic purposes.

[0004] Modern prostheses or orthoses with sensor-based adjustment mechanisms or actuators are supplied with software that is customized and configured for each individual patient. During configuration, individual parameters can be changed, for example, to adjust the damping behavior of a resistance device to the specific user. It is also possible to activate or deactivate individual functions, for example, because the patient cannot or should not use that function.

[0005] Furthermore, it is possible to configure so-called additional modes that go beyond the basic functionality. These additional modes support specific activities such as cycling or skiing. The additional modes can be selected by the user, and their respective parameters can be adjusted. A similar selection process is also available for lower extremity orthoses.

[0006] Upper extremity prostheses can also be customized. Prosthetic hands have specific grip modes that can be individualized. The settings are adjusted by the prosthetist or the user, and the user can switch between the different grip modes as needed.

[0007] Both the programming and the configuration via individual parameter adjustments are complex. Programming options are often severely limited or even nonexistent. Furthermore, there is a risk that modifying an additional mode will negatively impact existing functionalities.

[0008] The object of the present invention is therefore to provide a method for setting up the control system of an orthopaedic device, in particular an orthosis, prosthesis, or exoskeleton, which avoids incorrect programming and misconfiguration of the control system. At the same time, the control system should be highly adaptable, and the programming intuitive and flexible. Simple and safe operation for the respective user should be ensured.

[0009] DE 10 2017 119 490 A1 relates to a method for verifying the functionality of a prosthetic system with multiple sensors, at least one control unit coupled to the sensors and processing sensor signals, and at least one actuator coupled to the control unit that can be activated or deactivated based on control signals from the control unit, wherein at least one movable prosthetic component can be moved via the actuator. A standard program is stored in or retrievable from the control unit, which assigns an actuator action to each sensor. After activation of the standard program and the triggering of a sensor signal, an actuator action is initiated, and its execution or non-execution is recorded, and / or the presence or absence of a sensor signal is output on an output device.

[0010] According to the invention, this problem is solved by a method with the features of the main claim, as well as an orthopaedic device and a computer program product with the features of the respective independent claim. Advantageous embodiments and further developments of the invention are disclosed in the dependent claims, the description, and the figures.

[0011] The method for setting up a control system for an orthopaedic device, in particular an orthosis, a prosthesis or an exoskeleton, which has at least one data processing unit, sensors coupled thereto and an actuator which is activated and / or deactivated by the data processing unit, wherein the control system has a basic function block in which a basic functionality of the actuator is defined, provides that several additional function blocks, each having different additional functionalities, are provided from a memory to an interface unit and that at least one additional function block is selected via the interface unit and added to the basic function block, wherein an interface exists between the basic function block and the at least one additional function block.The compatibility of the respective functionalities of the function blocks is checked, and overall functionality is generated. If compatibility is initially lacking, at least one functionality is adjusted to establish compatibility, or the integration of the additional functionality is rejected. Several additional function blocks are thus available for setting up a control system, which can be combined with the basic function block. The basic function block comprises the actuator's basic functionalities. In the case of controlling a prosthesis or orthosis with adjustable resistance, this could involve adapting to the specific movement situation. The orthoses or prostheses can also be positioned on the upper extremities and, in addition to passive resistance devices such as hydraulic dampers,Brakes and magnetorheologically adjustable resistance devices may alternatively or additionally feature active drives such as electric motors or other adjustment devices. When walking on level ground, it is necessary to provide varying resistances to flexion and extension in an artificial knee joint. Based on sensor data evaluated in the data processing unit, corresponding resistances are adjusted to achieve a gait pattern adapted to walking with a natural knee joint. For example, at the beginning of the stance phase after a heel strike, stance phase flexion can initially be enabled by reducing the flexion resistance. Subsequently, the flexion resistance is increased again to prevent excessive stance phase flexion. Then, during the rollover phase, a high flexion resistance is maintained.to then enable flexion at the end of the stance phase, allowing the prosthetic or orthotic knee joint to bend and swing through during forward movement. This basic functionality for walking on level ground can be supplemented by an additional function, which is stored as an additional function block in a control block. Such an additional function could be, for example, walking on a ramp, ascending stairs, or walking at an increased walking speed. The selected additional function block may be incompatible with parts of the basic function block or compatible with an existing additional function block. Similarly, compatibilities can arise from existing combinations of the basic function block with one or more additional function blocks, so that simply adding the additional function block would create a complete functionality.which is not advantageous or may even be harmful to the user. Therefore, a compatibility check is performed at the interface between the basic function block and the additional function block, or at the interface between the additional function block and another additional function block that is already connected to the basic function block. The functionalities of the individual function blocks are checked, and the overall functionality of the controller is derived from this. If the function blocks are not compatible, at least one functionality, in particular the functionality of the newly added additional function block, can be adjusted.to ensure compatibility. Functions other than those of the newly added add-on function block can also be modified. For example, if the function of the newly added add-on function block is given higher priority or importance than a functionality of an already added add-on function block, prioritization allows for a selection of the necessary adjustments. Alternatively, instead of modifying one or more functionalities of the base function block and / or one or more add-on function blocks, the integration of the added add-on function block's functionality can be rejected because this functionality, or the compensation for it, poses a risk or results in an undesirable overall functionality. This allows for a wide variety of add-on functionalities to be provided in add-on function blocks.which can be combined with one another without further verification, whereby a compatibility check and, if necessary, an adjustment of the functions to achieve compatibility and overall functionality are automatically performed. If an adjustment cannot be achieved or is not desired, the integration of the additional functionality, and thus the combination of an additional function block with the basic function block or a combination of a basic function block with one or more additional function blocks, can also be rejected. Incorrect programming due to an impermissible combination of functionalities can no longer occur with the method according to the invention.

