EXTREMITY SUPPORT DEVICE AND METHOD FOR LIFTING, HOLDING AND / OR CARRYING A LOAD AND / OR PERFORMING ABOVE-HEAD ACTIVITIES

Description

[0001] The invention relates to an extremity support device for supporting the movement of an extremity of a user, in which the degree of support provided by a passive actuator can be adjusted with an active actuator.

[0002] Musculoskeletal disorders (MSDs) account for a high proportion of occupational illnesses and cause high costs for production losses. These often result from physical stress such as heavy physical work. Exoskeletons and body-worn assistance systems have the potential to reduce the resulting physical strain and thus relieve the user. A variety of so-called passive exoskeletons exist to support overhead work that places strain on the shoulders and back. These lift the upper arm, for example, using a pre-tensioned spring, thus helping to reduce strain on the shoulder muscles. Forces are sometimes transmitted to the hip via mechanical connections, which can often also relieve strain on the back. Passive exoskeletons can therefore provide good support for quasi-static work when the wearer only makes small movements with the arms (e.g.within a small range of motion above shoulder height). However, problems arise when the desired level of support needs to change (e.g., because a larger or smaller external load is acting on the wearer, e.g., when changing tools) or during more dynamic activities with larger ranges of motion. In this case, the wearer must move their arms downwards against the support force of the exoskeleton, which is uncomfortable, annoying over time, and can sometimes be very strenuous, especially with greater levels of support, thus reducing the benefit of an exoskeleton's load-reducing effect.

[0003] For overhead work, the problem could be reduced by, for example, providing mechanical adjustment mechanisms. These can either preload the spring elements and / or adjust a lever arm at a point of applied force in such a way that the support force increases or decreases. Mechanisms also exist that allow the wearer to decouple the springs when they are not tensioned (arms up), thereby minimizing the resulting support force (essentially deactivating the system). However, with these solutions, the level of support cannot be adjusted (or is very difficult) during work.

[0004] To ensure that the desired support is provided when lifting, but no resistance is encountered when lowering the arms, research is being carried out worldwide into active assistance systems. Motors are activated and transmit the required torque when lifting, but offer little or no resistance when lowering the arms. However, only a few active systems have made it onto the market so far, and there can be several reasons for this: The motors require a lot of space and are heavy due to the high power density required. They must also be constantly activated to respond to user movements, which increases power consumption and thus the weight of the body-worn energy infrastructure (e.g., batteries). Furthermore, these drives are usually located in the shoulder area.This positioning is away from the body's center of gravity, increasing the torque input to the body and increasing the overall weight by requiring more substantial mechanical connections between the drive and the hips to transmit forces and torque. Furthermore, safety concerns continue to play a major role, as drive torque depends on the supplied electrical current (which may be variable). In the worst case, the assistance can be stronger than the user themselves and force movements upon them.DE 10 2018 127 553 A1 describes a device for supporting at least one arm of a user, wherein the device has at least one arm support element, each with an arm shell for application to a respective arm, at least one passive actuator which is configured to exert a force on at least one of the arm support elements, by which force an upward movement of the arm in the arm shell is supported when the device is applied, and at least one counter bearing for the force to be applied.

[0005] The object of the present invention is to provide an extremity support device and a method carried out with it, which allows a rapid adjustment of the degree of support with low energy expenditure and preferably overcomes the aforementioned disadvantages of the prior art.

[0006] This object is achieved by the extremity support device according to claim 1 and the method for lifting, holding and / or carrying a load and / or for performing overhead activities according to claim 13.

[0007] The respective dependent claims specify advantageous developments of the extremity support device according to the invention and of the method according to the invention.

[0008] The invention relates to an extremity support device for supporting a user's extremity. The support can preferably be provided when lifting, holding, and / or carrying a load and / or when performing overhead activities. Support for a movement of the extremity is also optionally possible. The extremity support device can support one or more extremities of the user. Possible extremities include one or both arms and / or one or both legs of the user.

[0009] The extremity support device comprises an extremity attachment configured to engage the user's extremity. The extremity attachment may, for example, be an arm attachment or an arm attachment or a leg attachment or a leg attachment. In the case of arm support, the extremity attachment may, for example, comprise a concave groove into which the user's arm can be inserted from above, and which can then support the arm upwards, i.e., in a direction opposite to the force of gravity.

[0010] The extremity grip can also completely enclose the extremity. For this purpose, it can, for example, comprise two concave groove-shaped elements, whose concave recesses can be shaped like a partial cylindrical surface, and whose cylinder axes can run parallel or coaxial to each other. The extremity grip can also comprise or consist of straps or strap systems.

[0011] The extremity support device also has a limb lever to which the extremity attack is connected via an attack connection element. The attack connection element can have one or more sub-elements. In a simple case, the attack connection element can be a joint via which the extremity attack is connected to the extremity lever. A joint axis of this joint can be oriented such that it is perpendicular to a longitudinal direction of the extremity lever and passes through the extremity when the extremity is arranged in the extremity attack. In another simple case, the attack connection element can be, for example, a prismatic joint, which allows relative movement in the extremity lever direction. Combinations of several different joints or passive degrees of freedom are possible here.

[0012] The attack connection element can also comprise one or more traction force transmission elements, such as cables, chains, and / or belts, with which a force can be transferred from the limb lever to the limb attack. This can be particularly advantageous if the limb is the user's leg.

[0013] The extremity support device also has a pivot joint around which the extremity lever can rotate. The pivot joint can be arranged, for example, on an optional torso module, so that the extremity lever can then be rotated about the pivot joint relative to the torso module. If the extremity is the user's arm, it is advantageous if the pivot joint is positioned close to the shoulder; particularly preferably, a pivot axis of the pivot joint points through the user's glenohumeral joint. However, it is also possible for the pivot joint to be arranged in front of or behind, above or below, depending on the specific use of the extremity support device.

[0014] The extremity support device further comprises a tension transmission element that engages the extremity lever on a side opposite the engagement connection element with respect to the pivot joint. This can be understood to mean that the tension transmission element engages the extremity lever such that a force exerted thereby on the extremity engagement or engagement connection element is opposite to the force exerted by the tension transmission element. For example, a tension transmission element that engages the extremity lever downwards could cause the extremity to be pushed upwards. It should be noted that this feature does not imply that the tension transmission element engages the extremity lever directly, nor does it imply that the rotational axis of the pivot joint passes through the extremity lever. For example, the tension transmission element can engage the extremity lever via an intermediate element.The limb lever can also be connected to the swivel joint via another intermediate element. Even if the axis of the swivel joint does not intersect the limb lever or the course of its longitudinal axis, a force exerted in a certain direction by the tension transmission element should cause a force acting in the opposite direction on the limb attachment. This should be regarded as equivalent to the statement that the tension transmission element acts on the limb lever on a side of the limb lever opposite the attachment connecting element with respect to the swivel joint. Instead of saying that the tension transmission element acts on the limb lever, it can also be said that the tension transmission element acts on the limb lever. The tension transmission element can act on the limb lever or act on it directly or indirectly via other intermediate elements.The sides of the limb lever can optionally also be distinguished by a plane in which the axis of rotation of the pivot joint lies and which is perpendicular to a longitudinal direction of the limb lever. The longitudinal direction of the limb lever can, for example, be defined as the direction in which the limb lever has the greatest extension. Advantageously, the tension transmission element can be attached to the limb lever on the side of the limb lever opposite the engagement connection element or the limb engagement with respect to the pivot joint.

[0015] The extremity support device also includes a spacer element that limits the distance of the tension transmission element from the pivot joint at the point of contact between the tension transmission element and the spacer element in at least one direction. In optional embodiments, the tension transmission element can also engage directly with the spacer element. In this optional case, the spacer element can precisely limit the distance of one end of the tension transmission element from the pivot joint in both directions.

[0016] The extremity support device also has an adjustment mechanism with which the distance between the spacer element and the pivot joint can be changed. The distance between the spacer element and the pivot joint will be referred to below as the distance between the spacer element and the pivot joint. The spacer element can therefore be moved by means of the adjustment mechanism to change the distance between the spacer elements. The adjustment mechanism has an adjustment actuator, by means of which a force can be exerted on the spacer element to change the distance between the spacer elements. In simple optional embodiments, the adjustment mechanism can be the adjustment actuator itself.

[0017] The distance between the spacers influences or determines the degree of support the limb support device provides. The distance between the spacers allows the degree of support to be adjusted. Since the distance between the spacers can be adjusted using a control actuator, the level of support can be quickly and automatically adapted to the user's work situation.

[0018] The actuator is preferably an active actuator whose force effect is controllable. Preferably, the actuator can be automatically controlled or controllable. For this purpose, it can be connected to a controller, such as an electronic controller, which operates the actuator automatically and / or based on user inputs.

[0019] In an advantageous embodiment of the invention, one end of the tension transmission element that does not engage the limb lever can engage a passive actuator configured to exert a tensile force on the tension transmission element. The passive actuator can, for example, comprise or be one or more springs. The tension transmission element can then be used to transfer the tensile force from the passive actuator to the limb lever.

[0020] A tension transmission element is understood here to be an element capable of transmitting a tensile force, preferably a tensile force and not shear and / or shear forces. For example, if the tension transmission element is a rope or belt, it can only transmit tensile forces, but not shear or compressive forces. On the other hand, if the tension transmission element is a chain, the transmission of compressive forces may also be possible. For the purposes of the invention, it is only important that tensile forces can be transmitted.

[0021] In an advantageous embodiment of the invention, the extremity support device can have a torso module that is configured to engage the user's torso. It is particularly advantageous if the torso module can engage the user's pelvis. It can then also be referred to as a pelvic module. In principle, however, the torso module can also engage other areas; for example, it can be carried by the user via shoulder straps or be attachable to the user's torso in some other way. If the torso module engages the pelvis, it can advantageously be configured such that it at least partially encloses the pelvis and particularly advantageously rests on the pelvis. The torso module can be regarded as a fixed point of the extremity support device, so that the extremity lever can be rotated about the pivot joint relative to the torso module.Additional elements and joints can be provided between the swivel joint and the torso module.

[0022] Advantageously, the extremity support device can have a guide element along which the spacer element can be moved to change the distance between the spacer elements. The guide element can thus guide the spacer element. The guide element can be fixed and / or fixable relative to the actuating mechanism and / or, if applicable, relative to the torso module. Alternatively or additionally, the guide element can also be designed such that the extremity lever can be rotated relative to the guide element about the pivot joint. In this case, the guide element can also be considered a fixed point of the extremity support device.

[0023] In an advantageous embodiment, the guide element can be connected to the adjusting mechanism via a joint. This joint will be referred to below as the guide joint. Particularly preferably, the guide joint can have a locking device with which rotation of the guide element about the guide joint can be locked, thereby, for example, changing and adjusting the angle of the guide element relative to the torso module.

[0024] The guide element can particularly preferably have or be a rail or groove in which the spacer element or through which the spacer element is guided. The rail can be straight or curved, preferably monotonously curved. A monotonous curvature here is understood to mean a curvature that does not change its direction. It can particularly preferably be strictly monotonously curved, so that it has no straight sections. However, the rail can also change its curvature over its course. The rail can advantageously have two parallel elongated holes or grooves, between which the spacer element is arranged, and the spacer element can have a pin, a block or a roller on opposite sides which engage in the respective elongated hole or groove.

[0025] The guide element allows a path to be specified along which the spacer element moves when the distance between the spacer elements changes. This allows the progression of the angle-dependent (dependence of the angle of the extremity lever to the torso module) level of support when actuated by the actuator to be specified. In particular, it is possible to adapt the progression of the level of support to the application in which the extremity support device is used. For example, it can be specified that the level of support initially changes when the spacer element is moved in such a way that the angle-dependent (dependence of the angle of the extremity lever to the torso module) level of support behaves as if the angle of the extremity lever to the torso module were small and later as if this angle were large. Any other progression of the level of support can also be specified.

