ELECTRICALLY OPERATED DEVICE AND METHOD

Description

[0001] The invention relates to an electrically operable device designed as an exoskeleton, comprising a base section for attachment to a body section, in particular the torso, of the human body, an actuator and / or drive device, and a control device for controlling the actuator and / or drive device. The electrically operable device comprises a support section movably coupled to the base section for supporting a body part, preferably a limb, in particular an arm, of the human body. The actuator and / or drive device is an actuator device, in particular a pneumatic actuator, acting on the support section to provide a support force for the body part.

[0002] From WO2019072444A2, exoskeletons and methods for controlling the support force of an exoskeleton based on the signals of a force sensor are known.

[0003] US 2021 / 177686 A1 describes a leg exoskeleton for skiers. A control element is mounted on a backpack strap that allows the exoskeleton to be turned on and off.

[0004] US 2014 / 277739 A1 concerns an exosuit with a user interface.

[0005] An object of the invention is to provide an easy-to-use, electrically operated device designed as an exoskeleton.

[0006] This object is achieved by an electrically operable device according to claim 1. The electrically operable device, designed as an exoskeleton, comprises an operating element that serves for user input into the control device and that can be manually operated by the user of the electrically operable device during use of the electrically operable device. The operating element has a pause input element that can be used to place the exoskeleton into a pause state in which the assistive force is deactivated while the exoskeleton remains activated.

[0007] The electrically operated device is designed as an exoskeleton. The user of the exoskeleton can comfortably use the control element while using the exoskeleton. This means, in particular, that the user can comfortably reach and operate the control element while using the exoskeleton. In particular, the simplicity of operation is such that the control element enables blind operation of the control element, which facilitates handling when setting certain parameters that can be set via the control element while working with / wearing the exoskeleton. The possibility of blind operation is preferably realized via a shape, haptics, and / or arrangement of buttons on the control element. Optionally, acoustic feedback can be provided, or control via voice and / or gestures may be possible. Advantageous further developments are the subject of the dependent claims.

[0008] The invention further relates to a method according to claim 14. Further exemplary details and exemplary embodiments are explained below with reference to the figures. Figure 1 shows a schematic side view of an exoskeleton device, Figure 2 shows a schematic side view of an exoskeleton worn by a user, Figure 3 shows a schematic detailed view of a support section of the exoskeleton, Figure 4 shows a schematic rear view of the exoskeleton, Figure 5 shows a perspective view of an exemplary embodiment of the exoskeleton, Figure 6 shows a top view of an operating element, Figure 7 shows a side view of the operating element, Figure 8 shows a further side view of the operating element, Figure 9 shows a perspective view of the operating element, Figure 10 shows a top view of an operating element according to a further variant, Figure 11 shows a top view of an operating element according to a further variant and Figure 12 shows a schematic side view of a suction device.

[0009] In the following explanations, reference is made to the orthogonally aligned spatial directions shown in the figures: x-direction, y-direction, and z-direction. The z-direction can also be referred to as the vertical direction, the x-direction as the depth direction, and the y-direction as the width direction.

[0010] The Figure 12 shows an electrically operated device 70, which according to a technical example not claimed is designed as a vacuum cleaner 80. In the Figures 1 , 2 , 4 and 5 the electrically operable device 70 is shown in an embodiment as an exoskeleton 20.

[0011] The electrically operable device 70 comprises a base section 1 for attachment to a body section, in particular the torso 2, of the human body. The electrically operable device 70 further comprises an actuator and / or drive device 501 and a control device 7 for controlling the actuator and / or drive device 501. Furthermore, the electrically operable device 70 comprises an operating element 14. The operating element 14 serves for user input into the control device 7. The operating element 14 can be manually operated by the user of the electrically operable device during use of the electrically operable device. The operating element 14 expediently comprises an operating element housing 519.

[0012] Exemplary embodiments of the control element 14 are shown in the Figures 6 to 11 shown.

[0013] The operating element 14 is preferably designed as a hand-held operating element that can be grasped manually, in particular one that is not formed integrally with the electrically operable device 70. In particular, the operating element 14 comprises a plurality of input elements 502. The input elements 502 are preferably arranged such that all input elements 502 can be operated with a hand that grasps and thereby holds the operating element 14. By way of example, the input elements 502 are arranged on different sides and / or on different surfaces of the operating element. Several of the input elements 502 are preferably designed as respective buttons. In particular, a maximum of one button is provided on each side and / or surface of the operating element 14. In this way, it can be achieved that the user, when grasping one side of the operating element 14, can only press the one button provided on that side.The arrangement of the input elements 502 expediently enables blind operation of the input elements 502.

[0014] The operating element 14 expediently comprises a front side 503, which in particular represents a side of the operating element 14 with the largest area. The operating element further comprises a rear side 504, which is oriented in particular opposite to the front side 503, a first lateral side 505, which is embodied, for example, as a long side, and a second lateral side 506, which is embodied, for example, as a long side and is oriented in particular opposite to the first lateral side 505. The operating element 14 further comprises a top side 507 and a bottom side 508, which is oriented in particular opposite to the top side 507.

[0015] Preferably, the operating element 14 has a basic shape of a cuboid, in particular with rounded corners and / or rounded edges, as shown, for example, in the Figures 6 to 9 is shown.

[0016] The control element 14 shall be discussed in a spatial orientation in which the front side 503 is oriented perpendicular to the x-direction and forwards and the top side 507 is oriented upwards perpendicular to the z-direction.

[0017] Purely by way of example, at least one input element 502 is arranged on the front side 503, the first lateral side 505, the second lateral side 506, and the top side. Expediently, no input element 502, in particular no button, is arranged on the bottom side 508 and the rear side 504.

[0018] Preferably, several, in particular all, of the input elements 502 differ from one another in their shape, size, optical structure, and / or haptic structure. This configuration of the input elements 502 can reduce or eliminate the risk of confusion between input elements 502. Each shape, size, optical structure, and / or haptic structure of an input element 502, in particular a button of the control element 14, expediently occurs only once.

[0019] Optionally, different keypress times are defined for input elements 502 arranged as buttons on opposite sides and / or surfaces. Each keypress time is a period of time for which the respective button must be pressed at least or at most so that pressing the button is recognized as user input by the electrically operated device, for example the exoskeleton 20 or the vacuum cleaner 80, and expediently an associated function is triggered. By defining different keypress times, it is expedient to prevent pressing an incorrect button from being recognized as user input and / or an associated function from being triggered, in particular from being triggered unintentionally, if the operating element 14 is held incorrectly, for example if the operating element is held rotated 180 degrees relative to its intended orientation in the user's hand.

[0020] Preferably, each input element 502 implemented as a button is at least as large as a fingertip of an adult person.

[0021] Optionally, the input elements 502 can each have a blind code marking. Optionally, the surface of the input elements 502, which are designed as buttons, can have tactile symbols that can be raised or recessed, for example, and which particularly facilitate blind operation.

[0022] Furthermore, the control element 14 can preferably be designed as a right-handed version or a left-handed version. Optionally, the electrically operable device 70 can optionally provide a right-handed mode or a left-handed mode, wherein an evaluation of an input via an input element 502 designed as a rotary wheel depends on whether the right-handed mode or the left-handed mode is active, in particular with regard to an evaluation of the direction of rotation of the rotary wheel.

[0023] By way of example, the operating element 14 has a plurality of display elements 509 arranged on the same side, for example on the front side 503, of the operating element 14. Preferably, all display elements 509 are visible simultaneously. Each display element 509 expediently serves to display a different item of information. Expediently, several or all of the display elements 509 differ from one another in their shape.