[0012] A further development of the invention provides that several functional blocks are added successively to the additional functional block, with each new additional functional block undergoing a compatibility check with the currently existing overall functionality. This results in a modular structure starting from the basic functional block, whereby, in the sequence of adding further additional functional blocks based on the overall functionality once established, each additional functionality is checked. If, after the addition of two additional functional blocks, an overall functionality is achieved in which some functions originally present in one of the additional functional blocks have been reduced, this previously excluded functionality or a limitation in the functional area is no longer considered, since it was already excluded or limited in the preceding design phase.This has the effect that it is no longer necessary to check all combinations of all functionalities for compatibility in forming an overall functionality. Instead, only the newly added potential of functionalities through the new additional function block is checked for compatibility with the existing overall functionality.

[0013] A further development of the invention provides that at least one parameter of the basic functionality and / or the additional functionality can be adjusted via the interface. Each functionality can thus be scalable; for example, damping settings can be adjusted to suit individual preferences or circumstances. Adjustments can be made, for example, to walking speeds, intended uses, body weight, activity levels, or even physiological conditions. In addition to adjusting the parameters of the basic functionality, at least one parameter of an additional functionality can also be created. The degree of adjustability via the interface can be changed depending on the overall functionality achieved.For example, after adding further additional functionality, a parameter range for adjusting a control variable of the basic functionality can be restricted, or a parameter range of the newly added additional functionality can be excluded or opened if a certain overall functionality is present.

[0014] Each additional functionality can be assigned a priority value, and the compatibility and adjustment of each functionality are then checked based on these priority values. For example, if an additional functionality added later has a higher priority than one added previously, the overall functionality can be reorganized, realigned, and recalculated according to its respective priority values. This allows for weighting to be applied to the overall functionality regardless of when or in what state the base function block and multiple additional function blocks are combined, thus enabling the development of a cohesive whole.If a top-priority add-on block is added after three other add-on blocks with lower priorities already exist, the overall functionality is recalculated based on the existing priorities. For blocks with the same priority, it is advantageous to use the time of combination or addition as the benchmark for the order of compatibility checks and parameter adjustments.

[0015] Advantageously, a graphical user interface is provided as the interface, on which the additional functionalities are represented as user interface objects. These graphical blocks can then be selected from a menu via drag and drop and dragged into a workspace. The function groups or additional function blocks can then be interconnected via interfaces, with graphical displays of the respective user interface objects indicating whether combinations are possible.