[0026] In an advantageous embodiment of the invention, the spacer element can limit the distance of the tension transmission element from the pivot joint in the direction away from the pivot joint. This means that the tension transmission element can move away from the pivot joint until it encounters the spacer element and is then prevented from moving further away from the pivot joint by the spacer element at the point of contact between the tension transmission element and the spacer element. For this purpose, the spacer element can be located on the side of the tension transmission element facing away from the pivot joint. In this case, it is preferred if a force can be exerted on the spacer element in the direction of the pivot joint by the adjusting mechanism. This force can therefore bring about a change in the distance between the spacer elements in the direction of the pivot joint.The force exerted by the adjusting mechanism therefore preferably counteracts the force exerted by the tension transmission element on the spacer element when the spacer element prevents the tension transmission element from moving further away from the pivot joint.

[0027] In general, directions away from an element are those along which the distance to the element increases. Similarly, directions toward an element are those along which the distance to the element decreases. These directions do not necessarily have to be radial to the element; they do not necessarily have to intersect the element or run directly toward it.

[0028] Alternatively or additionally to the aforementioned configuration, the spacer element can also limit the distance of the tension transmission element from the pivot joint in the direction of the pivot joint. It is then advantageous if, alternatively or additionally, the force exerted on the spacer element by the adjusting mechanism can be exerted to change the distance of the spacer element in the direction away from the pivot joint. This configuration is particularly advantageous if the extremity lever, on the side featuring the extremity engagement or engagement connection element, can form a very small angle with a connecting element that can connect the torso module and pivot joint, or with the adjusting mechanism, since the tension transmission element then moves close to the pivot joint on the opposite side.This would create a very small angle between the tension transmission element and the limb lever, which would reduce the torque exerted by the tension transmission element on the limb lever. If the tension transmission element is held at a certain minimum distance from the pivot joint on the spacer element, the angle between the tension transmission element and the limb lever is prevented from falling below a certain value. This ensures that the torque does not become too small. It is advantageous if the spacer element is held in both directions, as described below.

[0029] In an advantageous embodiment of the invention, the tension transmission element can comprise a first tension transmission sub-element and a second tension transmission sub-element. The tension transmission sub-elements can be individual tensile force-transmitting elements that together constitute the tension transmission element, but they can also be sections of the tension transmission element. If, for example, the tension transmission element is a cable, a chain, or a belt, the tension transmission sub-elements can also simply be different sections of the cable, belt, or chain.

[0030] In this embodiment, it is advantageous if the first and second tension transmission elements pass through the spacer element on opposite sides. It is particularly preferred if the first and second tension transmission elements are each dimensioned such that, in every position of the extremity lever about the rotary element, at least one of the tension transmission elements touches the spacer element. This also prevents the torque exerted by the tension transmission element on the extremity lever from becoming too small at very small angles between the adjusting mechanism or the connecting element that can connect the torso module and the rotary joint, and the extremity lever.The idea here is that, as long as the angle between the actuating mechanism and the limb lever or connecting element is large, the tension transmission element running between the spacer element and the pivot joint touches the spacer element. As the angle decreases, the tension transmission element opposite the pivot element with respect to the spacer element touches the spacer element. This tension transmission element then has a larger angle to the limb lever, thus preventing the torque from becoming too small.

[0031] Advantageously, the spacer element can have a roller for each direction in which it limits the distance of the tension transmission element from the pivot joint. While the tension transmission element limits the distance, the respective roller can contact the respective roller on the side opposite the direction in which the respective roller limits the distance of the tension transmission element from the pivot joint. Simply put, in this case, the tension transmission element can run between the pivot joint and the spacer element if the spacer element limits the distance in the direction away from the pivot joint, and can run outside the spacer element if the spacer element limits the distance in the direction of the pivot joint.

[0032] Preferably, a rotational axis of the respective roller is parallel to the rotational axis of the pivot joint. Generally, it is preferred if the direction in which the distance between the spacer elements can be changed is perpendicular to the rotational axis of the pivot joint. Preferably, the tension transmission element extends in directions perpendicular to the rotational axis of the pivot joint. Preferably, the longitudinal direction of the extremity lever, the tension transmission element, and the direction of displacement of the spacer element for changing the distance between the spacer elements, as well as the distance between the spacer elements themselves, extend in a plane to which the rotational axis of the pivot joint is perpendicular.

[0033] In an advantageous embodiment of the invention, the rotary joint can be firmly connected to the adjusting mechanism via a connecting element, which can be designed such that, when the extremity support device is worn by the user as intended, it runs along the user's torso. The connecting element can advantageously be elongated and particularly preferably straight. It does not have to run parallel to the torso. If the connecting element is straight, it can, for example, form an acute angle with a straight line parallel to the user's spine. If a torso module is provided, the connecting element can be arranged with one side on the torso module, preferably via one or more joints. The joints can enable rotation of the connecting element relative to the torso module about one, two, or three axes of rotation.Optionally, the connecting element can also be rotatable about its longitudinal axis or an axis that runs along the user's torso. The pivot joints allow the user to freely move the supported limb in the angular degrees of freedom that are not supported.

[0034] The extremity support device can advantageously be configured to support two of the user's extremities, for example, both arms. In this case, the extremity support device can have the aforementioned elements for each extremity, in particular the extremity attachment, the attachment connection element, the pivot joint, the tension transmission element, the spacer element, and the actuating mechanism with the actuating actuator. If a torso module is provided, the components for each extremity are preferably arranged on the same torso module. An extremity support device that supports two extremities therefore preferably has exactly one torso module. If one or both arms are supported, the respective connection element preferably engages the side and / or rear of the torso module.When both arms are supported, the torso module can be arranged between the two connecting elements for the two arms.

[0035] If the tension transmission element is connected to a passive actuator as described above, the passive actuator can also be arranged on the connecting element, preferably at its end facing away from the limb lever. Particularly preferably, a swivel joint or ball joint can be provided between the connecting element and the passive actuator. This allows the passive actuator to follow the tension transmission element when the latter changes its distance from the swivel joint.

[0036] In an advantageous embodiment, the actuating actuator can be arranged on the extremity lever. It is then preferably arranged on the same side of the pivot joint as the extremity engagement or engagement connection element. A force action direction of the actuating actuator is then preferably parallel to the longitudinal direction of the extremity lever at the location where the actuating actuator is arranged. In this embodiment, the tension transmission element can be attached to the spacer element and end there. In this embodiment, the spacer element can be displaceable along the extremity lever and, for example, can be arranged therein. For example, the spacer element can be guided in a guide rail that runs in the extremity lever and is optionally parallel to its longitudinal direction. In this embodiment, the actuating actuator can also be connected directly to the spacer element.In this case, a movable part of the actuator would be connected to the spacer element, i.e. the part that is moved linearly relative to the extremity support device or the extremity lever when actuated.

[0037] In an advantageous embodiment, the actuator can have a rotary drive and a spindle shaft, also known as a threaded spindle, that can be rotated by the rotary drive. A spindle nut can be arranged on the spindle shaft and can run on the spindle shaft. By rotating the rotary drive, the spindle nut is displaced along the spindle shaft. The force on the spacer element can then be exerted by the spindle nut. For this purpose, the spacer element can be connected to the spindle nut directly or via intermediary elements. Such an actuator allows very precise control of the distance between the spacers.

[0038] In an advantageous embodiment of the invention, the actuator can comprise a rotary drive and a spindle shaft arranged side by side with parallel axes of rotation, and kinematically connected to each other via a gear transmission. By arranging the rotary drive and the shaft side by side, the required length of the actuator mechanism can be reduced.

[0039] Preferably, the actuating mechanism can have at least one elastic element, for example a spring element, which is arranged such that it can be deflected by the actuating actuator and causes a force that is directed opposite to the force exerted by the actuating actuator and causing the change in the distance between the spacer elements. The elastic element can therefore be arranged and designed such that it can be deflected against its restoring force by the force of the actuating actuator, i.e., in the case of a tension spring, for example, it can be tensioned or in the case of a compression spring it can be compressed. Preferably, the at least one elastic element can be connected on the one hand to that element of the actuating actuator which is moved linearly by actuation of the actuator and on the other hand can end at a component that carries the rotary joint and / or is fixed relative to the rotary joint.Particularly preferably, the elastic element and / or the direction of its force action can lie parallel to the longitudinal direction of the connecting element described above, if this is provided. Particularly advantageously, two or more of the elastic elements are provided which are arranged opposite one another with respect to a straight line along which the linearly movable part of the actuating actuator moves, and whose common resulting line of action of forces preferably lies on a straight line with the line of action of all resulting forces on the linearly movable part of the actuating actuator (e.g. forces caused by rotation of the spindle or by forces of the actuating elements (19) on the movable part of the actuating actuator). This can prevent a moment effect and thus canting of the actuating actuator.In particular, it is advantageous if the end of the elastic element not connected to the actuating actuator is firmly connected to the connecting element, if this is provided for. The provision of such an elastic element makes it possible to set a specific degree of support by actuating the actuator and the associated displacement of the spacer element, and to cancel this setting very quickly and without further energy expenditure, since the force effect of the elastic element is sufficient for this. If the force effect of the actuating actuator is canceled, the at least one elastic element causes the spacer element to return to its initial state. If the actuator is designed as a spindle shaft with a spindle nut, as described above, one end of the at least one elastic element can preferably be fastened to the spindle nut.

[0040] In an advantageous embodiment of the invention, the actuating actuator can have a rotary drive and a linearization mechanism with which a torque generated by the rotary drive can be transmitted into a linear force for changing the distance between the spacer elements. The above-described embodiment with a spindle shaft and spindle nut is an example of this. Particularly preferably, the actuating actuator also has a coupling with which the transmission of the torque into the linear force can be established and released. Such a coupling makes it possible to move the spacer element into a specific position with the actuating actuator and thereby set a specific degree of assistance. The assistance can then be ended simply by releasing the coupling. The spacer element can then return to its original position under the influence of, for example, the elastic elements, without having to rotate the rotary drive.This allows a very rapid return to the starting position. The coupling is particularly advantageous in conjunction with at least one of the elastic elements, since when the coupling is opened this can move the spacer element back against the deflection by the actuating actuator. Advantageously, the actuating mechanism can have at least one blocking element with which the distance between the spacers can be blocked. This blocking element can, for example, be used in such a way that the force of the actuating actuator first moves the spacer element to a desired distance and then the blocking element is activated in order to fix the distance. In the event that the blocking element does not require any energy in the blocked state (e.g.With a permanent magnet brake (permanent magnet brake), the distance between the spacer elements and thus the level of assistance can be fixed without the need for energy expenditure, allowing the entire system to provide assistance at a defined level without consuming energy. The actuator can therefore be deactivated. To return the spacer element to its original position, it is sufficient to release the locking element and, optionally, the clutch. Under the action of the force exerted by at least one elastic element or, in the simplest case, by the tension transmission element, the spacer element can return to its original state by itself.

[0041] In an advantageous embodiment of the extremity support device according to the invention, the actuating mechanism can have a first actuating force transmission element. A actuating force transmission element is understood to be an element that can transmit at least tensile forces and, in optional embodiments, also exclusively tensile forces. It is therefore optionally possible for the actuating force transmission element to also transmit compressive forces, but this is not required. For example, there are also ropes and chain-like connections that can also transmit slight compressive forces, which can be advantageous. The first actuating force transmission element described here can be connected at one end to the actuating actuator in such a way that a tensile force can be exerted on this first actuating force transmission element by the actuating actuator.With its opposite end, the first actuating cable transmission element can be in contact with the spacer element in such a way that the force for changing the distance between the spacer elements can be exerted on the spacer element by the first actuating cable transmission element. Optionally, the first actuating cable transmission element can pass through at least one deflection element on its path from the actuating actuator to the spacer element, where it can change the direction of its path, particularly preferably in the direction of the spacer element. It is advantageous, but not necessary, for the first actuating cable transmission element to change the direction of its path directly towards the spacer element. It is also possible for it to only approximate its path towards the spacer element and for it to be guided further in the direction of the spacer element by, for example, further deflection elements. The deflection element(s) can, for example,Rollers over which the control cable transmission element runs. Such a control cable transmission element makes it possible to freely position the control actuator. In particular, it is not necessary for the control actuator to act in the direction in which the spacer element is to be displaceable. This design is particularly advantageous if the control actuator, with its linear force action direction, is parallel to the connecting element described above.