[0024] Preferably, each display element 509 can have only one display function and / or can be assigned to one, in particular only one, parameter. For example, the electrically operable device 70, in particular the operating element 14 and / or the display elements 509, are designed such that the same respective display function and / or the same respective parameter is always displayed on each display element 509. Thus, there is preferably a fixed (in particular non-changeable) assignment between each display element 509 and the respective display function and / or the respective parameter.

[0025] Preferably, a fastening element 520 is arranged on the rear side 504—that is, for example, the side facing away from the display elements 509—with which the operating element 14 can be fastened, in particular without tools, to a fastening point, for example, on a shoulder strap 19, of the electrically operated device. For example, the fastening element 520 is designed as a clip, in particular as a hook element. The electrically operated device 70 expediently has a suspension element, for example, a tab or a pocket, into which the fastening element 520 can be suspended. The suspension element is arranged, for example, on the shoulder strap 19.

[0026] Conveniently, in a state in which the operating element 14 is fastened, in particular, to the suspension element by means of the fastening element 520, all input elements 502 can be operated by the user and / or clearly assigned by touch. Preferably, the operating element 14 does not have to be released from its fastening, in particular, removed from the suspension element, in order to perform a user input using the operating element 14.

[0027] In the Figures 10 and 11 Optional variants of the control element 14 are shown. These variants have additional buttons. Except for the differences explained below, the variants are as described in connection with the Figures 6 to 9 explained control element 14, so that the relevant explanation also applies to the Figures 10 and 11 shown variants apply.

[0028] Optionally, the control element 14 comprises at least five or six, preferably exactly five or exactly six, side surfaces. A side surface is defined as a surface located perpendicular to the front side and / or between the front side and the back side. By way of example, a button, in particular a maximum of one button, is arranged on each side surface, except for the side surface located on the underside.

[0029] In the Figure 10 In the variant shown, the lateral sides are each divided into two side surfaces, resulting in a total of six side surfaces. On two side surfaces adjacent to the top, there is an input element 502 in the form of a button. These buttons shall also be referred to as the first additional button 521 and the second additional button 522. An on / off input element 518 is arranged on the top.

[0030] In the Figure 11In the variant shown, the top side is divided into two side surfaces. An on / off input element 518 is arranged on the first side surface of the top side, adjacent to the first side. A first additional button 521 is arranged on the second side surface of the top side, adjacent to the second side.

[0031] The side surfaces can be separated from each other by sharp edges or by rounded edges. The side surfaces can be flat or curved. It is advisable for the side surfaces to be recognizable and / or palpable as individual side surfaces.

[0032] Optionally, the input elements 502 designed as buttons all have different sizes and / or all protrude to different degrees above the control element housing 519.

[0033] In the following, the design of the electrically operated device 70 as an exoskeleton 20 will be discussed in more detail.

[0034] The Figure 1 shows a schematic representation of an exoskeleton device 10, which comprises the electrically operable device 70 embodied as an exoskeleton 20 and optionally a tool 30 and / or a mobile device 40. The exoskeleton 20 can also be provided on its own. The tool 30 and / or the mobile device 40 are, by way of example, present separately from the exoskeleton 20, i.e., in particular, they are not mechanically connected to the exoskeleton 20. The tool 30 is, for example, a power tool, in particular a cordless screwdriver and / or a drill and / or a grinder. The mobile device 40 is preferably a smartphone or a tablet. Optionally, the exoskeleton 20 is designed to communicate with the tool 30 and / or the mobile device 40, in particular wirelessly.

[0035] By way of example, the exoskeleton 20 is oriented in an upright orientation with its vertical axis (which runs in particular parallel to a base section axis 62) parallel to the z-direction. In particular, the exoskeleton 20 is oriented in the upright orientation with its sagittal axis parallel to the x-direction. In a state in which the user has put on the exoskeleton 20, the sagittal axis of the exoskeleton 20 runs parallel to the user's sagittal axis, i.e., in particular parallel to a direction from behind—i.e., in particular, the user's back—to front—i.e., in particular, the user's chest. The horizontal axis of the exoskeleton 20 runs in particular in the width direction of the exoskeleton 20 and / or parallel to the y-direction.When the user has put on the exoskeleton 20, the horizontal axis of the exoskeleton 20 runs parallel to the user's horizontal axis, i.e., in particular, parallel to a direction from a first shoulder of the user to a second shoulder of the user. The vertical axis of the exoskeleton 20, the sagittal axis of the exoskeleton 20, and the horizontal axis of the exoskeleton 20 are aligned orthogonally to one another.

[0036] The exoskeleton device 10 is particularly designed for craft and / or industrial use. Preferably, the exoskeleton device 10 is not designed for medical and / or therapeutic use.

[0037] The Exoskeleton 20 is an active exoskeleton and, in particular, features an internal energy source that provides the energy for the assistive force. Specifically, the Exoskeleton 20 is an active exoskeleton for actively supporting the user's shoulder joint.

[0038] The exoskeleton 20 comprises the base section 1, which serves for attachment to a portion of a user's human body. By way of example, the base section 1 serves for attachment to the torso 2 of the human body.

[0039] The base section 1 comprises a main section and a textile carrying system, which is in particular detachably attached to the main section. The main section serves, for example, to be worn on the back of the human body, in particular like a backpack, by means of the textile carrying system. The main section comprises a back part 8, which is in particular elongated and which is expediently aligned with its longitudinal axis vertically and / or in the longitudinal direction of the user's back. For example, the longitudinal direction of the back part 8 extends along the longitudinal direction of the back. The main section further comprises a force transmission element 18, in particular strip-shaped and / or rigid, which extends from the back part 8 downwards to a lap belt 16 in order to mechanically couple the back part 8 to the lap belt 16.The force transmission element 18 expediently serves to transmit a reaction force transmitted from a support section 3 to the back part 8 to the lap belt 16. For example, the back part 8 is tubular and / or backpack-shaped. The back part 8 is particularly rigid. In particular, the back part 8 comprises a preferably rigid back part housing, which is made, for example, from a particularly rigid plastic and / or as a hard shell. The back part 8 expediently serves to transmit a force from the support section 3 to the force transmission element 18 and / or to accommodate components for controlling the support force.

[0040] The support section 3 can conveniently be referred to as arm actuator.

[0041] The force transmission element 18 is, for example, sword-shaped and can also be referred to as a sword. The force transmission element 18 is expediently designed to be adjustable relative to the back part 8, in particular to change the vertical extent of the main section and / or a force transmission element angle 46 facing the user's back between the force transmission element 18 and the back part 8. The force transmission element 18 is expediently mounted so as to be translationally and / or rotationally movable relative to the back part 8 and, in particular, can be displaced and, in particular, locked into various translational and / or rotational positions relative to the back part 8. The translational movement occurs, in particular, vertically. The rotational movement expediently occurs about an adjustment axis aligned parallel to the y-direction.

[0042] The textile carrying system comprises, for example, the lap belt 16 and / or at least one, preferably two, shoulder straps 19. The lap belt 16 expediently forms a loop so that, when worn, it encloses the torso 2, in particular the hips, of the user. Each shoulder strap 19 runs, for example, from the main section, in particular from the back part 8, to the lap belt 16, expediently over a respective shoulder of the user when the exoskeleton 20 is worn.

[0043] The exoskeleton 20 further comprises, by way of example, a force transmission element joint 17, via which the force transmission element 18 is attached to the lap belt 16. The force transmission element joint 17 is designed, for example, as a ball joint and can be referred to as a sacral joint. When the exoskeleton 20 is worn, the force transmission element joint 17 is arranged in the lower back region of the user, in particular centered in the width direction.

[0044] The textile carrying system further comprises, by way of example, a back mesh 21 arranged on the side of the back part 8 facing the user's back. When the exoskeleton 20 is worn, the back mesh 21 rests against the user's back, in particular at least partially and / or in the upper back region.