[0016] A further development of the invention provides that the compatibility of different additional function blocks with each other or with the current combination of a basic function block and at least one additional function block is displayed graphically. The graphical display can be achieved, for example, through geometries or color coding. The user interface objects can represent the color and / or graphical combinability of an additional function block with the basic function block and / or another additional function block. The fundamental combinability can be indicated by the graphical form of the user interface objects or their color scheme. For example, identical color schemes can indicate fundamental combinability. Likewise, the suitability of a combinability can be indicated by an approximate color scheme.For example, if the overall functionality is displayed with a red hue, this can indicate compatibility with other red or orange hues, while incompatibility can be shown by, for example, a blue or green hue from another add-on function block. Alternatively or additionally, a change in the shape of the user interface objects can indicate whether a basic compatibility exists. For example, if a cutout is present in a contour, compatibility is only given with a corresponding protrusion or projection in a graphical representation of an add-on function block or in the representation of the overall functionality. The graphical design or shape of the user interface objects can change, especially when they have become part of an overall functionality.

[0017] Advantageously, the process is implemented on the data processing unit within the orthotic device. The interface unit can also be part of the orthotic device. Adaptability and ease of use are enhanced if the interface unit is designed as a mobile device, such as a mobile phone, tablet, augmented reality device, virtual reality device, mixed reality device, head-mounted display like HoloLens or Google Glass®, voice interface, or even a mobile computer, which has a wireless connection to the control unit or data processing unit on the orthotic device. In principle, the interface unit can be an integral part of the orthotic device or designed as a separate component and connected to the rest of the orthotic device wirelessly or via a wired connection.

[0018] An additional function block can not only have an interface to the basic function block, but can also have an interface for at least one further additional function block, so that after adding the additional function block, further additional function blocks can be attached to it and thus combined.

[0019] The base function block and / or an additional function block can have multiple interfaces, at least one of which is blocked by the assignment of another interface to an additional function block. If a predetermined interface is assigned to a compatible additional function block, this assignment can block an otherwise existing interface, rendering it unavailable for further additional function blocks. This prevents the expansion of additional functionality in this area or in the area of ​​functionality located there.

[0020] A further development of the invention provides that the compatibility testing of the functional blocks and / or the integration of several functional blocks into an overall functionality takes place in an external device. The external device is, for example, part of the interface unit or is connected to the interface unit via data transmission. In particular, control data and functionalities can be transmitted from the external device to the orthotic device via the interface unit, either wirelessly or via a data transmission network. The interface unit thus provides a connection between the external device and the orthotic device, and is either permanently attached to the orthotic device or designed as a separate component coupled to the rest of the orthotic device.This makes it possible to offload potentially high computational costs for checking and adjusting the respective functionalities to the external device, and only transmit an adjustment service or a change data set to the data processing unit of the orthopaedic device. This data set is then used to adjust the overall functionality and control the actuator with the respective control signals based on sensor values ​​or other parameters.

[0021] Predefined programs or templates can be used to create a function block; these so-called presets serve as a basis for creating individual programs and can be stored in the data processing unit, the interface unit, or an external device.

[0022] The data processing device features, in particular, a communication interface through which data is sent to and received from external systems. This makes it possible to save a custom-developed program calculated externally, or to back up a program created within the orthotics and prosthetics facility to an external device, such as a mobile phone or tablet, or to share it with others via a network or cloud. This allows for external maintenance or external monitoring of the overall functionality.Users can individually create combinations with different functionalities and set parameters and have them checked for appropriateness, adaptability, and medical benefit when this data, possibly in conjunction with movement data from the orthotic device, is transmitted to an orthotist or other evaluation institution. In particular, it is possible to transfer a joint configuration and / or a configuration of functional blocks to another joint or another orthotic device using the external system.

[0023] The orthotic device includes a data processing unit configured and equipped to perform the procedure described above, and features a user interface with input devices for receiving user input. The user interface can be a graphical user interface, or alternatively, other user interfaces may be present, such as an acoustic user interface with voice control or a keyboard.

[0024] The computer program with program code which, when loaded into a data processing device, executes the method as described above and is also part of the invention.