[0042] In an advantageous embodiment, the actuating cable transmission element can have a cable or a stranded wire, which runs at least for part of its length in a Bowden cable sheath. This allows the actuating actuator to be positioned largely arbitrarily on the user's body. The force for changing the distance between the spacer element and the spacer element can then be transmitted via the actuating cable transmission element, preferably as a tensile force. If a guide element is present, the actuating cable transmission element preferably acts on the spacer element in such a way that the cable or stranded wire runs parallel to the direction of the guide element at the point of application. The actuating cable transmission element can advantageously act on the spacer element from the side facing the swivel joint and / or the side facing away from the swivel joint. It can be guided to the corresponding side by the Bowden cable sheath.Advantageously, in this embodiment, the actuator can be arranged on the user's back, preferably at hip or back height, when the extremity support device is used as intended. However, it can also be arranged, for example, on the user's abdomen or on a leg.

[0043] The rope or strand can also advantageously be guided in sections in a Bowden cable sheath and in other sections over one or more rollers through which its course is redirected.

[0044] Advantageously, the actuating mechanism can comprise a further actuating cable transmission element, which is also connected to the spacer element, but on a side opposite the first actuating cable transmission element. In this way, the further actuating cable transmission element can exert a tensile force on the spacer element that opposes the tensile force exerted by the first actuating cable transmission element. Together, the first and the further actuating cable transmission element can displace the spacer element in both directions along the spacer element spacing and preferably hold it in a defined position. Advantageously, the further actuating cable transmission element is connected to the actuating actuator in such a way that the actuating actuator can exert a tensile force on the further actuating cable transmission element that opposes the tensile force exertable on the first actuating cable transmission element.If the linearly movable element of the actuating actuator moves in one direction, it pulls on one of the two actuating cable transmission elements; if it moves in the opposite direction, it pulls on the other of the two actuating cable transmission elements. Preferably, the additional actuating cable transmission element passes at least one further deflection element on its path from the actuating actuator to the spacer element, particularly preferably two further deflection elements, at which the additional actuating cable transmission element changes the direction of its path toward the spacer element. The above statements regarding the first actuating cable transmission element apply analogously here. The additional actuating cable element makes it possible to pull the spacer element in both directions and then hold it in a fixed position.It should be noted that the first and the further adjusting cable transmission element can also be realized as parts of a common, ring-shaped closed adjusting cable transmission element.

[0045] In an advantageous embodiment of the invention, the actuating actuator can have a rotary drive and at least one roller rotatable by the rotary drive. The first and / or the further actuating cable transmission element, if present, can be fastened to a surface of the roller or to surfaces of a respective roller, such that they can be wound onto the roller and / or unwound from the roller by rotating the roller. If a roller is provided for each actuating cable transmission element, these are preferably arranged on a common axis and are rotated together. Advantageously, the at least one roller can be connected to the rotary drive via a coupling, by means of which a torque transmission from the rotary drive to the roller can be released and established.Here too, by releasing the coupling, the spacer element can be caused to move back to its starting position by itself, possibly under the action of at least one elastic element, without having to rotate the rotary drive.

[0046] In advantageous embodiments of the invention, it may be possible for the spacer element to be fixedly arranged directly on the actuating actuator. In this case, the spacer element can be fixedly arranged on the movable part of the actuating actuator, i.e. the part that can perform a linear movement. This enables designs to be realized with few components, which are therefore more cost-effective. The fact that the spacer element is fixedly arranged directly on the actuating actuator means that no elements are provided between the spacer element and the actuating actuator that are movable relative to the spacer element and the actuating actuator. If the spacer element is designed as a roller, an axis of rotation of this roller in this embodiment can be fixed relative to the movable part of the actuating actuator.

[0047] In an advantageous embodiment of the invention, the actuating mechanism can have a bevel gear connection. In this connection, a first bevel gear can be driven by the actuating actuator, which in this case can be a rotary drive. A second bevel gear can be connected to a shaft, which can be connected to a spindle shaft (threaded spindle), the rotation of which can exert the force on the spacer element to change the spacing element spacing. The shaft can also be a spindle shaft itself. For this purpose, the spacer element can, for example, have a spindle nut inside it or connected to it, which engages with the spindle shaft. Advantageously, an axis of rotation of the first bevel gear is parallel or coaxial to an axis of rotation of the actuating actuator, while an axis of rotation of the second bevel gear is parallel to the direction in which the spacer element can be displaced to change the spacing element spacing.

[0048] In an alternative embodiment, the actuating mechanism can have a universal joint connection with which the force for changing the distance between the spacer elements can be transmitted from the actuating actuator to the spacer element. For this purpose, the actuating actuator preferably again has a rotary drive which causes a shaft to rotate, which is connected to part of the universal joint. Another part of the universal joint can be connected to a shaft which rotates a spindle, onto which the spacer element can be displaced. The shaft can also be a spindle shaft itself. Here, too, the spacer element can be designed as a spindle nut, which can run on the spindle shaft. The first shaft can be coaxial or parallel to the axis of rotation of the rotary drive, while the second shaft can be parallel to the direction in which the spacer element can be displaced.

[0049] In a further embodiment of the invention, the actuating mechanism can comprise a gearwheel driven by the actuating actuator, as well as a rack into which the gearwheel engages. Here, too, the actuating actuator can comprise a rotary drive with which the gearwheel can be rotated. The rack can be connected to the spacer element, so that the force for changing the position of the spacer element can be transmitted to the spacer element via the rack. In this embodiment, it is advantageous if the direction in which the spacer element can be displaced to change the spacing element spacing is perpendicular to the rotational axis of the rotary drive.

[0050] In a further alternative embodiment of the invention, the actuating mechanism can have a worm gear that can be driven by the actuating actuator, as well as a worm shaft into which the worm gear engages. Here, too, it is advantageous if the actuating actuator has a rotary drive that drives the worm gear. The worm shaft can be connected to the spacer element in such a way that the force of changing the spacer element spacing can be transmitted to the spacer element via the worm shaft. In this embodiment of the invention, it is also advantageous if the direction in which the spacer element moves to change the spacer element spacing is perpendicular to the axis of rotation of the rotary drive. The worm shaft is here again simultaneously a spindle shaft, as was the case, for example, in the variant with the bevel gear. The force and linear movement are then again generated from the rotation by a spindle nut.

[0051] If the actuator generates a linear force, such as the actuator described above with a rotary drive, a spindle shaft rotatable by the rotary drive, and a spindle nut running on the spindle shaft, the extremity support device can also have a chain of at least two links connected to one another via connecting joints, of which a first of the links acts on the linearly movable part of the actuator, for example on the spindle nut, and a last of the links acts on the spacer element. It is particularly advantageous if the links are each guided in at least one rail at the connecting joints. The rail can be implemented, for example, as two parallel elongated holes or grooves, between which the Glenlenkk is arranged and into which pins or axles arranged coaxially to the joint axis engage.Advantageously, the links are designed as elongated, straight elements, and the connecting joints are swivel joints whose joint axes are perpendicular to the longitudinal direction of the links. The described rails can then also run perpendicular to the axis of the connecting joints. This design allows both a tensile force and a compressive force to be exerted on the spacer element via the spindle nut of the actuating actuator. It is therefore sufficient to connect the spacer element on one side to the chain of links, which can be regarded here as the actuating force transmission element. Particularly advantageously, two links are provided, one of which is connected to the spindle nut via a swivel joint, and the other to the spacer element via a swivel joint. The connecting joint between the two links can be mechanically guided in a rail, which can run towards the guide element through which the spacer element is guided.When the spacer element is moved, the connecting joint then moves away from the swivel joint in the direction of the guide element.

[0052] In an advantageous embodiment, the actuator can have at least one hydraulic cylinder with which the force for changing the distance between the spacer elements can be generated. Advantageously, such a hydraulic cylinder can be arranged on or in the limb lever. It can preferably be oriented such that the direction in which a hydraulic piston of the hydraulic cylinder moves is parallel to the limb lever or parallel to the guide element.

[0053] Advantageously, the extremity support device can have a displacement element arranged on the extremity lever. The tension transmission element can be firmly connected to the displacement element at one of its ends. Advantageously, the displacement element can be displaceable on the extremity lever in a plane perpendicular to the axis of rotation along a longitudinal direction of the extremity lever and / or in a direction perpendicular to the longitudinal direction of the extremity lever, and can be fixed in a specific position. For this purpose, rails or other guide elements can be provided on the extremity lever in the corresponding directions. This makes it possible to set a force range in which the support device can act and also influence the course of the angle-dependent support force.For example, if the sliding element is moved closer to the pivot joint, the supporting force becomes smaller and if it is moved further away from the pivot joint, the supporting force becomes larger.

[0054] Advantageously, the distance between the spacers and thus the level of assistance can be adjusted, for example, using a switch and / or a slider. When the user operates the switch or slider, they activate or deactivate the actuator and release any existing locking elements and / or couplings, thereby adjusting the level of assistance.

[0055] It is also possible for the extremity support device to have, for example, a proximity sensor, a force sensor, and / or a pressure sensor, which are configured to detect the weight of a load to be supported. The actuating mechanism can then be configured to adjust the spacing element spacing based on the detected weight. For this purpose, a control device can be provided, for example, which detects the weight via the corresponding sensor and activates the actuating actuator accordingly. An RFID transceiver, for example, can be provided as a proximity sensor, which reads the weight, for example, from an RFID chip that can be arranged on the load.

[0056] It is also possible for the extremity support device to have a muscle signal sensor that can measure activity signals from at least one muscle of the extremity to be assisted by the extremity support device. The adjustment mechanism can then be configured to adjust the spacing element spacing based on the measured activity signal. For example, if high muscle activity is measured, a high level of assistance can be set.

[0057] In one embodiment of the invention, the extremity can be an arm and the extremity support device can therefore be an arm support device or a shoulder support device.

[0058] The tension transmission element and / or the tension transmission element can comprise or be at least one cable and / or one chain and / or at least one belt. Generally, all elements capable of transmitting tensile forces are suitable.

[0059] In an advantageous embodiment of the invention, the limb lever can also have an adjustment element by means of which the distance between the limb attachment and the pivot joint can be varied. Such an adjustment element can, for example, be a lockable telescopic connection, one half of which is connected to the pivot joint and the other half to the limb attachment. The halves can be slidable into one another. This telescopic connection can also be used without a lock, which can give the system an additional passive prismatic degree of freedom of movement, for example, to prevent constraining forces.

[0060] The invention also provides a method for lifting, holding, and / or carrying a load and / or for performing overhead activities. A user wears an extremity support device according to one of the preceding claims. Assisted by the extremity support device, the user lifts, holds, and / or carries this load and / or performs an activity with hands raised above head or shoulder height.

[0061] Advantageously, the distance between the spacer elements is set to a first value before and / or during lifting, holding, or carrying and / or performing the activity with hands raised above head height. The user then lifts, holds, carries the load, and / or performs the activity with hands raised above head height. The user then puts the load down and / or stops the activity with hands raised above head height, and the distance between the spacer elements is set to a second value that is smaller than the first value. In an advantageous embodiment, the second value can also be a complete deactivation of the support. For this purpose, the distance between the spacer elements can be reduced to a minimum value that reduces the torque exerted by the tension transmission element to zero.

[0062] An advantageous embodiment of the method is one in which the actuator is activated while the spacer element value is being set to the first value, for example, by applying a voltage, and is deactivated for setting to the second value, for example, by removing the voltage. Thus, no energy is required to set the spacer element distance to the second value. The return to the second value can be effected or assisted, for example, by the elastic elements.

[0063] If the actuator, as described above, has a rotary drive, a linearization mechanism with which a torque generated by the rotary drive can be transferred into force to change the spacing element spacing, and a coupling with which the transfer of the torque into force can be established and released, then the transfer of the torque into force between the rotary drive and the spacing element can advantageously be established with the coupling before the spacing element spacing is set to the first value, and the transfer of the torque into force can be released by the coupling to set the spacing element to the second value. Here, too, the at least one elastic element can support the return to the second value.