[0045] The exoskeleton 20 further comprises the support section 3, which is movably coupled to the base section 1 and is used to support a body part, preferably a limb, in particular an arm 4, of the user's human body. The support section 3 is particularly designed to be attached to the body part, preferably the limb, in particular the arm 4, of the user. The support section 3 comprises, for example, a particularly rigid arm part 11 and an arm attachment 12 arranged on the arm part 11, which is, for example, designed as an arm shell. The arm part 11 is, for example, elongated and, when worn, is aligned with its longitudinal axis in the direction of the longitudinal axis of the user's arm. For example, the arm part 11 extends from the user's shoulder to the user's elbow area. The exoskeleton 20, in particular the arm part 11, ends, for example, at the user's elbow area.The arm attachment 12 serves, in particular, to attach the support section 3 to the arm 4, in particular the upper arm, of the user. In particular, the arm shell encompasses the user's upper arm, in particular at least partially, so that the upper arm can be held in the arm shell with a strap. The user's forearm is expediently not attached to the exoskeleton 20.

[0046] The body part is preferably a limb of the human body. For example, the body part is an arm of the human body. Furthermore, the body part may be the back of the human body. In this case, the base portion is conveniently designed for attachment to a leg of the human body; i.e., the body portion (to which the base portion is to be attached) may, for example, be a leg in the case where the body part is the back.

[0047] The support section 3 is, for example, pivotably mounted about a horizontal pivot axis relative to the base section 1, in particular relative to the back part 8. For example, the support section 3 is mounted directly on a shoulder part 29. The horizontal pivot axis can also be referred to as a lifting axis 36. When the exoskeleton 20 is worn, the lifting axis 36 is arranged in the area of ​​the user's shoulder. The exoskeleton 20 is particularly designed to support the user's shoulder joint with the support section 3. When the exoskeleton 20 is worn, the user can perform a lifting movement with his arm 4, which is supported by the support section 3, by pivoting the support section 3 about the lifting axis 36. The lifting axis 36 can be oriented in the y-direction, in particular. The lifting axis 36 expediently always lies in a horizontal plane, for example an xy-plane.A horizontal plane is understood to mean, in particular, an exactly horizontal plane and / or a plane that is tilted by a maximum of 10 degrees, 7 degrees or 5 degrees relative to a horizontal plane.

[0048] The pivot angle 47 of the support section 3 about the lifting axis 36 relative to the base section 1 shall also be referred to as the lifting angle. The pivot angle 47 has a reference value, in particular a minimum value, when the support section 3 is oriented downwards (with a vertically oriented exoskeleton 20), and continuously increases to a maximum value when the support section 3 pivots upwards. The minimum value is in particular a minimum value in terms of magnitude, for example, zero.

[0049] By way of example, the pivot angle 47 is defined as the angle between a support section axis 61 and a base section axis 62. The support section axis 61 runs in the longitudinal direction of the support section 3. By way of example, the support section axis 61 runs from the lifting axis 36 in the direction of the arm attachment 12. In a state in which the user has put on the exoskeleton 20, the support section axis 61 expediently runs parallel to an upper arm axis of the arm 4 supported by the support section 3. The base section axis 62 expediently represents a vertical axis of the base section 1 and runs vertically downwards, in particular when the base section 1 is vertically aligned, for example in a state in which the user has put on the exoskeleton 20 and is standing upright.The swivel angle 47 is, for example, in a zx plane, for example when the user is standing upright and the arms are raised forward.

[0050] The exoskeleton 20 comprises, by way of example, a shoulder joint arrangement 9, via which the support section 3 is attached to the base section 1, in particular the back part 8. The shoulder joint arrangement 9 expediently comprises an articulated chain with one or more pivot bearings for defining one or more vertical axes of rotation. By means of the articulated chain, pivoting of the support section 3 relative to the base section 1, in particular relative to the back part 8, is expediently possible in a preferably horizontal pivot plane, for example about a particularly virtual vertical axis of rotation. In particular, the articulated chain enables the user to pivot their arm 4, supported by the support section 3, about a vertical axis of rotation extending through the user's shoulder, wherein the support section 3 is moved along with the arm 4.By way of example, the joint chain is designed to be passive, so that the exoskeleton 20 does not provide any active support force in the direction of the horizontal pivoting movement when pivoting the arm in the preferably horizontal pivoting plane.

[0051] The shoulder joint arrangement 9 is expediently arranged and / or designed such that it defines a free space which, in the worn state of the exoskeleton 20, is located above the shoulder of the user wearing the exoskeleton 20, so that the user can align his arm, supported by the support section 3, vertically upwards through the free space past the shoulder joint arrangement 9.

[0052] The shoulder joint arrangement 9 comprises, by way of example, an inner shoulder joint section 27, which is mounted relative to the base section 1, in particular to the back part 8, by means of a first pivot bearing of the shoulder joint arrangement 9, so as to be pivotable about a first vertical axis of rotation. The shoulder joint arrangement 9 further comprises, by way of example, an outer shoulder joint section 28, which is mounted relative to the inner shoulder joint section 27, so as to be pivotable about a second vertical axis of rotation by means of a second pivot bearing of the shoulder joint arrangement 9. The shoulder joint arrangement 9 further comprises, by way of example, a shoulder part 29, which is mounted relative to the outer shoulder joint section 28, so as to be pivotable about a third vertical axis of rotation by means of a third pivot bearing of the shoulder joint arrangement 9.Preferably, the inner shoulder joint section 27, the outer shoulder joint section 28 and the shoulder part 29 in the shoulder joint arrangement 9 are kinematically coupled to one another as the joint chain in such a way that the pivot angle of the inner shoulder joint section 27 relative to the base section 1 determines the pivot angle of the outer shoulder joint section 28 relative to the inner shoulder joint section 27 and / or the pivot angle of the shoulder part 29 relative to the outer shoulder joint section 28.

[0053] The Figure 3 shows a schematic detailed view of the support section 3, with components arranged within the arm part 11 clearly marked. The arm part 11 expediently comprises an arm part housing, which is particularly rigid and made of plastic, for example.

[0054] The exoskeleton 20 comprises an actuator device 5 acting on the support section 3 for providing a support force for the body part, preferably the limb, for example the user's arm. By way of example, the actuator device 5 is arranged at least partially in the arm part 11. In particular, the actuator and / or drive device 501 is the actuator device 5.

[0055] The actuator device 5 is an active actuator device. The exoskeleton 20 expediently provides the assisting force by means of the actuator device 5 with a force component acting upward in the direction of the pivoting movement about the lifting axis 36, which pushes the user's arm 4 upward in the direction of the pivoting movement.

[0056] The actuator device 5 preferably comprises an actuator unit with an actuator member 32. The actuator unit can apply an actuator force to the actuator member 32 in order to provide the support force. The actuator member 32 is coupled to an eccentric section 35 arranged eccentrically to the lifting axis 36. The eccentric section 35 is, for example, part of the shoulder part 29. By coupling the actuator member 32 to the eccentric section 35, the actuator force provides a torque of the support section 3 about the lifting axis 36 relative to the base section 1 and / or the shoulder part 29. Due to this torque, the support section 3 presses against the body part, preferably the limb, in particular the arm 4, of the user, in particular upwards, and thus provides the support force acting on the body part, preferably the limb, in particular the arm 4, of the user.

[0057] By way of example, the actuator device 5 has a coupling element 33, which is designed in particular as a push rod, via which the actuator member 32 is coupled to the eccentric section 35.

[0058] Preferably, the actuator device 5 is a pneumatic actuator device, and the actuator unit is expediently designed as a pneumatic drive cylinder 31. The actuator member 32 is the piston rod of the drive cylinder 31.