[0025] Exemplary embodiments of the invention are explained in more detail below with reference to the accompanying figures. These show: Figure 1 – a schematic representation of an upper extremity prosthesis as an orthotic device; Figure 2 – a schematic representation of a lower extremity prosthesis as an orthotic device; Figure 3 – a schematic representation of the modular principle; Figure 4 – a variant with expansion options; Figure 5 – a variant with additional interfaces; Figure 6 – a variant with mutually exclusive additional function blocks; Figure 7 – a variant of the Figure 6 Figure 8 – a variant with adjustable parameters; Figure 9 – another embodiment; Figure 10 – an orthotic device in the form of an orthosis; Figure 11 – an orthosis according to Figure 10 while walking; Figure 12 - a detailed view of an external device with interface equipment; and Figure 13 - a schematic representation of a network of several orthopaedic devices.

[0026] In the Figure 1A schematic representation shows an orthotic device 1 in the form of an upper extremity prosthesis. The orthotic device 1 has a prosthetic socket for attachment to a forearm. Several sensors 20 in the form of surface electrode pairs are arranged within the prosthetic socket. These sensors 20 are coupled to a data processing unit 10, which is also located within the forearm socket. The data processing unit 10 contains the necessary software and hardware components, in particular processors, memory, energy storage, communication interfaces, filters, and, if necessary, amplifiers, to process the sensor data and transmit control signals from it to an actuator 30.In the illustrated embodiment, a plurality of actuators 30 are attached to the prosthetic hand and to the coupling of the prosthetic hand to the forearm shaft. In this embodiment, the actuators are designed as electric motors that enable, for example, the displacement of the prosthetic hand about a rotational axis along the longitudinal extension of the forearm shaft, as well as the displacement of the prosthetic fingers relative to a base body of the prosthetic hand. This embodiment illustrates that a multitude of functions can be implemented within the prosthetic hand. Different grip types, different movement modes, different adjustment speeds, and grip forces can be set and individualized depending on the situation and the individual user.For better clarity, a memory 15 is shown as an external component; such a memory 15 can of course also be designed as part of the data processing unit 10.

[0027] Furthermore, a wireless interface to an interface device 50 is provided, enabling wireless data exchange. The interface device 50 can be configured as a mobile phone, portable computer, tablet, or other data processing device with a user interface. The interface device has a user interface 51, which can be, for example, a touch-sensitive surface. Alternatively, the user interface can be a keyboard equipped with alphanumeric characters or function keys. The keyboard-like user interface 51 can also be generated electronically.In the illustrated embodiment, the interface device 50 is designed as an external device 55. However, it is also possible for the interface device 50 to be integrated into the orthotic device 1, for example, as part of the surface of a prosthetic socket. User interface objects 52 can be displayed on the user interface 51; their function will be explained in more detail later.

[0028] One variant of an orthopaedic device in the form of a prosthetic knee joint with an upper part and a lower part pivotably mounted on it is in the Figure 2The prosthetic knee joint 1 is shown. A prosthetic foot is attached to the distal end, and a femoral stem or thigh tube is attached to the proximal end. The prosthetic knee joint 1 also has a control unit 10 with a memory 15. Sensors 20, such as accelerometers, position sensors, IMUs, force sensors, temperature sensors, and similar sensors 20, are connected to the data processing unit 10. The interface unit 50 with the user interface 51 is shown on the outside of the housing of the prosthetic device. Adjustment devices such as sliders or graphic adjustment symbols are shown below the interface unit 50, which allow changes to parameters via mechanical adjustment or touch-sensitive surfaces.Around a pivot axis, about which the upper part of the prosthetic knee joint can pivot relative to the lower part, an actuator 30 in the form of a resistance device is arranged, which makes it possible to adjust the flexion resistance and / or extension resistance depending on the processed sensor signals. Alternative actuators 30 may be present, for example, adjustment devices for dampers, magnetic fields for magnetorheological resistance devices, drives that can be switched as resistance devices, active drives, energy storage devices, switchable energy storage devices, and the like.