[0064] If the adjustment mechanism has a locking element as described above, the distance between the spacers can be fixed with this. Before setting the distance between the spacers to the first value, the locking element is opened, and after setting the distance between the spacers to the first value, the locking element is used to fix the distance between the spacers.

[0065] To set the spacer element distance to the second value, the blocking element is released again. Here, too, the at least one elastic element can support the adjustment to the second value. Advantageously, the actuator can have the rotary drive, the linearization mechanism and the coupling as described above, as well as the blocking element. Before the spacer element distance is set to the first value, the coupling can then be used to transfer the torque into the force between the rotary drive and the spacer element. After the spacer element distance has been set to the first value, the spacer element distance can then be fixed with the blocking element. To set the spacer element distance to the second value, the blocking element and the coupling can be released. The adjustment to the second value can in turn be supported or brought about by the at least one elastic element.

[0066] The following exemplary procedures are possible. If neither a blocking element nor a coupling nor an elastic element is provided, the setting to the first value of the spacer element spacing can be achieved by activating the actuator. By keeping the actuator activated, the spacer element spacing can be maintained at the first value. To set the second value, the actuator can actively move the spacer element to the second value. If the actuator is an electric actuator, an appropriate voltage can be applied to the actuator to set the spacer element to both the first and second values.

[0067] If neither the blocking element nor the coupling is provided, but at least one of the elastic elements is, the spacer element spacing can be actively adjusted to the first value by activating the actuator, for example, by applying a voltage in the case of an electric actuator. To maintain the spacer element spacing at the first value, the motor can remain activated. To set the second value, the motor can then be deactivated, for example, by switching off the voltage. The at least one elastic element then causes the spacer element to be moved to the second spacer element spacing.

[0068] If no blocking element is provided, but the coupling and at least one elastic element are provided, the coupling can be activated to set the spacer element spacing to the first value, thus establishing a force transmission and activating the motor. To hold the spacer element at the first spacer element spacing, the motor can remain activated and the clutch can remain activated. To set the spacer element spacing to the second value, the coupling can then be released, thus eliminating the force transmission between the rotary drive and the linearization mechanism. The motor can be deactivated. By releasing the coupling, the spacer element can move to the second spacer element spacing without moving the rotary drive of the actuator.

[0069] If the extremity support device does not have elastic elements but does have a blocking element, the blocking element can be deactivated and the actuator activated to set the first value of the spacer element spacing. To maintain the spacer element spacing at the first value, the blocking element can then be activated while the actuator can be deactivated. To set the spacer element to the second value, the blocking element can be opened or deactivated. The actuator can then actively change the spacer element spacing to the second value.If the extremity support device has the at least one elastic element and also the blocking element, the actuating actuator can be activated to set the distance between the spacer elements to the first value, the blocking element can be activated and the actuating actuator can be deactivated to maintain the distance between the spacer elements at the first value, and the actuating drive can move the spacer element to the second distance between the spacer elements, supported by the at least one elastic element when the blocking element is open, to reset to the second value.

[0070] All of the processes described above can also be reversed, meaning the first and second spacings can be swapped. Furthermore, at least one of the two spacings can be continuously adjustable within a predefined range.

[0071] The invention will be explained below using a few figures as examples. The features described in the figures can also be implemented independently of the specific example and can be combined between the examples. The same reference numerals indicate the same or corresponding features.

[0072] It shows: Fig. 1 shows an exemplary structure of an extremity support device according to the invention, Fig. 2 shows an embodiment of an adjusting mechanism, Fig. 3 shows a schematic representation of the changed course of the tension transmission element at different angles of the extremity lever, Fig. 4 shows exemplary embodiments of the extremity support device, Fig. 5 shows exemplary embodiments of the adjusting mechanism, Fig. 6 shows further exemplary embodiments of the adjusting mechanism, Fig. 7 shows further exemplary embodiments of the adjusting mechanism, Fig. 8 shows further exemplary embodiments of the adjusting mechanism, Fig. 9 shows further embodiments of the adjusting mechanism according to the invention, Fig. 10 shows an exemplary and schematic embodiment of the extremity support device according to the invention for the case where the supported extremity is legs, Fig. 11 shows further exemplary embodiments of the adjusting mechanism, Fig.Fig. 12 further exemplary embodiments of the adjusting mechanism, Fig. 13 further exemplary embodiments of the adjusting mechanism, Fig. 14 further exemplary embodiments of the adjusting mechanism, Fig. 15 further exemplary embodiments of the adjusting mechanism, and Fig. 16 further exemplary embodiments of the adjusting mechanism.

[0073] Figure 1shows an exemplary embodiment of an extremity support device according to the invention for supporting a user's extremity, in this case an arm of the user. The device has an extremity grip 4, which is configured to grip the user's arm. The extremity grip 4 is connected to an extremity lever 5 via an grip connection element 4.1, here for example a swivel joint or a screw connection in combination with a prismatic joint (displaceability in the direction of the extremity lever 5). The extremity grip 4 is designed here as a cuff that can enclose the user's arm. For this purpose, it has a lower support groove and an upper groove, which together form a cylindrical surface. The cuff can be openable so that the user can place their arm inside it. In the simplest case, the grip connection element 4.1 can also simply be a fastening with which the arm attachment 4 is attached to the extremity lever 5. If the extremity lever 5 and the extremity attachment 4 are manufactured monolithically, the connecting area between the part acting as an extremity attachment and the part acting as an extremity lever can also be regarded as the attachment connecting element 4.1.

[0074] The extremity lever 5 is elongated here and has an intermediate element 5.1, with which it is connected to a pivot joint 2. The extremity lever 5 is rotatable about the pivot joint 2. The extremity support device also has a tension transmission element 7, in this case a cable pull 7, which engages the extremity lever 5 on a side of the extremity lever 5 opposite the engagement connection element 4.1 with respect to the pivot joint 2. The tension transmission element 7 engages a further intermediate element 5.2 on the extremity lever 5. The intermediate element 5.2 should be considered part of the extremity lever 5. In the example shown, it has a rail in which the engagement point of the tension transmission element 7 can be displaced and fixed in a direction perpendicular to the longitudinal axis of the extremity lever 5. This allows the tension effect of the tension transmission element 7 on the extremity lever 5 to be adjusted.The extremity support device also has a spacer element 10 which limits a distance of the tension transmission element 7 from the pivot joint 2 at the point of contact of the tension transmission element 7 with the spacer element 10 in at least one direction, here in the direction away from the pivot joint 2.

[0075] The spacer element 10 is movable by means of an adjusting mechanism for changing a distance H1 of the spacer element 10 from the pivot joint 2. The adjusting mechanism is partially concealed in a connecting element 3 and is explained in detail in the following figures. Fig. 1In the example shown, the connecting element 3 connects the pivot joint 2 to a torso module 1, which is configured to engage the user's torso, in the example shown, the pelvis. In the example shown, the connecting element 3 is designed as an elongated cuboid connected to the torso module 1 via joints, so that the extremity attachment 4 is rotatable about a connection point between the connecting element 3 and the torso module 1. This allows the user to move their arm freely within the corresponding degrees of freedom.

[0076] The end of the traction transmission element 7 that does not engage the extremity lever 5 is coupled to a passive actuator 6 configured to exert a traction force on the traction transmission element 7. The traction transmission element 7 transfers the traction force from the passive actuator 6 to the extremity lever 5. In this example, a connection 3 exists between the torso module 1, which here is a pelvic connection or a pelvic module 1, and the rotary joint 2. The rotary joint 2 is preferably positioned near the shoulder, preferably so that its axis of rotation runs through the genohumeral joint. A position in front of and behind it, as well as above or below it, is also possible, depending on the exoskeleton design. The connecting element 3, which here also acts as a drive column, connects the pelvic module 1 to the rotary joint 2.The passive actuator 6, which here can be a spring element, a gas spring or a mechanical spring, for example, generates a torque around the rotary joint 2, whereby a force is transmitted to the user's arm via the extremity lever 5 and the arm attack 4. The extremity lever 5 is rotatably mounted about the rotary joint 2. The passive actuator 6 is preferably arranged close to the connecting element 3 in order to keep the dimensions of the extremity support device small. The lower end of the passive actuator 6 can vary, but should preferably be arranged distal to the rotary joint 2 so that it does not collide with the guide element 9 when extended. In . Fig. 1In the example shown, the extremity support device has a guide element 9, along which the spacer element 10 is movable to change the spacer element distance H1. The guide element 9 can be fixed or fixable relative to the adjusting mechanism and / or the extremity lever 5 can be rotatable relative to the guide element 9. In the example shown, the guide element 9 has a rail in which the spacer element 10 is movable. In the example shown, the rail runs straight and radially to the pivot joint 2. It has two opposite elongated holes into which the spacer element engages with pins or rollers, so that it is held by the elongated holes.

[0077] As mentioned, the tension transmission element can be, for example, a cable pull, traction cable, or rope, such as a wire rope or other cable pull made of plastic or natural materials, belts, chains, etc. The tension transmission element 7 is guided over the spacer element 10 to the point of application on the extremity lever 5.

[0078] The resulting force on the extremity lever 5 is generated by the spring element 6 and, depending on the spring, may remain approximately the same. The distance H1 between the spacer element and the applied force vector in the rope direction and the swivel joint 2 can be varied, which changes the resulting torque around the swivel joint 2 or the resulting force on the arm attachment 4. The position of the spacer element 10 in the guide element 9 is responsible for this distance. If the distance H1 of the spacer element 10 to the swivel joint 2 is smaller, the supporting force in the arm connection 4 is reduced. This is Fig. 1 shown on the right. If the distance H1 is greater than in Fig. 1 As shown on the left, the force acting on the arm's control arm is also greater. The distance H1 can be reduced to zero, so that the resulting force becomes zero and the support is completely deactivated. Under certain circumstances, it can even become negative, causing the arm to be pulled downward rather than pushed upward. The further the spacer element 10 is from the pivot joint 2, the greater the virtual lever arm H1 and thus the force acting on the arm's control arm 4.

[0079] Fig. 2 shows some of the Fig. 1shown elements, however, the extremity lever 5 and the arm attack 4 as well as the torso module 1 and the connecting element 3 are not shown for the sake of clarity. Part 2A shows a state in which the support is completely deactivated, part 2B a state with maximum support and part 2C an adjusting mechanism which in Fig. 1 is arranged inside the connecting element 3.

[0080] The Fig. 2C The actuating mechanism shown has an actuating actuator 16, which contains a rotary drive A1, by means of which a spindle shaft 13 can be rotated. As shown in the Figures 2A and 2BAs can be seen, a spindle nut 12 runs along a guide rod 14 on the spindle shaft 13. The guide rod 14 prevents the rotation of the spindle nut 12, so that it moves along the spindle shaft 13 when it rotates. A control transmission element 19 is connected to the spindle nut 12 on the one hand and to the spacer element 10 on the other. If the rotary drive A1 exerts a torque on the spindle shaft 13, the spindle nut 12 moves in the direction of the axis of rotation of the spindle shaft 13 and thereby tightens or loosens the control transmission element 19. This causes the spacer element 10 to move in the guide element 9. Fig. 2A the spindle nut 12 is positioned in its lowest position, so that the spacer element 10 is positioned closest to the pivot joint 2, which completely deactivates the support in the example shown. The level of support is therefore zero. Fig. 2BIn the state shown, the spindle nut is arranged at its uppermost position, whereby the spacer element 10 has the greatest distance H1 from the swivel joint 2. The degree of support is therefore maximum here.