[0059] Alternatively, the actuator device may also be designed as a non-pneumatic actuator device. For example, the actuator device may be designed as a hydraulic and / or electric actuator device and expediently comprise a hydraulic drive unit and / or an electric drive unit as the actuator unit.

[0060] The drive cylinder 31, the actuator member 32 and / or the coupling element 33 are preferably arranged in the arm part housing.

[0061] The exoskeleton 20 expediently comprises a lifting pivot bearing 34 that provides the lifting axis 36. For example, the support section 3 is attached to the shoulder joint assembly 9 via the lifting pivot bearing 34.

[0062] The Figure 4 shows a rear view of the exoskeleton 20, wherein the textile support system and the force transmission element 18 are not shown.

[0063] The exoskeleton 20 comprises, by way of example, one or more batteries 22, a compressor 23, a valve unit 24 and / or a compressed air tank 25, which are expediently part of the base section 1 and are arranged in particular in the back part housing.

[0064] By way of example, the battery 22 is arranged at the bottom of the back part 8 and, in particular, is inserted from below into a battery receptacle of the back part 8. The compressed air tank 25 is expediently arranged in an upper region in the back part 8, for example (in particular in the longitudinal direction of the back part 8 and / or vertical direction) above the valve unit 24, the control device 7, the compressor 23 and / or the battery 22. The valve unit 24 and / or the control device 7 is expediently arranged above the compressor and / or above the battery 22 (in particular in the longitudinal direction of the back part 8 and / or vertical direction). The compressor 23 is arranged above the battery 22 (in particular in the longitudinal direction of the back part 8 and / or vertical direction).

[0065] The battery 22 serves as an electrical energy supply for the exoskeleton 20, in particular for the compressor 23, the valve unit 24, a sensor device 6 and / or a control device 7.

[0066] The compressor 23 is designed to compress air to generate compressed air. The compressed air tank 25 is designed to store compressed air—in particular, the compressed air generated by the compressor 23.

[0067] The valve unit 24 expediently comprises one or more electrically actuated valves and is particularly designed to influence, in particular to selectively establish and / or block, a pneumatic connection from the compressed air tank 25 to a pressure chamber of the pneumatic drive cylinder 31. The valve unit 24 is further expediently designed to influence, in particular to selectively establish and / or block, a pneumatic connection from the compressed air tank 25 to the environment of the exoskeleton 20 and / or a pneumatic connection from the pressure chamber of the drive cylinder 31 to the environment of the exoskeleton 20. The valve unit 24 is expediently part of the actuator device 5.

[0068] The exoskeleton 20 further comprises a sensor device 6. By way of example, the sensor device 6 comprises an angle sensor 37 for detecting the angle of the support section 3 relative to the base section 1, in particular of the arm part 11 relative to the shoulder part 29. This angle shall also be referred to as the pivot angle 47 or the lifting angle. The angle sensor 37 serves in particular to detect the angle of the support section 3 about the lifting axis 36. The angle sensor 37 is designed, for example, as an incremental encoder and is arranged in particular on the lifting pivot bearing 34, in particular in the arm part 11 and / or in the shoulder part 29.

[0069] Preferably, the sensor device 6 further comprises at least one pressure sensor for detecting the pressure prevailing in the pressure chamber of the drive cylinder 31 and / or the pressure in the compressed air tank 25. The at least one pressure sensor is expediently arranged in the back part 8 and / or in the arm part 11.

[0070] The exoskeleton device 10, in particular the exoskeleton 20, expediently comprises a control device 7, which, for example, comprises a microcontroller or is designed as a microcontroller. The control device 7 serves, in particular, to control the actuator device 5, in particular the valve unit 24, in order to control the provision of the assist force. Furthermore, the control device 7 serves to read the sensor device 6, in particular to read data detected by the sensor device 6 and / or to communicate with the tool 30 and / or the mobile device 40. The control device 7 is preferably designed to adjust, in particular to regulate, the pressure prevailing in the pressure chamber of the drive cylinder 31 by controlling the valve unit 24, for example, taking into account a pressure value detected by the pressure sensor.In particular, the control device 7 is designed to increase the pressure prevailing in the pressure chamber by controlling the valve unit 24 in order to increase the assisting force and / or to reduce the pressure prevailing in the pressure chamber by controlling the valve unit 24 in order to reduce the assisting force.

[0071] According to a preferred embodiment, the control device 7 is designed to adjust the assist force based on the pivot angle 47 of the support section 3, which is detected in particular by means of the angle sensor 37. The user can expediently change the pivot angle 47 of the support section 3 by pivoting their arm 4 using their muscle power, and thereby influence, in particular, the provision of the assist force. In particular, the assist force is low enough that the user can change the pivot angle 47 of the support section 3 by pivoting their arm 4 using their muscle power. The assist force is limited, for example, by the design of the pneumatic system, in particular of the compressor, and / or by the control device 7.

[0072] The control device 7 is preferably part of the exoskeleton 20 and is arranged, for example, in the base section 1, in particular in the back part 8. Optionally, the control device 7 can be implemented at least partially in the mobile device 40.

[0073] The exoskeleton 20 comprises, by way of example, a control element 14, which is expediently attached to the base section 1 via a control element cable 15. Using the control element 14, the user can control the exoskeleton 20 and, in particular, activate, deactivate, and / or set the assist force to one of several possible force values ​​greater than zero.

[0074] The exoskeleton 20 further comprises, by way of example, a connecting element 26, via which the shoulder joint assembly 9 is attached to the base section 1, in particular the back section 8. The connecting element 26 is, by way of example, designed as an extension element. The connecting element 26 is expediently adjustable in its position relative to the base section 1, in particular relative to the back section 8, in order to be able to adapt the position of the shoulder joint assembly 9 and the support section 3 to the shoulder width of the user. In particular, the position of the connecting element 26 is adjustable by pushing or pulling the connecting element 26 into or out of the back section 8.

[0075] By way of example, the exoskeleton 20 has a first support section 3A, a first shoulder joint arrangement 9A, and a first connecting element 26A, as well as a second support section 3B, a second shoulder joint arrangement 9B, and a second connecting element 26B. The components whose reference numerals are provided with the suffix "A" or "B" are expediently designed to correspond to the components provided with the same reference numeral but without the suffix "A" or "B," for example, identically or mirror-symmetrically, so that the relevant explanations apply accordingly.

[0076] The first support section 3A, the first shoulder joint arrangement 9A and the first connecting element 26A are arranged on a first, exemplarily the right, side (in the width direction) of the base section 1 and serve to support a first, in particular the right, arm of the user.

[0077] The second support section 3B, the second shoulder joint arrangement 9B and the second connecting element 26B are arranged on a second, exemplarily the left, side (in the width direction) of the base section 1 and serve to support a second, in particular the left, arm of the user.

[0078] The first support section 3A comprises a first arm part 11A, a first arm attachment 12A and / or a first actuator unit, in particular a first drive cylinder.

[0079] The second support section 3A comprises a second arm part 11B, a second arm attachment 12B and / or a second actuator unit, in particular a second drive cylinder.

[0080] Preferably, the control device 7 is designed to set a first support force for the first support section 3A, which is effected by means of the first actuator unit, and to set a second support force, which is effected by means of the second actuator unit, for the second support section 3B, which second support force expediently differs from the first support force.

[0081] The first shoulder joint assembly 9A comprises a first inner shoulder joint portion 27A, a first outer shoulder joint portion 28A, and a first shoulder part 29A. The second shoulder joint assembly 9B comprises a second inner shoulder joint portion 27B, a second outer shoulder joint portion 28B, and a second shoulder part 29B.