[0029] To control the respective orthotic device, sensor data from the sensors 20 or electrodes are acquired, processed in the data processing unit 10, and transmitted to the respective actuator 30. The data processing unit 10 includes basic functionality that defines the functions of the respective actuator 30. With this basic setting or functionality, the respective orthotic device can be operated safely. To adapt to the individual user, it is desirable and often necessary to implement further functionalities that go beyond the basic functionality. According to the invention, these additional functionalities are stored in so-called additional function blocks, which are provided to the user in the respective interface unit 50.The user can be either the orthotist or the person who adjusts the orthotic device to the individual user; in principle, it is also possible for the user of the respective prosthesis, orthosis, exoskeleton, or other orthotic device to perform the adjustment themselves. The additional function blocks, or at least one of them, contain functionalities that are not present in the basic function block, or are present in a different configuration or combination. Since not all additional functionalities are fully compatible with the basic functionality, the invention provides that a check of the overall functionality is performed when an additional function block is added to the basic function block.Within the framework of the established compatibility of the combination of functional blocks, i.e., the basic functional block and the additional functional block(s), overall functionality for the orthotic device 1 is created. If complete compatibility of the functionalities of the basic functional block and the additional functional block is not initially present, at least one functionality is adapted so that overall functionality for the orthotic device can be achieved after the addition of the additional functional block. This adaptation can be made in the additional functionality, in the basic functionality, or in both functionalities, ensuring reliable overall functionality.In principle, it is also possible that instead of adapting the scope of one or more additional functionalities or the basic functionality, the integration of the selected additional functionality is rejected because, for example, it is not compatible with other functionalities that have a higher priority and would compromise the security or functionality of the overall system.

[0030] In the Figure 3A schematic representation of this modular principle is shown. A basic functionality 40 has two interfaces 46, which are represented graphically differently. An additional function block 60 also has an interface 64, which in the illustrated embodiment is only compatible with one of the two interfaces 46 of the basic function block 40. As indicated by the bracket, the two function blocks 40 and 60 are connected to each other. As a result, either a mutual influence of the two function blocks 40 and 60 can occur, as in the upper right illustration. Figure 3 As shown. Alternatively, it is possible that only a one-way influence from one function block to the other occurs, in the illustrated embodiment from the additional function block 60 to the basic function block 40. The overall functionality then results depending on the coordination of the functionalities between function blocks 40 and 60.

[0031] One variant of the invention is in the Figure 4 shown, where a basic function block 40, as in the Figure 3The basic function block 40 has two different interfaces 46. A total of four additional function blocks 60 are provided, which can be coupled to the basic function block 40. A first additional function block 60, without further combination possibilities, or a second additional function block 60 with a further interface 66, can be coupled to the top of the basic function block 40. The respective interface 64, which is compatible with the respective interface 46 on the basic function block 40, can also be used in the illustrated example to decouple the first additional function block 60. This results in an extension of two additional function blocks 60 on the top and the first interface 46 of the basic function block.The second interface 46 can be coupled to another auxiliary function block 60. These auxiliary function blocks 60 do not have any further interfaces for coupling with each other, so that only a single auxiliary function block is present at this interface 46. In the illustrated embodiment, there is therefore one auxiliary function block 60 that has two interfaces 64, 46, while the other auxiliary function blocks 60 have only one interface 46.

[0032] One variant of the invention is in the Figure 5The diagram shows a basic function block 40 with only one interface 46. This interface can be occupied by two additional function blocks 60, one of which has a further interface 66 that can be coupled to an interface 64 of another additional function block 60. Thus, for the construction of overall functionality, there are three possible combinations of the basic function block 40 with either a first additional function block 60 without any extension options, a second additional function block 60 with an extended option that has not yet been utilized, and finally, the combination of the basic function block 40 with the additional function block 60 extended by an additional function block 60.

[0033] In the Figure 6One variant is shown in which several interfaces 46 are provided on a basic function block 40, to which several additional function blocks 60 can be connected. It is possible that one additional function block 60 prevents the connection of further additional function blocks, thus making it impossible to connect any more. Alternatively, with another functionality of an additional function block 60, it is possible for several additional function blocks to be arranged side-by-side, either alternatively or in combination with each other, at the interfaces 46 and thus combined.

[0034] The Figure 7 Figure 1 shows a variant of these blocking interface configurations. Two different interfaces 46 are arranged or formed on the basic function block 40, to each of which only one additional function block 60 with the corresponding matching interface 64 can be connected.