[0081] Connected to the guide element 9, here an adjustment rail, are one or more elastic elements 11, here spring elements 11 (preferably gas springs, alternatively also pre-tensioned or regular mechanical springs), inside the connecting element 3. The other ends of these spring elements 11 are connected (directly or via intermediate components) to the spindle nut 12. The guide 14 prevents rotation of the spindle nut 12 when the spindle shaft 13 rotates. As a result, the spindle nut 12 moves longitudinally along the spindle shaft 13 when the spindle shaft 13 rotates. The spindle shaft 13 and the spindle nut 12 are preferably a ball screw spindle, but trapezoidal spindles or other low-friction spindles are also possible. It is also possible for the adjusting mechanism to have one or more drums on which at least one element transmitting tensile forces, for example a cable pull, is wound up and unwound.

[0082] The spindle shaft 13 is itself mounted in a bearing block 15 and connected to a drive shaft of the rotary drive A1, which can be an electric motor, for example. Additional elements such as brakes 17, also referred to as blocking elements 17, and / or clutches 18 can be interposed. The order of the blocking elements 17 and clutches 18 is arbitrary. When the drive A1 is activated, the spindle shaft 13 rotates and the spindle nut 12 moves upward, compressing the spring elements 11. The spring elements can also be arranged conversely so that they are stretched, as tension springs. The spindle nut 12 is directly or indirectly connected to a control cable transmission element 19, which is implemented here by means of cables 19. The control cable transmission element 19 runs over a deflection element 20, e.g., a cable pulley 20.The actuating cable transmission element 19 changes its course at the deflection element 20 in the direction of the spacer element 10 and runs behind the deflection element 20 almost parallel to the adjustment direction of the spacer element 9 or to the course of the rail of the guide element 9. The actuating cable transmission element 19 is connected to the spacer element 10. When the spindle nut 12 is raised, the required cable pull 19 in the drive column is shortened, allowing the spacer element 10 to slide distally in the guide element 9, which in turn increases the distance to the rotary joint 2. This process can take from less than one second to several seconds, depending on the power of the rotary drive of the actuating actuator 16. In the following, this process will also be referred to as "activation." If a switchable clutch 18 is present in the actuating actuator, it is closed during activation, allowing torque to be transmitted from the rotary drive to the spindle nut 12.In the activated state, i.e. when the assistance is switched on, the blocking element 17, for example a permanent magnet brake, in the actuating mechanism can also be activated. This makes it possible to switch off the rotary drive and also to open the clutch 18, since the blocking element 17 prevents the spindle shaft 13 from rotating backwards. In this state, the system can now be used completely passively, i.e., no power is consumed. The actuating mechanism has the actuating actuator 16. Optionally, the actuating mechanism can be identical to the actuating actuator. However, it can also contain additional elements, such as a guide rail along which the spindle nut runs and which prevents its rotation.

[0083] If the extremity support device is to be deactivated, the distance H1 between the swivel joint 2 and the spacer element 10 is reduced to almost zero or zero. If the described coupling 18 is provided, deactivation can occur without a delayed reverse rotation of the rotary drive A1. If the coupling 18 is opened and, if applicable, the blocking element 17 is opened, the preloaded elastic elements 11 can passively press the spindle nut 12 downward ("back driving") without consuming any power. This process can take place very quickly, e.g., faster than one second. Additional damping elements can be provided to brake the spindle nut 12 in the spindle end positions. In the deactivated state, the system again requires no power and is operated passively. In the Figures 1 and 2In the example shown, the spacer element 10 is guided by the guide element 9, and the guide element 9 is fixed relative to the connecting element 3. The guide element 9 is independent of any movement of the extremity lever 5. As a result, the tension transmission element 7 guided over the spacer element 10 always pulls it distally or away from the pivot joint 2.

[0084] The limb support device can be activated, for example, by external sensory impulses—for example, a button being pressed, an external load being detected, for example, by force and / or pressure sensors, or by muscle activity signals measured, for example, using EMG. It is also possible to detect tools and loads using proximity sensors, such as RFID transceivers. The level of support, i.e., the distance between the spacer elements, can be continuously adjusted. Force / pressure sensors can be positioned between the person and the external load or between the person and the exoskeleton connection, for example, at the limb attachment point 4. It is also possible to vary the level of support manually using simple adjustment controls, such as potentiometers. The level of support can be adjusted live before or during any activity.

[0085] Typical work scenarios in which the extremity support device according to the invention can be used can be, for example, as follows: Scenario 1 - Carrying and Lifting:A user carries the system in a deactivated state and picks up a load after having set 100% assistance, for example, because they have to carry a heavy load. When picking up the load, they press a button, which fully activates the system within 2-3 seconds (example time, may be shorter or longer). Meanwhile, the user can already walk to the destination, with the level of assistance increasing over the 2-3 seconds, thus relieving the user of the strain while carrying. The system is now (activated) in a passive state in which no energy is consumed. Once they have reached their destination, the user can lift the load to a higher position with full assistance. After putting the load down, the user releases the button, which fully deactivates the system again in less than 1 second (e.g. 0.5 seconds). The short deactivation time is sensible, as it means the user's arms are not pushed up for an unnecessarily long time.The user can move freely again almost immediately. Of course, the user does not have to deactivate the system. They can, for example, lift or carry a load from an elevated surface with full support. In general, the user can leave the system activated when, for example, performing stacking tasks. Or they can activate the system at the touch of a button before lifting a load and deactivate it again afterward. Using an electronic slider, for example, the user can also continuously select the level of assistance and thus adapt it to the weight to be carried. Scenario 2 - Overhead work:A user performs overhead work that requires them to regularly reach for tools or parts. The system is activated during overhead work. If the user changes tools, the system registers (e.g., via RFID) which tool is being used and adjusts the level of support to the user's weight. The user can deactivate the system, for example, by pressing a button (a fingertip button) if they want to lower their arms, change location, or need to pick up a tool or part. As mentioned, this happens virtually in real time.

[0086] Fig. 3 shows schematically a part of an extremity support device according to the invention to explain the course of the tension transmission element 7 at different angular positions of the extremity lever 5. Fig. 3A shows the extremity lever 5 with a large angle β between the connecting element 3 and the extremity lever 5. As in Fig. 2The tension transmission element 7 runs from the passive actuator 6 to the spacer element 10 to a part 8 of the extremity lever 5 facing away from the (not shown) extremity engagement point 4. The tension transmission element 7 runs between the spacer element 10 and the rotary joint 2 and touches the spacer element 10. Starting from the passive actuator 6, the tension transmission element 7 changes its course on the spacer element 10 in the direction away from the rotary joint 2. As a result, the spacer element 10 limits the distance of the tension transmission element 7 at the location where the tension transmission element 7 touches the spacer element 10 in the direction away from the rotary joint 2. The tension transmission element 7 therefore presses the spacer element 10 distally over large angular ranges of β, i.e. away from the rotary joint 2, and is limited distally by the position of the spacer element 10 in the adjustment rail 9. This results in an imposed distance and lever arm to the rotary joint 2. As in Figure 3BHowever, as can be seen, there is also an angular range β in which the tension transmission element 7 does not touch the spacer element 10 and the resulting force is directed proximally rather than distally. This is the range in which β is sufficiently small. Here, the spacer element 10 has no influence on the lever arm H1 of the extremity lever 5 and thus on the support moment.

[0087] The Fig. 3B The situation shown is not necessarily problematic. However, if one wants the spacer element 10 to have an influence even at small angles β, various solutions are conceivable. Some advantageous solutions are shown in Fig. 4 shown. Fig. 4Ashows a solution in which the tension transmission element 7 has a first tension transmission sub-element 7.1 and a second tension transmission element 7.2. The tension transmission sub-elements 7.1 and 7.2 can also be sections of the common tension transmission element 7, if this is designed, for example, as a loop. One tension transmission sub-element 7.1 runs from the passive actuator 6 past the spacer element 10 on its side facing away from the pivot joint 2 to that end 8 of the lever 5 facing away from the extremity engagement 4. The other tension transmission sub-element 7.2 runs from the passive actuator 6 between the spacer element 10 and the pivot joint 2 to the end 8 of the extremity lever 5. The tension transmission sub-element 7.2 acts here as in Fig. 3 shown at large angles β. In Fig. 4A the extremity lever 5 is in a position of small angle β, where as in Fig. 3Bshown, the tension transmission element 7.2 is not limited by the spacer element 10. In this state, however, the Fig. 4A the outer tension transmission element 7.1 passes the spacer element 10, touches it and changes the direction of its path towards the pivot joint 2 at the spacer element 10. The tension transmission element 7.1 thus engages the end 8 of the extremity lever 5 at a larger angle than in Fig. 3Bshown case. This means that sufficient support for the user can be guaranteed even at small angles β. In the example shown, the tension transmission elements 7.1 and 7.2 are cables. In addition to cable 7.2, there is the second cable 7.1 which grips the spacer element 10 from the other side, whereby forces proximal to the pivot joint 2 can also be absorbed. 7.2 is shown exaggeratedly slack here to clarify which cable transmits the forces. If the angle β increases, from a certain angle 7.1 would become slack and 7.2 would become tense and transmit the forces. 7.1 and 7.2 could also be a single tension element designed as a loop that is guided through a fastening in 6 and 8. In this case, the representation of 7.2 would also be tense in this position.

[0088] The tension transmission element 7.1 exerts a force in the proximal direction on the spacer element 10. If the tension transmission elements 7.1 and 7.2 are sections of a single tension transmission element 7, which is designed as a loop, the tension transmission element 7.2 could also be Fig. 4A shown position. As a loop, the tension transmission element 7 could be guided, for example, by an attachment to the passive actuator 6 and the opposite end 8 of the extremity lever 5.

[0089] Fig. 4Bshows a further possibility of ensuring a certain minimum angle of attack of the tension transmission element 7 on the extremity lever 5 at small angles β between the extremity lever 5 and the connecting element 3. Here, the spacer element 10 has two rollers that are arranged next to one another in the direction of the guide element 9. In the example shown, the rollers have parallel axes of rotation. The tension transmission element 7 runs from the passive actuator between the two rollers to the opposite end 8 of the extremity lever 5. In this embodiment, the spacer element 10 can limit the path of the tension transmission element 7 in both directions, both away from the pivot joint 2 and towards the pivot joint 2. At small angles, the force on the tension transmission element 7 is exerted by the roller located closer to the pivot joint 2, and at large angles by the roller of the spacer element 10 that is further away from the pivot joint 2. The Fig. 4BThe design of the spacer element 10 with two rollers shown can also be used in the Figures 5, 6 and 7 come into play.

[0090] If the spacer element 10, as shown in the Figures 4A and 4B shown, limit the distance of the tension transmission elements 7 from the rotary joint 2 even at small angles β, it is advantageous if the adjusting mechanism allows a force to be exerted on the spacer element 10 to change the distance H1 in both directions, ie in the direction of the rotary joint 2 and in the direction away from the rotary joint 2. There are numerous possibilities for this, of which a simple one is shown in Fig. 4C shown and more in Figs. 5 and 6 The spacer element 10 can absorb forces of the individual cable pull 7 distally and proximally, shown here as an example, through the two coupled cable pulleys (other bidirectional guides / deflection components are also possible).

[0091] In Fig. 4CIn the example shown, the actuating cable transmission element 19 has two actuating cable transmission sub-elements 19.1 and 19.2, which can also be referred to as the first actuating cable transmission element 19.1 and the further actuating cable element 19.2. The first actuating cable transmission element 19.1 is connected on the one hand to the actuating actuator, here to the spindle nut 12, in such a way that a tensile force can be exerted on the first actuating cable transmission element 19.1 by the actuating actuator 16. On the other hand, the first actuating cable transmission element 19.1 is connected to the spacer element 10 in such a way that the first actuating cable transmission element 19.1 can exert a force on the spacer element 10 in the direction towards the rotating element 2. The first actuating cable transmission element 19.1 passes a deflection element 20.1 on its path from the spindle nut 12 to the spacer element 10. If the first actuating force transmission element is, for example, a rope, a chain or a belt, the deflection element 20.1 can advantageously be a roller. The adjustment transmission element 19.1 changes the direction of its path at the deflection element 20.1 toward the spacer element.