[0082] The first support section 3A is pivotable about a first horizontal lifting axis 36A relative to the base section 1 and the second support section 3B is pivotable about a second horizontal lifting axis 36B relative to the base section 1.

[0083] In the Figure 2 The exoskeleton 20 is shown in a state in which it is worn by a user, in particular worn as intended. The phrase "the user is wearing the exoskeleton 20, in particular wearing it as intended," means that the user has put on—i.e., has put on—the exoskeleton, for example by carrying the back part 8 on their back like a backpack, by fastening the lap belt 16 around their hips, by having the shoulder straps 19 run over the shoulder or shoulders of the user, and / or by having one or both arms of the user fastened to the respective support section 3 with a respective arm attachment 12.

[0084] By way of example, the exoskeleton 20 is designed to support the user during a lifting movement of a respective arm, i.e., during an upward pivoting of the respective support section 3 about a respective lifting axis 36, with a respective, in particular upward-acting, support force. Furthermore, the exoskeleton 20 is expediently designed to support or counteract the user during a lowering movement, i.e., during a downward pivoting of the respective support section 3 about a respective lifting axis 36, with a respective, in particular upward-acting support force, or to deactivate or reduce the respective support force during the lowering movement.

[0085] Preferably, the control device 7 has at least two manually and / or automatically selectable presets, each having at least one preset characteristic that defines a support force specification depending on at least one input variable, in particular a position of the support section 3. The at least two presets differ in their preset characteristics.

[0086] The presets can also be referred to as application profiles, and the preset characteristics can also be referred to as application profile characteristics. The presets are preferably stored in the control device 7.

[0087] In particular, the control device 7 has at least a first preset with a first preset characteristic and a second preset with a second preset characteristic. The first preset characteristic and the second preset characteristic each determine the assist force specification depending on the at least one input variable. The first preset characteristic differs from the second preset characteristic.

[0088] Each preset characteristic represents a mapping of the at least one input variable to the assist force specification. For example, each preset characteristic comprises a characteristic curve that sets the assist force specification as a function of the at least one input variable. For example, each preset characteristic defines at least one respective value of the assist force specification for each value of the value range of the input variable. In particular, the characteristic curve varies across the value range of the input variable. The characteristic curve can also be referred to as an assist force characteristic curve. For example, each assist force characteristic curve is an assist force curve that varies across the value range of the input variable. The assist force characteristic curve can, for example, be part of an assist force characteristic map of the respective preset characteristic.

[0089] Preferably, in the first preset characteristic and / or the second preset characteristic, a change in the assist force specification is defined as a function of the input variable, so that the assist force specification is expediently not constant over the entire value range of the input variable.

[0090] The at least one input variable preferably comprises the position of the support section 3, the position of the base section 1, and / or a tool signal received from the tool 30. Furthermore, the at least one input variable can comprise a direction of movement of the support section 3 and / or a previous position, for example, a previous pivot angle 47, of the support section 3. Optionally, the input variable can further comprise a speed, in particular a rotational speed, of the support section 3.

[0091] The position of the support section 3 is, in particular, the orientation of the support section 3 relative to the base section 1 or relative to gravity. For example, the position of the support section 3 is the pivot angle 47, in particular the current pivot angle 47. Preferably, each preset characteristic maps the pivot angle 47 to the support force specification.

[0092] The control device 7 is designed to determine the assist force specification as a function of the input variable using a preset selected from the at least two presets and to adjust the assist force on the basis of the assist force specification.

[0093] Conveniently, a selection is made from the first preset and the second preset—in particular automatically or manually—and the control device 7 uses the selected preset to determine, in particular calculate, the assist force specification based on the at least one input variable. One or more unselected presets are not used to calculate the assist force specification. Based on the determined assist force specification, the control device 7 sets the assist force, expediently by controlling the actuator device 5, in particular the valve unit 24.

[0094] The assist force specification expediently corresponds to the actuator force to be provided and / or the assist force to be provided and is preferably identical or proportional to the actuator force to be provided and / or the assist force to be provided. For example, the assist force specification corresponds to a pressure to be provided in the pressure chamber of the pneumatic drive cylinder 31. In particular, the assist force specification is identical or proportional to the pressure to be provided in the pressure chamber.

[0095] Preferably, the determined assist force specification can be scaled by the user by means of the operating element 14, in particular a support force input element 515, and / or by means of the mobile device 40 in order to provide a scaled assist force specification.

[0096] The control device 7 is designed to adjust the support force according to the scaled support force specification.

[0097] The scaled assist force specification is, in particular, proportional to the (unscaled) assist force specification. The scaled assist force specification, in particular, has the same curve shape as the (unscaled) assist force specification. For example, the control device 7 calculates the scaled assist force specification by multiplying the (unscaled) assist force specification by a scaling factor.

[0098] Preferably, the user can set the scaling by entering the scaling factor using the operating element 14, in particular the support force input element 515, and / or the mobile device 40.

[0099] Optionally, a force level of the assist force can be set via the control element 14. For example, the force level is the scaling. For example, the force level and / or the scaling can be set exclusively via the control element 14, in particular an assist force input element 515.

[0100] The following will discuss the control element 14 in more detail.

[0101] First, the input elements 502 of the control element 14 will be explained. By way of example, the control element 14 comprises, as input elements 502, a pause input element 510, a preset selection input element 511, an assist force input element 515, a communication input element 517, and / or an on / off input element 518. The aforementioned input elements 510, 511, 515, 517, 518 expediently differ in their shape, in particular such that each of these input elements has a different shape than the others. Each input element 510, 511, 515, 517, 518 has a unique shape among the input elements 510, 511, 515, 517, 518, in particular among all input elements 502.

[0102] The pause input element 510 is designed as a button and is arranged in particular on the front side 503, preferably in the middle.

[0103] The preset selection input element 511 is exemplified as a button and is arranged in particular on the second lateral side 506, in particular in the lower half of the second lateral side 506.

[0104] The assistance force input element 515 is exemplarily designed as a rotary dial. The rotation axis of the assistance force input element 515 is expediently aligned perpendicular to the front side 503 and / or parallel to the x-direction. The assistance force input element 515 is partially arranged in the control element housing 519 and protrudes from the control element housing 519, for example, at the first lateral side 505 and / or the second lateral side 506. The assistance force input element 515 is expediently arranged centrally, in particular behind the pause input element 510 in the x-direction.

[0105] The communication input element 517 is exemplified as a button and is arranged in particular on the first lateral side 505, in particular in the lower half of the first lateral side 505.

[0106] The on-off input element 518 is exemplified as a button and is arranged in particular on the upper side 507, in particular on the half of the upper side 507 adjacent to the first lateral side 505. The on-off input element 518 is preferably adjacent to the first lateral side 505.

[0107] In a state in which the user holds and grasps the control element 14 with his hand, in particular the right hand, in particular such that the back 504 rests against the palm of the hand, the user can, due to the arrangement of the input elements 502, actuate all input elements 502 with the fingers of his right hand, for example the pause input element 510 with his right thumb, the preset selection input element 511 with his right ring finger and / or his right little finger, the support force input element 515 with his right thumb and / or his right middle finger, the communication input element 517 with his right thumb, and / or the on-off input element 518 with his right thumb and / or his right index finger.

[0108] The function of the individual input elements 502 will be discussed below.

[0109] The exoskeleton 20 can be placed into a pause state via the pause input element 510, in which the support force is switched off and the exoskeleton 20 remains switched on.

[0110] The exoskeleton 20 preferably comprises the compressed air tank 25 for providing compressed air for the actuator device 5, wherein in the pause state a supply pressure required for actuating the actuator device 5 is maintained in the compressed air tank 25, in particular by the exoskeleton 20. For example, the exoskeleton 20 is designed to vent the pneumatic drive cylinder 31, in particular a pressure chamber of the drive cylinder 31, in the pause state in order to switch off the support force, and preferably not to vent the compressed air tank 25 in the pause state and in particular to leave it ventilated, in particular pressurized.