[0035] In the Figure 8A further development of the invention is shown in which the basic function block 40 is coupled with a total of three additional function blocks 60. The respective functionalities are checked for compatibility, and an overall functionality is generated. To adapt to the different needs of a user, it is possible to set corresponding parameters of the respective functionality via controllers 70 or adjustment devices. This parameterization is also checked for compatibility with the settings of the other functionalities. This prevents an unintended interaction with another functionality from being created by an erroneous adjustment of one functionality, which would endanger the safety of using the orthopaedic device 1. The basic functionality of the basic function block 40 can also store which parameters can be adjusted within which parameter range.If an adjustment is made beyond this parameter range or value range, it can be interrupted or prevented. A warning signal can also be used to indicate that such a combination of basic and additional functionalities is not possible within a specific parameter range. If an adjustment is accepted, corresponding positive feedback can be provided.

[0036] In the Figure 9Figure 1 illustrates an embodiment of the modular design of basic and additional functionalities. A basic function block 40 with three different interfaces 46 is shown. If the basic function is the control of a prosthetic knee joint, an additional function block 60 can be added to, for example, set or adjust a flexion stop. Connecting such an additional function block would prevent the flexion stop from being adjusted. Therefore, it is also possible to add flexion progression via an alternative additional function block to the basic functionality, to which a flexion stop can be coupled, since such an additional function block 60 has a further interface 66 for coupling and combining with the flexion stop module.

[0037] Furthermore, 46 other control blocks or function elements can be connected to one of the two remaining interfaces. One of the additional function blocks has only one additional interface 66, to which only one further module can be connected as an extension, restriction, or modification of the additional function. If, instead of the first additional function block with only one additional interface, another additional function block 60 with two additional interfaces 66 is connected, two further additional function blocks 60 can be connected alternatively or in combination.

[0038] In devices with multiple modes, such as walking or cycling in lower extremity orthotic devices or different grip types in prosthetic hands, each mode can be composed of a basic and an additional function. However, it is also possible that not every mode is freely programmable, but only certain modes. Switching between modes is achieved, for example, via biosignals such as co-contractions, contraction patterns, and movement patterns, via an interface that can be controlled via an app, or in another, possibly also freely programmable, way.

[0039] In the Figures 10 and 11 Figure 1 depicts an orthotic device in the form of an orthosis. The user of the orthotic device 1 sits in the Figure 10 , in the Figure 11The overcoming of an obstacle is depicted. The orthosis has an upper part 2 and a lower part 3, which are articulated together around a pivot axis 4. The upper part 2 is designed as a thigh cuff, the lower part 3 as a support shell for the lower leg and foot. The orthotic device 1 is attached to the thigh and lower leg of the user using suitable fastening elements, such as straps, belts, hook-and-loop fasteners, buckles, or snap closures. Sensors 20, shown only schematically, are arranged on both the upper part 2 and the lower part 3. The sensors 20 can be designed, for example, as position sensors, pressure sensors, accelerometers, or other sensors to record load data, velocity data, and other physical quantities. It is also possible for the sensors 20 to record temperature.The sensors 20 are connected either by cable or wirelessly to a data processing unit 10, which, in the illustrated embodiment, is attached to or formed on the upper part 2. The data processing unit 10 processes the sensor data and is equipped with the necessary software and hardware components. The data processing unit 10 is coupled to an actuator 30, shown schematically, which makes it possible to adjust resistance devices such as dampers, magnetorheological brakes, or the like, or to move the upper part 2 relative to the lower part 3. For this purpose, the actuator 30 is designed as a drive or motor. It is also possible for the actuator 30 to be designed as a switchable energy storage device, for example, a spring that can be compressed and released. As described above regarding the... Figures 1 and 2As described, different functional or movement modes can also be set in an orthotic device 1 in the form of a lower extremity orthosis, depending on the situation. This can be done either autonomously by the orthosis user or automatically depending on the sensor data. For example, if a spatial orientation sensor 20 on the upper part 2 detects an essentially horizontal orientation of the upper part 2 while the lower part 3 is unloaded and there is no relative movement around the pivot axis 4, a sitting mode can be automatically activated, which activates or deactivates the actuator 30 accordingly, thus enabling undamped or almost undamped free movement around the pivot axis 4. If, on the other hand, an extended position with forefoot weight-bearing, as in the Figure 11Once detected, it can be inferred that an obstacle has been overcome, so that correspondingly different resistances against extension or flexion, or even a supporting force, are provided by actuator 30. The structure and design with basic function blocks and additional function blocks, as shown by the Figures 1 and 2 The principles described using the example of prostheses are applied analogously to the orthotic version. Additional functional blocks can also be attached to corresponding interfaces in orthoses.