[0092] The further actuating cable transmission element 19.2 is connected to the spacer element 10 on a side of the spacer element 10 opposite the first actuating cable transmission element 19.1, in this case on the side of the spacer element 10 facing away from the rotary joint 2. The other end of the further actuating cable transmission element 19.2 is connected to the actuating actuator 16 in such a way that a tensile force can be exerted on the further actuating cable transmission element 19.2 by the actuating actuator, which tensile force is directed opposite to the tensile force exerted on the first actuating cable transmission element 19.1. Fig. 4CIn the example shown, the additional control cable transmission element is therefore arranged on the opposite side of the spindle nut 12. In its course from the spacer element to the spindle nut 12, the additional control cable transmission element 19.2 runs via two deflection elements 20.3 and 20.2. Starting from the spacer element 10, the additional control cable transmission element 19.2 first runs to the deflection element 20.3, where it changes the direction of its course towards the deflection element 20.2, then runs to the deflection element 20.2 and at this changes the direction of its course towards the spindle nut 12. If the spindle nut 12 now moves upwards, the additional control cable transmission element 19.2 pulls the spacer element 10 away from the swivel joint 2. If the spindle nut 12 moves downward, the adjustment transmission element 19.1 pulls the spacer element 10 toward the swivel joint 2. The deflection elements 20.2 and 20.3 can also be rollers. For all deflection elements 20.1, 20.2, 20.3 However, any rounded surfaces can also be used.

[0093] The additional deflection elements 20.2 and 20.3 and the tension elements 19.1 and 19.2 position the spacer element 10 in the adjustment rail 9, allowing it to absorb proximal and distal forces. Cable pulleys are shown in dashed lines, while the hidden contours of the pulleys (here representative of deflection elements 20.1, 20.2, and 20.3 and spacer element 10) are shown in dotted lines.

[0094] Fig. 5 shows further exemplary embodiments of an actuating mechanism with force transmission from the actuating actuator 16 to the spacer element 10. The extremity lever 5 with its components is hidden in these figures to increase clarity.

[0095] The one in Figures 5A, 5B, 5C, 5D The configurations shown have in common that the actuator 16 is designed as a rotary drive A1. Figures 5A, 5B and 5DThe spacer element 10 has a spindle nut 12, which is guided on a spindle shaft 13. Elastic elements 11 are tensioned or compressed when the spindle nut moves and can cause or support the return movement of the spindle nut. The designs of the Figures 5A, 5B and 5D differ only in how the torque is transmitted from the rotary drive A1 to the spindle shaft 13. In Fig. 5A This is done via a bevel gear connection 21 with two intermeshing bevel gears, whose axes of rotation are at the same angle to each other as the guide element 9 is to the axis of rotation of the rotary drive A1. Fig. 5B The transmission is carried out via a universal joint connection 22 and in Fig. 5D via a worm gear 26-worm shaft 27 connection. In Fig. 5D In the example shown, it is advantageous if the angle between the guide element 9 and the axis of rotation of the rotary drive 16 is 90°.

[0096] In Fig. 5Cthe rotary movement of the actuator 16 is transmitted by means of a gear 24 to a rack 25 which is connected to the spacer element 10 and moves it when the gear 24 moves the rack 25.

[0097] Elastic elements 11 can also be provided here. Here, too, the guide element 9 is preferably positioned at a right angle to the rotational axis of the actuator 16.

[0098] Fig. 6Ashows another possibility for changing the distance between the spacer elements H1. This possibility is characterized by a very narrow design with few components. The spacer element 10 is connected, preferably directly or via a rotary joint, to the actuator 16, in the example shown with its spindle nut 12 as the movable part. By turning the rotary drive A1 of the actuator 16, the spindle nut 12 moves up or down, whereby the spacer element 10 also moves up or down. This changes the distance between the spacer element 10 and the rotary joint 2. Fig. 6A However, it is also conceivable that the spacer element 10 is moved via a second shaft or via spur gears, which is similar to the embodiments in Figure 5 were.

[0099] The Figures 6B and 6C show another possibility of force transmission from the actuator 16 to the spacer element 10. In the Figures 6B and 6CIn the example shown, the spacer element 10 is connected to the actuator 16, here its spindle nut 12, via a chain of straight, rigid connecting links 29, which are each connected to the spindle nut 12 and the spacer element 10 via a swivel joint. In addition, the connecting links 29 are in turn connected to one another via a swivel joint. The swivel joint between the connecting links 29 is guided in a rail 28, so that the swivel joint can only move along the rail 28. The rail 28 is inclined relative to the axis of rotation of the actuator 16 in the direction of the guide element 9. If the spindle nut 12 moves upwards, it pushes the joint in the rail 28 in the direction of the guide element 9 and the connecting link 29 arranged on the spacer element 10 thereby pushes the spacer element 10 away in the direction of the swivel joint 2.If the spindle nut 12 moves downwards, the above-mentioned elements move in the opposite direction. Fig. 6B shows the state of the system with a spacer element 10 arranged close to the pivot joint, i.e. a low level of support, while Fig. 6C a state with a spacer element 10 far away from the pivot joint 2, thus showing a high degree of support.

[0100] The Fig. 6B and 6C The connecting links 29 used are rigid, ie, non-flexible components that can be connected to one another, for example, via swivel joints or ball or universal joints. Instead of guide rails 28, the joint can also be guided in a guide groove or guide grooves 28.

[0101] The Figures 7A and 7Bshow a section of an extremity support device according to the invention. An angle α between the guide element 9 and the connecting element 3 or a rotational axis of the actuator 16 can be of different sizes. Different angles α change the course of the spacer element distance H1 and thus also the course and size of the angle-dependent support moment (which depends on the angle β between the extremity lever 5 and the connecting element 3). For different activities, e.g. lifting, carrying, holding overhead, pushing, pulling, different courses of the support moment may be desired. It may therefore be advantageously possible to adjust the angle α between the guide element 9 or the direction in which it guides the spacer element 10 and the connecting element 3 or the rotational axis of a rotary drive A1 of the actuator 16, for example via the Fig. 7Ashown articulated bearing 30 of the guide element 9 with the possibility of force-locking or positive locking or locking at a defined angle α. In Fig. 7A This locking option and the corresponding angle α for the Fig. 1 and Fig. 2 shown embodiment of the invention, but it can also be used in the other embodiments of the invention.

[0102] As in Fig. 7B As shown, it is not absolutely necessary for the guide element 9 to guide the spacer element 10 along a straight path. Fig. 7Bthe guide element 9 has a curved guide, which in this case is strictly monotonically curved. This allows an even greater variance to be introduced into the angle-dependent support torque curve. Thus, an adjustment of the actuator 16 allows an even greater change in the degree of support or the torque characteristic. The rail of the guide element 9 can, for example, be curved in such a way that in the lower support area it tends to adopt a support torque curve (dependent on β) that corresponds to a small angle of α (e.g., 30°) and in the upper support area it tends to adopt a support torque curve (dependent on β) that corresponds to a larger angle of α (e.g., 60°).

[0103] Fig. 7Cshows, by way of example, part of an extremity support device according to the invention, in which the actuator 16 has a rotary drive A1, the rotation of which is transmitted to the spindle shaft 13 via two intermeshing gears 31 with parallel axes. The rotary drive A1 is arranged next to the spindle shaft 13, i.e., at the same height in the direction of the connecting element 3. This allows the length of the actuator 16 to be reduced in the longitudinal direction of the connecting element 3.

[0104] In further alternative designs, parts of the actuator 16 and the actuating mechanism (i.e., all other elements between the spacer element 10 and the actuator 16) can also be arranged at a different location. For example, as in Fig. 8Ashown, the guide element 9 can also be arranged in that end 8 of the extremity lever 5 facing away from the extremity attack 4 minus the pivot joint 2 and can run, for example, parallel to the longitudinal direction of the extremity lever 5. In Fig. 8AThe spacer element 10 is therefore guided along the longitudinal direction of the extremity lever 5 in the area 8. Since the spacer element 10 is intended to be moved in both directions by tensile forces, the tensile force transmission element 19 here again has a first tensile force transmission element 19.1 and a further tensile force transmission element 19.2, which are fixed to opposite sides of the spindle nut 12 and act on the spacer element 10 on opposite sides. They are guided via deflection elements 20, for example rollers 20, such that they run parallel to the longitudinal direction of the rail of the guide element 9 in the area of ​​the rail. In this example, the tensile transmission element 7 is directly connected to the spacer element 10 or fastened to it. The deflection rollers 20 are arranged such that one deflection roller, in the example shown, is coaxial with the swivel joint 20.A deflection roller arranged below the spindle nut 12 deflects the adjustment transmission element 19.2 arranged at the bottom of the spindle nut in the direction of this roller, which is coaxial with the swivel joint. The roller coaxial with the swivel joint 2 then deflects the adjustment transmission element 19.2 in the direction of another deflection element arranged on the end of the guide rail 9 facing away from the swivel joint 2. This deflection element then deflects the adjustment transmission element 19.2 in a direction parallel to the longitudinal axis of the guide element 9 to the spacer element 10. The adjustment transmission element 19.1 acting on the top of the spindle nut 12 runs from there to another deflection element 20 with a rotation axis coaxial with the swivel joint 2 and is guided by this in a direction parallel to the longitudinal axis of the guide rail 9 to the spacer element 10.

[0105] In Fig. 8AWhen the spindle nut 12 is raised in the adjustment rail 9, the cable pull 19.1 is released, so that the spacer element 10 moves distally. At the same time, the adjustment cable transmission element 19.2 shortens and also pulls the spacer element 10 distally. By suitable arrangement of the deflection element 20, this can be ensured regardless of the angle β. Advantageously, the adjustment cable transmission element 19 can also be designed to be slightly elastic in order to compensate for small differences between released and shortened adjustment cable transmission elements 19, which can occur, for example, when the angle β changes due to rolling up or unrolling on the deflection elements. For example, the adjustment cable transmission elements 19.1 and 19.2 can be designed as slightly elastic cables. The Fig. 8A The configuration shown can be used instead of with the use of actuating cable transmission elements 19.1 and 19.2 also with the Figures 5 and 6shown transmission possibilities can be realized, for example with mechanically guided components as in Fig. 6B and 6C or with universal joints as in Fig. 5C .

[0106] Fig. 8B shows how Fig. 8Aa configuration in which the guide element 9 is part of the end 8 of the extremity lever 5 facing away from the extremity engagement point 4. However, here the actuating actuator 16 is arranged in the extremity lever 5, with its axis of rotation parallel to the longitudinal direction of the extremity lever 5. The spindle nut 12 thus moves in the direction of the longitudinal direction of the extremity lever 5 on the spindle shaft 13 and, in doing so, tensions or compresses the elastic elements 11, which are also parallel to the longitudinal direction of the extremity lever 5. In this configuration, the tension transmission element 7 can be arranged and fastened directly on the movable part of the actuating actuator 16, here on the spindle nut 12. This configuration is advantageous because it avoids angular dependencies on the angle β.A rotary drive A1 of the actuator 16 as well as the two elastic elements 11 are arranged on the side of the extremity lever 5 with the arm engagement 4, i.e., opposite the guide element 9 with respect to the rotary joint 2. The spindle nut 12 runs along the guide element 9.

[0107] In Fig. 8B In the example shown, the spring elements 11 can also be arranged in the limb lever 5 to enable rapid deactivation. If the rotary drive A1 is angled to the limb lever 5, the previously described elements for redirecting the force can also be used, for example, cardan joints, bevel gears and the like, as shown in the Figures 5, 6 and also 9. Cable pulleys can also be used, for example by means of several cable pulleys 20, which can determine the position of the spacer element 10 in the guide element 9. The Figures 9A and 9Bshow, by way of example, such an angle of the actuator 16 relative to the guide element 9 and the transmission of the torque from the rotary drive A1 of the actuator 16 via intermeshing bevel gears 21 in Fig. 9A or via universal joints 22 in Fig. 9B . The elastic elements 11 can advantageously be arranged in that part of the extremity lever 5 which also has the guide element 9 and lie parallel to it.