[0111] Optionally, the control device 7 is designed to adjust the assistance force according to a force level determined before entering the pause state when the pause state is exited.

[0112] Optionally, the control device 7 is designed to adjust the assistance force on the basis of a preset selected before entering the pause state when leaving the pause state.

[0113] In particular, the exoskeleton 20 can be operated as follows: When the exoskeleton 20 is not in the pause state, the pause input element 510 can be actuated, thereby placing the exoskeleton in the pause state. When the exoskeleton 20 is in the pause state, the pause input element 510 can be actuated, thereby leaving the exoskeleton 20 from the pause state.

[0114] The exoskeleton 20 can preferably be deactivated, in particular temporarily deactivated, using the pause input element 510, wherein the exoskeleton 20 preferably retains the last used settings, in particular a last used preset. Optionally, the force level and / or the scaling of the assist force specification is set to zero by the exoskeleton 20 upon entering the pause state and remains at zero upon exiting the pause state until the user sets the force level and / or the scaling to a value greater than zero using the assist force input element 515.

[0115] The pause state can be entered, for example, during short work breaks or when performing secondary activities without active power support from the exoskeleton 20.

[0116] Preferably, the pause input element 510 is the largest key of the control element 14.

[0117] The exoskeleton is designed in particular as a hydraulically or pneumatically operated exoskeleton and the actuator device 5 is expediently de-energized in the pause mode by opening a valve of the valve unit 24.

[0118] Optionally, the exoskeleton can comprise one or more electric motors as the actuator device. In this case, the support section can be separated from the actuator device, in particular an electric motor, in the pause state to deactivate the assistive force. For example, the exoskeleton comprises a separation actuator that separates the actuator device, in particular the electric motor, from the support section, for example, using a magnetic coupling.

[0119] Optionally, when the pause input element 510 is actuated, the exoskeleton 20 saves the preset used and, for example, gradually reduces the assistance force to zero, optionally over several seconds, for example, over a period of 1 s to 5 s. When leaving the pause state, settings made before entering the pause state—such as selecting the preset—do not need to be made again. Furthermore, the exoskeleton 20 maintains an existing pairing, in particular a Bluetooth pairing, with another device, for example, the tool 30 and / or the mobile device 40, when entering and / or exiting the pause state.

[0120] Preferably, the control element 14 further comprises a preset selection input element 511, with which at least one of the presets can be selected. In particular, by actuating the preset selection input element 511, switching between multiple presets is possible.

[0121] By way of example, the preset selection input element 511 is arranged on a side opposite the communication input element 517. The preset selection input element 511 expediently differs from the communication input element 517 in shape and / or size. The preset selection input element 511 is in particular larger than the communication input element 517, preferably twice as large or twice as long as the communication input element 517. Expediently, an actuation of the preset selection input element 511 is only recognized by the exoskeleton 20 as a user input if the actuation is shorter than or equal to a key press time applicable to the preset selection input element 511, for example, shorter than or equal to 3 s.

[0122] Optionally, the control element 14, in particular the preset selection input element 511, can only be used to switch back and forth between a limited number of presets, in particular a maximum of four presets, for example three presets stored by the manufacturer and one preset defined by the user.

[0123] Optionally, the exoskeleton 20 is configured to automatically activate one or more additional presets, for example based on communication with the tool 30, in particular in response to the tool 30 being coupled to the exoskeleton 20 via Bluetooth.

[0124] Preferably, the operating element 514 has an assist force input element 515 designed as a rotary wheel, via which the force level of the assist force can be adjusted.

[0125] The assistance force input element 515 expediently serves to adjust the force level of the assistance force, for example, by adjusting the scaling of the assistance force specification. The assistance force input element 515 is preferably designed as an endless rotary dial. The exoskeleton 20 is expediently configured to set the force level and / or the scaling to zero each time the exoskeleton is restarted and / or each time the pause state is canceled. Expediently, the user must adjust the force level and / or the scaling using the assistance force input element 515 each time the force level and / or the scaling has been set to zero in order to achieve an assistance force greater than zero.

[0126] Optionally, the assistance force input element 515, which is designed as a rotary wheel, is provided with a ratchet, which can prevent the rotary wheel from being adjusted by simply passing it with clothing.

[0127] A wireless communication connection, in particular a Bluetooth connection, can be expediently established with an external device, in particular the tool 30 and / or the mobile device 40, via the communication input element 517. In particular, a Bluetooth pairing mode can be entered by actuating the communication input element 517.

[0128] Expediently, an actuation of the communication input element 517 is only recognized by the exoskeleton 20 as a user input if the actuation occurs for longer than a key press time applicable to the communication input element 517, for example longer than 3 s.

[0129] The exoskeleton 20 can be switched on and off via the on / off input element 518. Expediently, an actuation of the on / off input element 518 is only recognized by the exoskeleton 20 as a user input if the actuation occurs for longer than the key press time applicable to the on / off input element 518, for example, 2 seconds.

[0130] Optionally, the control element 14 has at least one preset configuration input element with which at least one preset characteristic can be configured and / or a preset can be configured and / or selected. For example, the preset configuration input element is the first additional button 521 or the second additional button 522.

[0131] For example, the exoskeleton 20 can be configured to detect a characteristic movement of the user, in particular of the user's arm 4, in response to an actuation of the preset configuration input element, and to select and / or configure a preset based on the detected movement. In particular, the exoskeleton 20 can be configured to record a movement of the user, in particular of the user's arm 4, in response to an actuation of the preset configuration input element, and to create and / or store a preset based on the recorded movement.

[0132] Optionally, by activating the preset configuration input element, the user can put the exoskeleton 20 into a learning mode, in which a pivot angle 47 currently assumed by the support section 3 is expediently saved as a configuration parameter of a preset. The configuration parameter specifies, for example, the pivot angle 47 at which the provision of the support force should begin, in particular during a lifting movement of the support section 3. In particular, the configuration parameter can specify the pivot angle 47 at which a constant level of the support force should be provided.Optionally, the configuration parameter can specify a pivot angle 47 for a rest position at which (in particular during a lowering movement of the support section 3) an increase in the support force is to occur, so that the user can place his arm 4 on the support section 3 at this pivot angle 47 and the arm 4 is held by the support section at this pivot angle 47.

[0133] Optionally, in learning mode, the user can specify a desired speed of a movement by moving the support section 3 with their arm 4 and save it as a configuration parameter of a preset. In this case, the actuator device is designed, in particular, as an electrical actuator device—in particular, as an electric motor.

[0134] Optionally, a first and a second preset configuration input element are provided, for example the first additional button 521 and the second additional button 522. For example, the first preset configuration input element serves to set the swivel angle 47 from which the assistance force is to be provided and / or from which the constant force level is to be provided and / or the second preset configuration input element serves to set the swivel angle 47 for the rest position.

[0135] Optionally, the support force can be modulated in two directions of movement (upward / downward movement) using the two preset configuration input elements. Optionally, the exoskeleton 20 can be configured to detect positions, in particular pivot angles, of the support section 3 in learning mode separately for upward and downward movement, with one preset configuration input element being assigned to the upward movement and another preset configuration input element being assigned to the downward movement.

[0136] Furthermore, one preset configuration input element can be assigned to a learning mode for the first support section 3, and another preset configuration input element can be assigned to a learning mode for the second support section 3. In particular, configuration parameters for a force support of the left arm and a force support of the right arm can be defined separately via the preset configuration input elements. Preferably, the preset configuration input element assigned to the left arm is arranged facing the left arm, and the preset configuration input element assigned to the right arm is arranged facing the right arm.