[0040] These additional function blocks can either exclude or enable further coupling of additional function blocks to themselves. Multiple interfaces can be provided on a basic function block, which can be connected to additional function blocks either alternatively or additionally.

[0041] In the Figure 12A detailed illustration shows an external device 55 in the form of a mobile phone or tablet. The external device 55 has an interface 50 designed as a graphical user interface. A touch-sensitive display is integrated into the external device 55, enabling not only the visual transmission of information to the user but also input via a touchscreen. The external device 55 also includes a speaker (not shown) and a microphone for receiving acoustic signals and / or for voice control, allowing for a combination of different functionalities.

[0042] The display 51 shows various additional function blocks 60, which can be combined with a basic function block 40. The basic function block 40 is shown in a central position on the display 51, while the available additional function blocks 60 are arranged one below the other in a separate area of ​​the display 51 to the side. The function blocks 60 displayed in the separate area can be dynamically adjusted, for example, to show only function blocks that can be added to the configuration. In the illustrated embodiment, three additional function blocks 60 are arranged one below the other, each with different functionalities and labeled with the letters A to C. The dots below indicate that, for example, further additional function blocks 60 can be moved into the display 51 by scrolling and then selected.Using drag-and-drop, as indicated by the arrow, an additional function block A can be connected to and added to the interface of another additional function block 60, namely additional function block E. Alternatively, by selecting one of the interfaces, for example, the upper interface of function block E by touching the display, a selection of function blocks that can be added to this interface is displayed in the separate area. The corresponding function block is added by drag-and-drop or by simple selection. Two additional function blocks 60 are already arranged on the base function block 40. Existing additional function blocks 60 can also be removed, thus creating a new overall configuration with new functionality.Additional menu items, indicated by the circles in the upper right corner of the display 51, allow created configurations to be saved, transferred to the cloud or to the orthopedic facility, shared with third parties or loaded.

[0043] In the Figure 13Figure 1 shows a schematic representation of a network of several orthopaedic devices 1, which are connected to each other and to an external IT infrastructure 80. The IT infrastructure 80 is advantageously designed as a so-called cloud and is a computer network that provides storage space, computing power, and / or application software. An external device 55, for example, a tablet, a mobile phone, a laptop, or another suitable data processing device, is bidirectionally connected to a first orthopaedic device 1, in the illustrated embodiment a prosthesis. The first external device 55 can, for example, be a smartphone belonging to the user of the orthopaedic device.Furthermore, the first orthotic device 1 can be connected to another mobile device, a tablet, or a computer, for example, via a wireless interface, a radio connection, or a similar data transmission device. From there, the data is transmitted to the so-called Cloud 80, processed if necessary, and then transmitted back. It is also intended that the additional function blocks or settings of the first orthotic device 1 are evaluated, transmitted to third parties, and / or stored. From Cloud 80, the data can be transmitted to another external device 55 that is connected to a second orthotic device 1.As an alternative to or in addition to the intermediate step in which the data is transferred via Cloud 80 from the first orthopaedic device 1 to the second orthopaedic device 1, the data transfer can also take place directly via the second external device 55 or directly via the third external device 55 to the first external device 55 and back.

[0044] A compatibility check of the functional blocks can be performed in one of the other external devices 55 or in the cloud 80, thus eliminating the need to use computing capacity in the orthopaedic device 1. Similarly, predefined programs or templates can be transferred from the other external devices 55 and / or the cloud 80 to the respective orthopaedic device 1, to a directly assigned external device 55, or to an interface device located directly on the orthopaedic device 1. This enables networking of the orthopaedic devices, data exchange, and data analysis.

Claims

1. A method for configuring a control for an orthopedic device having at least one data processing device (10), sensors (20) coupled thereto, and an actuator (30) which is activated and / or deactivated by the data processing device (10), the control having a basic function block (40) in which a basic functionality of the actuator (30) is defined, characterized in that a plurality of add-on function blocks (60) which have different add-on functionalities are made available to an interface device (50) from a memory (15) and in that at least one add-on function block (60) is selected via the interface device (50) and added to the basic function block (40), there being an interface (46) between the basic function block (40) and the at least one add-on function block (60), at which the compatibility of the functionalities is checked and an overall functionality is generated, with, in the case of a lack of compatibility at the outset, at least one functionality being adapted to produce the compatibility or integration of the add-on functionality being rejected.