[0108] For all variants of the invention, variants of the structure can also be operated without a brake or blocking element 17 or clutch 18. In cheaper or smaller versions, the brake or blocking element 17 can be omitted, for example if the activity is so highly dynamic that locking it is not energetically worthwhile or if there is no space for the brake 17. In this case, drive A1 is preferably constantly activated. The clutch 18 can also be omitted, in which case drive A1 rotates when the spindle nut 12 is lowered. This means that the deactivation process is not quite as fast. The internal spring elements 11 can also be omitted. However, drive A1 must then generate more torque / energy during deactivation in order to move the spindle nut 12 into the deactivation position against the external force applied (due to tensioning the external spring element generating the assist torque).

[0109] In general, all compression springs shown can also be configured as tension springs (and vice versa) if they act / apply force from the other side. To do this, the springs are arranged the other way around and now pull on the spindle nut 12 from below, for example, instead of pressing on it from above.

[0110] It is also possible to reverse the direction of force applied by the force elements 11 (e.g. springs) on the spindle nut 12. This means, for example, that pressure no longer acts on the spindle nut 12 from above, but rather an upward pull. This is possible by replacing compression springs 11 with tension springs 11 (or vice versa) without changing the arrangement, or by selecting the same type of force element (compression spring remains compression spring) but reversing the arrangement, as described in the previous paragraph. The result is that the activation process can also take place without a motor, since the springs 11 press the spindle nut 12 into the activated position. This enables very fast activation. Accordingly, however, deactivation occurs against the spring force, i.e. with the support of drive A1, and therefore takes somewhat longer.This can be advantageous for tasks where particularly rapid activation is required, but deactivation time is less critical. This is the case, for example, with hip joint supports for lifting activities (from the floor). If a user wants to pick something up from the floor, the system can remain deactivated until the user picks something up from the floor in a bent position. The system should then activate very quickly and help the user to stand up. Afterwards, a slow deactivation can also occur in an upright position. But this can also be useful for lifting, carrying, pushing or pulling activities or other activities that strain the shoulders and upper extremities, depending on the activity.

[0111] Other drives can also be considered as alternatives to rotating electric motors. These include electric linear drives, single- or double-acting pneumatic or hydraulic cylinders (without additional spring elements in the drive column), or artificial (especially pneumatic) muscles in all variants, whereby the drive train A1 and the linearization component (e.g., rack or spindle shaft) are replaced by these. Replacing the rotary drive with a linear drive (of any form) is particularly useful if the linear drive is completely housed in the drive column, the connecting element 3, or completely in the lever 5 / connecting rod. Of course, rotating drives that are not powered by electricity but by other media, such as hydraulic or pneumatic rotary drives or combustion engines, are also possible.It should also be pointed out that, depending on the level of support required, smaller or larger drives (and other components) can be used to save space if necessary.

[0112] It should also be noted that while the described mechanism and method was described for an exoskeleton (extremity support device) with arm or shoulder support, and is particularly useful here, it can also be applied to other body regions. For example, it is possible to use the same mechanism to change the level of support in the hip or elbow area (all other body regions such as knees, spine, wrists, and ankles are also possible if appropriate). Of course, minor design adjustments and slight changes to the dimensions and arrangement of certain components are necessary. Fundamentally, however, the mechanism generally describes the possibility of varying a torque / assistance moment when the origin of the torque is a force and the distance from the center of rotation is adjusted to change the assistance moment.

[0113] Fig. 10shows, by way of example and schematically, an embodiment of the extremity support device according to the invention for the case where the supported extremity is legs, in this case the user's thighs. The left-hand partial image shows the device on a user, the right-hand partial image shows only the device itself. The device here has an extremity engagement device 4 for each thigh, which is configured to engage the user's thigh. An extremity lever 5 is connected to the extremity engagement device 4 via an engagement connection element 4.1, in this case a cable pull. The extremity lever 5 is rotatable about a pivot joint 2. A tension transmission element 7, which engages the extremity lever 5 on a side of the extremity lever 5 opposite the engagement connection element 4.1 with respect to the pivot joint 2, is pulled by a passive actuator 6.Here, too, the device comprises a spacer element 10 that limits the distance between the tension transmission element 7 and the pivot joint 2 at the point of contact between the transmission element 7 and the spacer element 10 in at least one direction. Here, too, the spacer element 10 is moved by means of an adjusting mechanism for changing the distance H1 between the spacer element and the pivot joint. Here, too, the adjusting mechanism comprises an actuating actuator 16, by means of which a force can be exerted on the spacer element 10 to change the distance H1 between the spacer element.

[0114] Figures 11 to 15show embodiments of the invention in which the actuator is arranged so that, when used as intended, it is positioned on the user's back. This places the weight closer to the body and thus is subject to less movement by the connected body parts. This results in lower inertial forces and moment effects, making the system overall lighter for the user. Figures 11 to 14 The extremity lever 5 is hidden for clarity. However, it is still included in these examples. Figures 11 to 14 In addition, the connecting element is firmly connected to the guide element, i.e. preferably not rotatable or articulated.

[0115] When designing the Figures 11 to 15The drive train (for example, motor in conjunction with clutch, brake (collectively marked A1), spindle shaft 13 and nut 12 or a hydraulic or pneumatic cylinder) is arranged on the wearer's back or at the hip. The torso module 1 extends along the back and contains the drive train. Other locations are also possible (e.g., on the leg, on the abdomen). However, an arrangement behind the user at hip or back height is particularly advantageous. The force is transmitted there via cables 19 as actuating cable transmission elements 19 to the spacer element 10. The cables 19 are guided, for example, in a Bowden cable sheath 119 to the spacer element 10, which, as in the corresponding other examples, is guided in a guide element 9 and which, in turn, is attached to the connecting element 3. Preferably, tensile forces are transmitted which are directed at the end in the direction of the alignment of the guide element 9, as shown in Figure 11 is shown. However, it is preferred that essentially no forces are otherwise transmitted from the drive train to the connecting element 3, which would potentially move the entire structure on this side (this is made possible by the Bowden cable strand 19 in the Bowden cable sheath 119, which, in addition to the force transmitted by the cable, primarily transmits reaction forces of the Bowden cable strand 19 in parallel thereto). Furthermore, the one or more cables can pass through no, one or more deflection pulleys. Furthermore, the Bowden cable sheath 119 does not have to be guided close to the spacer element 10, but can also engage the connecting element 3 further away if necessary.

[0116] In Figure 11The Bowden cable sheath 119 is guided from one end of the drive train, at which the force for changing the distance between the spacer elements can be applied, to the guide element 9 in such a way that the tension element 19 leaves the guide element 9 in the direction of the guide element 9. Before the adjusting cable transmission element 19 enters the Bowden cable sheath 119 behind the drive train (in contact with the torso module 1 or a part connected to it and, on the side of the guide element 9, with the guide element 9 or a part connected to it, symbolized by truncated cones), in the example shown it runs over a deflection pulley 20, which deflects it in the direction that the Bowden cable sheath 119 has at this end. The Bowden cable as the adjusting cable transmission element 19 then runs from the drive train to the spacer element 10, which, when used as intended, would be from the back to the side of the user, for example.

[0117] Figure 12 shows a design corresponding to that in Figure 11shown, in which, however, an additional deflection roller 201 is attached to that end of the guide element 9 facing the adjusting train transmission element 19 in order to effect a change in direction of the adjusting train transmission element 19 in the direction of the guide element 9.

[0118] Figure 13 shows a variant in which the drive train is reversed compared to the Figures 11 and 12is arranged, and where two deflection pulleys 20 and 201 with a Bowden cable sheath 119 guided between them guide the cable 19 to the connecting element 3, in / on which the cable is guided to a further deflection pulley 202, which in turn sets the final direction in the alignment of the guide element 9. Various other connections, positionings and courses of the adjusting cable transmission element 19 between the torso module 1 and the guide element 9 or the spacer element 10 are possible. The drive trains on the torso module 1 can also be aligned differently. For example, they can be perpendicular to the current alignment. In this case, more or fewer deflection pulleys can be provided if necessary.

[0119] Alternatively, implementation without Bowden cable sheaths is also possible if all cable elements 19 are routed from pulley to pulley 20, 201, 202, etc., up to the spacer element 10. However, the distances between the individual deflection elements in the architecture should advantageously not vary during use. An example of this is shown in Figure 14 shown. Non-varying distances can be achieved, for example, by aligning the axis of a joint 3.1, if provided, around which the connecting element 3 can rotate relative to the torso module 1, with the tension element 19 (starting from the nut 12). It may be appropriate here for the entire drive unit to also be mounted so that it can rotate relative to the torso module 1 around the joint 3.1.

[0120] Figure 15shows an example of a design that can be used for all variants in which the guide element 9 and the spacer element 10 are arranged in the extremity lever 5 itself. Here, the Bowden cable sheath 119 can engage from the rear (solid line), from the front (dashed line), or at any other desired location, with the direction of the emerging strand 19 as the adjustment cable transmission element ideally pointing in the direction of the guide element 9. Alternatively or additionally, additional deflection pulleys 20 can be provided, which change the course of the adjustment cable transmission element in this direction. Such devices can also be provided inside the extremity lever 5.

[0121] All drives (motors, clutch, brake) as well as the linearization unit (e.g. spindle shaft) shown in the figures can also be replaced by linear motors or hydraulic or pneumatic cylinders. Fig. 8For example, all visible parts in the extremity lever 5 (except the guide element 9 and the spacer element 10) can be replaced by a single hydraulic cylinder. This is shown as an example in the left part of Figure 16 shown. Also, for example, in Fig. 9 This is possible. The hydraulic cylinder as drive A1 can replace the drive parts and still be connected to the spacer element 10 via a pulley or be arranged in extension 9 aligned in the direction of 9 and thus control the position of 10. This is shown as an example in the right part of Figure 16 shown. Of course, other positions and orientations of the hydraulic cylinder A1 are also possible here, if forces are transmitted from it via deflection pulleys and tension elements up to 1.

[0122] The tension element 6 as a passive actuator 6 can also be arranged, for example, inside the connecting element 3 if the tension transmission element 7 is connected to it via a deflection pulley. The tension element 6 does not have to be a tension spring; it can also be a compression spring, which is preferably arranged inside the connecting element such that it is compressed when β as in Figure 3 shown reduced in size.

[0123] As a semi-passive system, the system combines the advantages of passive exoskeletons (low weight, low / no energy consumption) and active exoskeletons (high dynamic adaptability). The level of support can be adjusted continuously from 0-100% and complete deactivation is possible, allowing the user to move freely passively. Furthermore, the adjustment is very quick upon activation and extremely quick (<0.5 seconds) upon deactivation, allowing the user to be supported very dynamically in their activities without having to wait long (for activation) or remain in a position with their arms pushed up (deactivation). The design and integration of actuators and other components is also very space-saving and lightweight. The blocking element 17 allows passive support of the system without power consumption. In this way, both static tasks (e.g.Both dynamic work (e.g., overhead work) and highly dynamic work (lifting, carrying, pushing, pulling) can be performed with a single system, with energy consumption and thus weight being minimized due to its semi-passive nature. Furthermore, the geometric parameters of the guide element 9 (e.g., angle α) can be easily modified to enable load-case-specific support that meets biomechanical requirements. The separation of the force element and the powered adjustment of the level of support also immensely improves the safety of the exoskeleton compared to fully active systems, in which the drive itself directly generates the support force or the support moment.

[0124] Technical areas of application include manual handling activities such as carrying and lifting, but also pulling, pushing, and overhead work wherever people perform (heavy) physical work. This applies particularly to the following areas: logistics, production, the military, forestry and gardening and landscaping, nursing and medicine, skilled trades, and construction. Such an exoskeleton can, for the first time, support several biomechanically very different activities (lifting, carrying, pulling, pushing, and overhead work) in a single system. Other applications for supporting other body areas (hip support, knee support, elbow support, etc.) are also conceivable to support physical work in general.