[0137] Optionally, the shape of the control element 14 in plan view has only or at most one axis of symmetry, so that the user can find a desired key by feeling the control element 14.

[0138] The following will discuss the display elements 509. The display elements 509 include, in particular, a support range display element 512, a support force display element 514, a preset type display element 524, a status display element 525, and / or a communication display element 526.

[0139] Preferably, the control device 7 is designed to adjust the assistance force as a function of an input variable, in particular a position, for example the pivot angle 47, of the support section 3. The operating element 14 has a support range display element 512. The exoskeleton 20, in particular the control device 7, is designed to display, via the support range display element 512, a support range of the input variable, in particular the pivot angle 47, in which the assistance force is provided and / or to display a support range of the input variable, in particular the pivot angle 47, in which the assistance force is not provided. In particular, the exoskeleton 20 is designed to display the support range of a currently selected preset via the support range display element 512.

[0140] By way of example, the assistance range display element 512 has a plurality of display areas 523, which can in particular light up separately. Each display area 523 is expediently assigned to a different value range of the input variable, in particular of the pivot angle 47. The exoskeleton 20 is designed to display, in particular to illuminate, each display area 523 for whose assigned value range of the input variable, in particular of the pivot angle 47, an assistance force greater than zero is defined, for example in a selected preset, and / or not display, in particular not to illuminate, each display area 523 for whose assigned value range of the input variable, in particular of the pivot angle 47, no assistance force greater than zero is defined, or to display it differently, in particular to illuminate it differently.

[0141] Optionally, the exoskeleton 20 can be configured to display an indication corresponding to the predefined force level with each display area 523, for example, by the exoskeleton 20 adjusting the respective brightness of each display area 523 according to the respectively assigned predefined force level and / or by the exoskeleton 20 adjusting a respective size, in particular a respective width, of a respective partial area of ​​each display area 523 to be displayed, in particular to be illuminated, according to the respectively assigned predefined force level. In particular, the exoskeleton 20 displays the indication by means of a variation in brightness between the display areas 523 or a displayed width of the respective display area 523.

[0142] By way of example, the support area display element 512 displays the preset used, in particular the support area defined by the preset used, for example a working height. By way of example, the support area display element 512 comprises a representation, in particular a pictogram, in the form of a person, for example a man. By way of example, the representation, in particular the pictogram, comprises a head, torso, and arms. The display areas 523 are arranged, by way of example, next to and / or around the representation, in particular such that for each display area 523, the respectively assigned value range of the vertical position of the body section corresponds to the representation next to which the display area 523 is arranged.

[0143] By way of example, the display areas 523 are designed as horizontal bars which are interrupted by the representation, in particular the pictogram.

[0144] The pictogram can reduce the risk of misinterpretation of the display areas 523, for example, if the control element 14 is held upside down. The support area is the area in which the user experiences active power assistance from the support section 3. The support area display element 512 is exemplarily divided into the three display areas 523, which are designed, in particular, as three horizontal sections representing different support areas of the activated preset. Optionally, the support area display element 512 can have more or fewer than three display areas, in particular three horizontal sections.

[0145] Optionally, the control element 14 further comprises a preset type indicator 524 for displaying the type of the currently selected preset. For example, the exoskeleton 20 is configured to use the preset type indicator 524 to display whether the currently selected preset is a user-configured preset or not. For example, the exoskeleton 20 illuminates the preset type indicator 524 in response to the currently selected preset being a user-configured preset, and does not illuminate the preset type indicator 524 in response to the currently selected preset not being a user-configured preset, but rather, for example, a manufacturer-stored preset. By way of example, the preset type indicator 524 is embodied as a horizontal display bar below the support range display element 512.

[0146] Optionally, the control element 14 includes a display, for example, an LCD display. The display can expediently be configured to map, in particular display, the functions of the preset type display 524, the support range display element 512, and / or the status display element 526.

[0147] The operating element 14 preferably comprises an assistance force display element 514. The exoskeleton 20, in particular the control device 7, is designed to display a force level of the assistance force via the assistance force display element 514, in particular continuously or in several different stages. The assistance force display element 514 is, for example, designed in the shape of a ring segment and / or arranged above the pause input element 510. The exoskeleton 20 is expediently designed to visualize a respectively set force level by means of illumination in the assistance force display element 514 upon rotation of the assistance force input element 515, in particular corresponding to a current direction of rotation of the assistance force input element 515. The ring-segment-shaped assistance force display element 514 is expediently arranged concentrically with the assistance force input element 515.In this way, an intuitive understanding of the assist force display element 514 can be achieved by the user.

[0148] The status display element 525 serves to display the current status of the electrically operable device 70, in particular of the exoskeleton 20 or the vacuum cleaner 80. For example, the electrically operable device 70, in particular of the exoskeleton 20 or the vacuum cleaner 80, is designed to display the pause state, an error state and / or a charge level of the one or more batteries 22 as a status by means of the status display element 525.

[0149] For example, the electrically operable device 70, in particular the exoskeleton 20 or the suction device 80, indicates a fault-free and operational state of the electrically operable device 70, in particular the exoskeleton 20 or the suction device 80, by means of a first optical output signal, for example, a green illumination, of the status display element 525. In particular, this state is displayed after the electrically operable device 70, in particular the exoskeleton 20 or the suction device, is switched on. Optionally, other information is only displayed via the status display element 525 upon actuation of the assist force input element 515 or another input element 502.

[0150] Optionally, the status indicator element 525 displays a second optical output signal, in particular a pulsating red flash, in response to the charge level of the one or more batteries 22 falling below a threshold value. Preferably, the control element indicates which of the plurality of batteries 22 has fallen below a threshold charge level.

[0151] Optionally, the status indicator 525 displays a third optical output signal, for example, a constant red flash, in response to an error. Preferably, the electrically operable device 70, in particular the exoskeleton 20 or the suction device 80, in this case, deactivates the other indicators 509.

[0152] Preferably, the status indicator 526 displays a fourth optical output signal, such as a pulsating green flash, in response to the pause state being present.

[0153] The communication display element 526 serves in particular to display a status of a communication connection, in particular a Bluetooth connection, with an external device, for example, the tool 30 and / or the mobile device 40. For example, the communication display element 526 flashes blue during a pairing procedure. After successful pairing, the communication display element 526 lights up constantly blue. The communication display element 526 is preferably arranged close to the communication input element 517.

[0154] Conveniently, a communication module, for example a Bluetooth module, and / or an identification module, for example an RFID chip, of the electrically operable device 70 can be arranged in the control element 14. Optionally, the communication and / or identification of the electrically operable device 70, in particular the exoskeleton 20 or suction device 80, with the tool 30 and / or the mobile device 40 takes place via the control element 14.

[0155] Optionally, the electrically operable device 70, in particular the exoskeleton 20 or the suction device 80, is designed to emit a vibration signal and / or an acoustic signal by means of the operating element 14 in order to indicate to the user a current state of the electrically operable device 70, in particular the exoskeleton 20 or the suction device 80.

[0156] Optionally, the control element 14 has a vibration function that alerts the user to certain (abnormal or special) statuses or status changes. Such an abnormal status can, for example, be an error message or the battery 22 falling below a certain charge level.

[0157] Optionally, the control element 14 is designed to emit an acoustic signal, for example a beep or a sequence of beeps, by means of which the user is alerted to certain (abnormal or special) statuses or status changes.

[0158] Preferably, the control element 14 is connected to the base section 1, in particular the back part 8, of the exoskeleton 20 via a cable, in particular the control element cable 15.

[0159] Preferably, the control element 14 is supplied with power via the control element cable 15 and does not require its own rechargeable battery or batteries.