2. The method as claimed in claim 1, characterized in that a plurality of add-on function blocks (60) are successively added to the basic function block (40) and the compatibility with the currently existing overall functionality is checked for each new add-on function block.

3. The method as claimed in claim 1 or 2, characterized in that at least one parameter of the basic functionality and / or add-on functionality is adjustable via the interface device (50).

4. The method as claimed in any one of the preceding claims, characterized in that each add-on functionality is assigned a prioritization value and the compatibility and adaptation of the respective functionality is checked using the prioritization values.

5. The method as claimed in any one of the preceding claims, characterized in that a graphical user interface (51) is provided as the interface device (50), the add-on functionalities (60) being displayed on said graphical user interface as user interface objects (52).

6. The method as claimed in claim 5, characterized in that the compatibility of different add-on function blocks (60) with one another or with the current combination of basic function block (40) and at least one add-on function block (60) is displayed graphically.

7. The method as claimed in claim 5 or 6, characterized in that a color and / or graphic combinability of an add-on function block with the basic function block (40) and / or another add-on function block (60) is displayed on the user interface objects.

8. The method as claimed in any one of the preceding claims, characterized in that the said method is implemented on the data processing device (10).

9. The method as claimed in any one of the preceding claims, characterized in that an interface (66) for at least one further add-on function block (60) is formed on an add-on function block (60).

10. The method as claimed in any one of the preceding claims, characterized in that the basic function block (40) and / or an add-on function block (60) has a plurality of interfaces (46, 66), at least one of which is blocked as a result of another interface being occupied with an add-on function block (60).

11. The method as claimed in any one of the preceding claims, characterized in that the compatibility of the function blocks (40, 60) and / or the integration of a plurality of function blocks (40, 60) into an overall functionality is checked in an external apparatus (55).

12. The method as claimed in any one of the preceding claims, characterized in that predefined programs or templates are used to create a function block (40, 60).

13. The method as claimed in any one of the preceding claims, characterized in that the data processing device (10) transmits data to external devices (55) and / or receives data from external devices (55) via a communication interface (11).

14. An orthopedic device (1) comprising a data processing device (10) which is configured and designed for configuring a control for an orthopedic device (1) having at least one data processing device (10), sensors (20) coupled thereto, and the orthopedic device (1) comprises an actuator (30) which coupled to the data processing device (10) is activated and / or deactivated by the data processing device (10), the control having a basic function block (40) in which a basic functionality of the actuator (30) is defined, wherein the orthopedic device (1) comprises a communication interface by which a plurality of add-on function blocks (60) which have different add-on functionalities are made available to an interface device (50) of the orthopedic device (1) from a memory (15) of the orthopedic device (1) and in that at least one add-on function block (60) is selectable via the interface device (50) and is addable to the basic function block (40), there being an interface (46) between the basic function block (40) and the at least one add-on function block (60), at which the compatibility of the functionalities is checkable and an overall functionality is generatable, with, in the case of a lack of compatibility at the outset, at least one functionality being adapted to produce the compatibility or integration of the add-on functionality being rejected, and comprising a user interface (51) with input means for receiving user inputs.

15. A computer program product comprising a program code which causes, when loaded into a data processing device (10) of a control for an orthopedic device, wherein the data processing device (10) is coupled to sensors (20) and activates and / or deactivates an actuator (30), the control having a basic function block (40) in which a basic functionality of the actuator (30) is defined, that a plurality of add-on function blocks (60) which have different add-on functionalities are made available to an interface device (50) from a memory (15) and in that at least one add-on function block (60) is selected via the interface device (50) and added to the basic function block (40), there being an interface (46) between the basic function block (40) and the at least one add-on function block (60), at which the compatibility of the functionalities is checked and an overall functionality is generated, with, in the case of a lack of compatibility at the outset, at least one functionality being adapted to produce the compatibility or integration of the add-on functionality being rejected.