Claims

1. An extremity support device for supporting an extremity of a user, said device comprising an extremity engagement unit (4), which is configured to engage on the extremity of the user, an extremity lever (5), to which the extremity engagement unit (4) is connected via an engagement unit connection element (4.1), a swivel joint (2), about which the extremity lever (5) is rotatable, a pull transmission element (7), which engages on the extremity lever (5) on a side of the extremity lever which is located opposite the engagement unit connection element (4.1) in relation to the swivel joint (2), a spacer element (10), which in at least one direction delimits a distance of the pull transmission element (7) from the swivel joint (2) at the point of contact of the pull transmission element (7) with the spacer element (10), wherein the spacer element (10) is movable by means of a control mechanism to change the spacer element distance (H1) of the spacer element from the swivel joint (2), wherein the control mechanism comprises a control actuator (16), by means of which a force to change the spacer element distance (H1) is exertable on the spacer element (10).

2. The extremity support device according to the preceding claim, wherein an end of the pull transmission element (7) not engaging on the extremity lever (5) engages on a passive actuator (6), which is configured to exert a pulling force on the pull transmission element (7), wherein the pulling force is transmittable to the extremity lever (5) by means of the pull transmission element, and / or further comprising a torso module (1), which is configured to engage on the torso, preferably on the pelvis, of the user, wherein the control mechanism is arranged on the torso module, wherein the extremity lever (5) is rotatable about the swivel joint (2) relative to the torso module (1).

3. The extremity support device according to any one of the preceding claims, comprising a guide element (9), along which the spacer element (10) is movable to change the spacer element distance, wherein preferably the guide element (9) is fixed or fixable relative to the control mechanism, and / or wherein the extremity lever (5) is rotatable relative to the guide element (9), wherein preferably the guide element (9) is connected via a guide joint to the control mechanism, wherein the guide joint has a locking device, by means of which a rotation of the guide element (9) about the guide joint is lockable, wherein preferably the guide element (9) comprises a rail, by which the spacer element (10) is guided, wherein the rail is straight or curved, preferably is curved monotonically.

4. The extremity support device according to any one of the preceding claims, wherein the spacer element (10) delimits the distance of the pull transmission element (7) from the swivel joint (2) in the direction away from the swivel joint, and wherein the force exertable on the spacer element (10) by the control mechanism is exertable in the direction of the swivel joint to change the spacer element distance, and / or wherein the spacer element (10) delimits the distance of the pull transmission element (7) from the swivel joint in the direction of the swivel joint, and wherein the force exertable on the spacer element (10) by the control mechanism to change the spacer element distance is exertable in the direction away from the swivel joint .

5. The extremity support device according to any one of the preceding claims, wherein the pull transmission element (7) has a first pull transmission sub-element (7.1) and a second pull transmission sub-element (7.2), wherein the first and the second pull transmission sub-element pass the spacer element (10) on opposite sides, wherein the first and the second pull transmission sub-element are dimensioned such that, in each position of the extremity lever (5), at least one of the pull transmission sub-elements touches the spacer element (10), and / or wherein the spacer element (10) has a respective roller for each direction in which it delimits the distance of the pull transmission element (7) from the swivel joint (2), wherein the pull transmission element (7) touches the respective roller, with the latter delimiting the distance, on the side opposite the direction in which the respective roller delimits the distance of the pull transmission element (7) from the swivel joint, and / or wherein the swivel joint (2) is fixedly connected to the control mechanism or the torso module (1) via a connection element (3), wherein the connection element (3) is configured such that it, when the extremity support device is worn as intended by the user, runs along the torso of the user, wherein a force action direction of the control actuator (16) runs parallel to the course of the connection element.

6. The extremity support device according to any one of the preceding claims, wherein the control actuator (16) on the extremity lever (5) is arranged on the same side in relation to the swivel joint (2) as the extremity engagement unit, wherein a force action direction of the control actuator runs parallel to a longitudinal direction of the extremity lever at the site where the control actuator is arranged, and / or wherein the control actuator (16) has a rotary drive, a spindle shaft (13) rotatable by the rotary drive, and a spindle nut (12) running on the spindle shaft, wherein the force on the spacer element (10) is producible by the spindle nut (12), and / or wherein the control mechanismcomprises at least one elastic element, preferably at least one spring element (11), which is arranged such that it is deflectable by the control actuator (16) and produces a force that is directed opposite the force that is exertable by the control actuator and that brings about the change in the spacer element distance (H1), and / or wherein the control actuator (16) comprises a rotary drive, a linearization mechanism, by means of which a torque produced by the rotary drive is transformable into the force for changing the spacer element distance, and also a coupling (18), by means of which the transformation of the torque into the force is establishable and releasable.

7. The extremity support device according to any one of the preceding claims, wherein the control mechanism comprises at least one blocking element (17), by means of which the spacer element distance (H1) of the spacer element (10) from the swivel joint is fixable, and / or wherein the control mechanism comprises a first control pull transmission element (19), wherein the first control pull transmission element on the one hand is connected to the control actuator (16) in such a way that a pulling force is exertable by the control actuator (16) onto the first control pull transmission element (19), and wherein the first control pull transmission element (19) on the other hand is contacted with the spacer element (10) in such a way that the force for changing the spacer element distance is exertable on the spacer element (10) by means of the first control pull transmission element (19), wherein preferably the first control pull transmission element (19), in its course from the control actuator (16) to the spacer element (10), passes at least one deflection element (20) and, at the deflection element of the at least one deflection element (20) located closest to the spacer element along the course of the control pull transmission element, preferably changes the direction of its course in the direction of the spacer element, wherein preferably the control pull transmission element (19) is guided at least over part of its course in a Bowden cable sheath (119).

8. The extremity support device according to any one of claims 2 to 7, wherein the control actuator (16) is arranged on the torso module such that it is arranged at the back of the user when the extremity support device is used as intended by the user, and / or comprising a further control pull transmission element (19.1, 19.2), which is contacted with the spacer element (10) on a side of the spacer element (10) located opposite the first control pull transmission element (19.1, 19.2), and which is connected to the control actuator (16) in such a way that a pulling force, which is directed opposite the pulling force exertable on the first control pull transmission element (19.1, 19.2), is exertable on the further control pull transmission element (19.1, 19.2) by the control actuator (16), wherein preferably the further control pull transmission element (19.1, 19.2), in its course from the control actuator (16) to the spacer element (10), passes at least one further deflection element (20.1, 20.2, 20.3) and, at the further deflection element (20.1, 20.2, 20.3), changes the direction of its course in the direction of the spacer element, wherein preferably the control actuator (6) comprises a rotary drive and a roll rotatable by the rotary drive, wherein the control pull transmission element (19) is secured to a surface of the roll, such that it can be wound onto the roll and / or unwound from the roll by rotating the roll, wherein the roll is preferably connected to the rotary drive via a coupling.

9. The extremity support device according to any one of claims 1 to 7, wherein the spacer element (10) is fixedly arranged directly on the control actuator (16), or wherein the control mechanism comprises a bevel gear connection (21), in which a first bevel gear is driveable by the control actuator and a second bevel gear is connected to a spindle, by means of the rotation of which the force to change the spacer element distance is exertable onto the spacer element (10), or wherein the control mechanism comprises a universal joint connection (22), by means of which a force to change the spacer element distance is transmittable from the control actuator (16) to the spacer element (10), or wherein the control mechanism comprises a gearwheel (24) driveable by the control actuator, and additionally a toothed rack (25), in which the gearwheel engages, wherein the toothed rack is connected to the spacer element (10) such that the force to change the spacer element distance is transmittable to the spacer element (10) by the toothed rack (25), or wherein the control mechanism comprises a worm gear (26), which is driveable by the control actuator, and a worm shaft (27), in which the worm gear engages, wherein the worm shaft is connected to the spacer element (10) such that the force to change the spacer element distance is transmittable to the spacer element (10) by the worm shaft (27), or wherein the control actuator (16) comprises a rotary drive, a spindle shaft (13) rotatable by the rotary drive, and a spindle nut (12) running on the spindle shaft, wherein the extremity support device further comprises a chain (29) of at least two links connected to one another via connection joints, of which a first of the links acts on the spindle nut (12) and a last of the links acts on the spacer element (10), wherein preferably the links at the connection joints are in each case guided in at least one rail (28).

10. The extremity support device according to any one of the preceding claims, wherein the control actuator (16) comprises a rotary drive and a shaft, which are arranged adjacently and with axes of rotation parallel to one another, and which are kinematically connected to one another via a gear mechanism, and / or wherein the control actuator comprises at least one hydraulic cylinder, and / or wherein the extremity support device comprises a displacement element attached to the extremity lever, wherein the pull transmission element (7) is fixedly connected by one of its ends to the displacement element, wherein the displacement element, in a plane that is perpendicular to the axis of rotation, is displaceable on the extremity lever along a longitudinal direction of the extremity lever and / or in a direction perpendicular to the longitudinal direction of the extremity lever.

11. The extremity support device according to any one of the preceding claims, comprising a switch and / or a slide controller by means of which the spacer element distance (H1) is adjustable, and / or comprising a proximity sensor, a force sensor and / or a pressure sensor, which is configured to detect a weight of a load to be picked up, wherein the control mechanism is configured to adjust the spacer element distance (H1) based on the detected weight, and / or comprising a muscle activity signal sensor, by means of which activity signals of at least one muscle of the extremity are measurable, wherein the control mechanism is configured to adjust the spacer element distance (H1) based on the measured activity signal.

12. The extremity support device according to any one of the preceding claims, wherein the extremity is an arm of the user and the extremity support device is an arm support device or a shoulder support device, and / or wherein the pull transmission element (7) is secured to the extremity lever (5) on the side of the extremity lever which is located opposite the engagement unit connection element (4.1) in relation to the swivel joint (2), and / or wherein the pull transmission element (7) and / or the control pull transmission element (19) comprises or is at least one cable and / or at least one chain and / or at least one belt.

13. A method for lifting, holding and / or carrying a load and / or for carrying out overhead activities, wherein a user wears an extremity support device according to any one of the preceding claims, and, with support from the extremity support device, lifts the load, holds it and / or carries it and / or carries out an activity with their hands raised above the height of the head.

14. The method according to the preceding claim, wherein the spacer element distance prior to and / or while lifting, holding or carrying and / or carrying out the activity with the hands raised above the height of the head is set to a first value, the user thereafter lifts the load, holds it, carries it and / or carries out the activity with the hands raised above the height of the head, the user then sets the load down, and thereafter the spacer element distance is set to a second value, which is smaller than the first value, wherein preferably while the spacer element distance is set to the first value the control actuator (16) is activated, preferably is acted on by a voltageand for setting to the second value is deactivated, preferably with the voltage being canceled, wherein preferably the control actuator (16) comprises a rotary drive, a linearization mechanism, by means of which a torque produced by the rotary drive is transformable into the force for changing the spacer element distance, and also a coupling (18), by means of which the transformation of the torque into the force is establishable and releasable, wherein, before the spacer element distance is set to the first value, the transformation of the torque into the force between the rotary drive (16) and the spacer element (10) is established by means of the coupling, and wherein for setting the spacer element distance to the second value the transformation of the torque into the force by the coupling is released .

15. The method according to any one of claims 13 and 14, wherein the control mechanism comprises at least one blocking element (17), by means of which the spacer element distance (H1) of the spacer element (10) from the swivel joint is fixable, wherein the spacer element distance is fixed by means of the blocking element after the spacer element distance has been set to the first value, and wherein the blocking element is released for setting the spacer element distance to the second value, and / or wherein the control actuator (16) comprises a rotary drive, a linearization mechanism by means of which a torque produced by the rotary drive is transformable into the force for changing the spacer element distance, and also a coupling (18) by means of which the transformation of the torque into the force is establishable and releasable, and wherein the control mechanism comprises at least one blocking element (17), by means of which the spacer element distance (H1) of the spacer element (10) from the swivel joint is fixable, wherein the transformation of the torque into the force between the rotary drive (16) and the spacer element (10) is established by means of the coupling before the spacer element distance is set to the first value, wherein the spacer element distance is fixed by means of the blocking element after the spacer element distance has been set to the first value, and wherein the blocking element and the coupling are released for setting the spacer element distance to the second value.