[0160] Conveniently, the cable length of the control element cable 15 is fixed and / or the control element cable 15 is not extendable, in particular, it is not a coiled cable. This has the advantage that the control element 14 can dangle from the control element cable 15, while the user still intuitively knows where to find the control element 14.

[0161] Optionally, the cable, in particular the control element cable 15, is dimensionally stable and has a sufficiently high flexural rigidity so that the control element 14 is held in a position in space by the cable due to the flexural rigidity of the cable.

[0162] For example, the control element cable 15 is routed on or in the shoulder strap 19 to the back part 8. For example, the shoulder strap 19 has a pocket 527, which can be closed in particular by snap fasteners, through which the control element cable 15 is routed.

[0163] The control element 14 can expediently be fastened to the shoulder strap 19, in particular to a fastening point on the shoulder strap 19, by means of the fastening element 520. When fastened to the shoulder strap 19, the control element 14 (in particular with the support section 3 oriented downwards) is located, for example, at a height between the arm attachment 12 and the shoulder joint arrangement 9, in particular at the user's chest height.

[0164] The Figure 12 shows a technical example in which the electrically operable device 70 is designed as a vacuum cleaner 80. The vacuum cleaner 80 is, in particular, a vacuum cleaner. The vacuum cleaner 80 comprises the actuator and / or drive device 501, which is designed as a suction unit 516 housed in the base section 1. The vacuum cleaner 80 further comprises a suction hose 529 connected to the suction unit 516. A hose connector 528 is arranged on the suction hose 529, for example.

[0165] For example, the vacuum cleaner 80 has one or two shoulder straps 19 and can be carried in particular on the user's back.

[0166] The vacuum cleaner 80 includes the control element 14. In the Figure 12 Two preferred positions of the operating element 14 are shown, wherein expediently only one position is present in each case - and in particular only one operating element 14 is present.

[0167] Preferably, the control element 14 is attached to the hose connector 528, in particular, permanently mounted or secured with a tab or clip. When working with a power tool coupled to the vacuum cleaner 80, the user can operate the vacuum cleaner 80 via the control element 14. Optionally, a connecting cable is routed together with the suction hose 529 to the base section 1, or communication with the base section 1 is established via Bluetooth.

[0168] In particular, in the case where the suction device 80 is a suction device 80 worn by the user on the back, the control element 14 can be attached to the shoulder strap 19, a belt, or a lap belt and / or connected to the base section 1 via the control element cable 15. Furthermore, the control element can be attached to the user's clothing and / or communicate with the base section 1 via Bluetooth.

[0169] Conveniently, the control element 14 comprises a rotary dial for adjusting the suction power as an input element. Furthermore, the control element 14 can comprise a button as an input element for initiating manual cleaning of a filter of the vacuum cleaner 80.

[0170] Optionally, a control element 14 is provided that can be connected to various electrical devices, for example, the exoskeleton 20, the vacuum cleaner 80, a spotlight, a loudspeaker, and / or the tool 30, in particular via Bluetooth. For example, the control element 14 comprises a button that can be used to switch between various electrical devices coupled to the control element 14. Optionally, the control element comprises a display, for example, an LCD display, that indicates which of the coupled electrical devices can currently be operated with the control element 14.

[0171] For example, the control element 14 can be used to adjust the brightness of the light emitter and / or the volume of a loudspeaker connected via Bluetooth using the rotary wheel.

Claims

1. Electrically operable device (70), which is designed as an exoskeleton (20), comprising: - a base section (1) for attachment to a body section, in particular the torso (2), of the human body, - an actuator and / or drive device (501), - a control device (7) for controlling the actuator and / or drive device (501), and - an operating element (14) which is used for user input into the control device (7) and which can be operated manually by the user of the electrically operable device (70) during use of the electrically operable device (70), wherein the electrically operable device (70) comprises: - a support section (3) movably coupled to the base section (1) for supporting a body part, preferably a limb, in particular an arm (4), of the human body, and - wherein the actuator and / or drive device (501) is an actuator device (5), in particular a pneumatic actuator device, acting on the support section (3) for providing a support force for the body part, wherein the operating element (14) has a pause input element (510) via which the exoskeleton (20) can be set to a pause state in which the support force is switched off and the exoskeleton (20) is still switched on.

2. Electrically operable device (70) according to claim 1, wherein the operating element (14) is designed as a manually grippable manual operating element.

3. Electrically operable device (70) according to a preceding claim, wherein the operating element (14) has a plurality of input elements (502) which are arranged in such a way that all input elements (502) can be operated by a hand grasping the operating element (14) and thereby holding it, and / or the operating element (14) has a plurality of input elements (502) which are arranged on different sides and / or on different surfaces of the operating element (14).

4. Electrically operable device (70) according to a preceding claim, wherein the operating element (14) has a plurality of input elements (502), each of which differs from one another in its shape, size, optical and / or haptic structure.

5. Electrically operable device (70) according to a preceding claim, wherein the operating element (14) comprises a plurality of indicator elements (509) arranged on the same side of the operating element, each indicator element (509) serving to display a different indicator information.

6. Electrically operable device (70) according to a preceding claim, further comprising a compressed air tank (25) for providing compressed air for the actuator device (5), wherein the electrically operable device (70) is configured to maintain, in the pause state, a supply pressure in the compressed air tank (25), the supply pressure being required for actuation of the actuator device (5).

7. Electrically operable device according to a preceding claim, wherein the control device (7) is configured to set, when leaving the pause state, the support force according to a force level determined before entering the pause state.

8. Electrically operable device (70) according to a preceding claim, wherein the control device (7) has at least two manually and / or automatically selectable presets, each of which has at least one preset characteristic which defines a support force specification as a function of at least one input variable, in particular a position of the support section, wherein the at least two presets differ in their preset characteristic, and wherein the control device (7) is configured to determine the support force specification as a function of the input variable using a preset selected from the at least two presets and to set the support force on the basis of the support force specification.

9. Electrically operable device (70) according to claim 8, wherein the control device (7) is configured to set, when leaving the pause state, the support force on the basis of a preset selected before entering the pause state.

10. Electrically operable device (70) according to claim 8 or 9, wherein the operating element (14) further comprises a preset selection input element (511) with which at least one of the presets can be selected, and / or the operating element further comprises a preset configuration input element with which at least one preset characteristic can be configured.

11. Electrically operable device (70) according to a preceding claim, wherein the control device (7) is configured to set the support force as a function of an input variable, in particular a position of the support section (3), and the operating element (14) has a support range indicator element (512) and the exoskeleton (20) is designed to display, via the support range indicator element (512), a support range of the input variable in which the support force is provided.

12. Electrically operable device (70) according to a preceding claim, wherein the operating element (14) further comprises a support force indicator element (514), wherein the exoskeleton (20) is configured to indicate a force level of the support force via the support force indicator element (514), and / or the operating element (14) has a support force input element (515) in the form of a rotary wheel, via which the force level of the support force can be adjusted.

13. Electrically operable device (70) according to a preceding claim, wherein the operating element (14) is connected to the base section (1) of the exoskeleton (20) via a cable, wherein the cable is preferably dimensionally stable and preferably has a sufficiently high bending stiffness so that the operating element is held in a position in space by the cable due to the bending stiffness of the cable.

14. Method of operating an electrically operable device (70) according to a preceding claim, comprising the step of: - carrying out the user input using the operating element (14).

15. Method according to claim 14, comprising the steps of: - when the exoskeleton (20) is not in the pause state, actuating the pause input element (510), whereby the exoskeleton (20) is set to the pause state, and / or - when the exoskeleton (20) is in the pause state, actuating the pause input element (510), causing the exoskeleton (20) to leave the pause state.