EXOSKELETON AND PROCEDURES

Description

[0001] The invention relates to an exoskeleton comprising: a base section for attachment to a torso of a human body, a support section for supporting an arm of the human body, an actuator device acting on the support section, in particular a pneumatic actuator device, for providing a support force for the arm, and a shoulder joint arrangement via which the support section is movably coupled to the base section, wherein the shoulder joint arrangement comprises a lifting pivot bearing via which the support section is mounted on the shoulder joint arrangement so as to be pivotable about a horizontal lifting axis.

[0002] Exoskeletons are known from WO2020038850A1, EP3189945A1, US10383785B2, EP2931484B1, WO2017167349A1, EP2858791B1, DE2615209A1 and US10918559B2.

[0003] EP 2 931 484 B1 relates to an adaptive arm support system having an arm support assembly rotatable about a substantially vertical axis, approximately along a curved track rotation path.

[0004] One task is to make it easier for the user to work with the exoskeleton, in particular by improving freedom of movement, range of motion and / or wearing comfort.

[0005] This object is achieved by an exoskeleton according to claim 1. The shoulder joint arrangement of the exoskeleton comprises a joint chain that defines a curved movement path for the lifting pivot bearing relative to the base section. The movement path is expediently located in a single plane, in particular a horizontal plane. The movement path has a curvature that changes along the movement path, so that the movement path is not circular.

[0006] By defining the curved trajectory, the user can be provided with an additional degree of freedom in addition to the horizontal lifting axis, allowing them to move their arm, supported by the support section, in space, particularly horizontally. At the same time, the exoskeleton's ability to absorb forces in various spatial directions, particularly horizontal spatial directions, with the support section and transfer them to the base section via the shoulder joint arrangement is retained. For example, with a curved trajectory in a horizontal plane, forces in all spatial directions that are not parallel to the trajectory direction according to the current trajectory position of the lifting pivot bearing on the curved trajectory can be absorbed by the support section and transferred to the base section.

[0007] The lifting pivot allows the user to perform a lifting movement around the horizontal lifting axis defined by the pivot with their arm attached to the support section (together with the support section). Due to human anatomy, the human shoulder moves forward during such a lifting movement. In a conventional exoskeleton, this can lead to a significant deviation between the horizontal lifting axis and the horizontal shoulder joint axis of the human shoulder, which can limit the user's freedom of movement, range of motion, and / or comfort.By defining the curved movement path, it can be achieved in particular that during the lifting movement the lifting pivot bearing - and thus also the horizontal lifting axis - can move forward together with the human shoulder, in particular in such a way that the horizontal lifting axis is moved according to the horizontal shoulder joint axis and a correspondence between the horizontal lifting axis and the horizontal pivot axis is expediently maintained.

[0008] Preferably, the link chain is designed to be completely passive. The link chain can also be referred to as shoulder kinematics.

[0009] Conveniently, the curved trajectory is the only degree of freedom of the lifting axis relative to the base section during operation. In particular, the articulated chain defines only a single trajectory for the lifting pivot bearing—namely, the curved trajectory. In particular, the support section has only two degrees of freedom relative to the base section during operation—a rotation about the lifting axis as the first degree of freedom, and a movement (together with the lifting pivot bearing) along the curved trajectory as the second degree of freedom. Preferably, the second degree of freedom comprises a rotation about an imaginary vertical axis of rotation lying on the curved trajectory, coupled with the position along the curved trajectory.This coupled rotation cannot be performed independently of the positioning along the trajectory, which is why this rotation and this position together represent only a single degree of freedom - the second degree of freedom - of the support section relative to the base section.

[0010] Advantageous further training is the subject of the subclaims.

[0011] The invention further relates to a method according to claim 15.

[0012] 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 an exoskeleton. Figure 6 shows a perspective view of a shoulder joint arrangement. Figure 7 shows a schematic top view of a shoulder joint arrangement in a first position. Figure 8 shows a schematic top view of the shoulder joint arrangement in a second position. Figure 9 shows a schematic top view of the shoulder joint arrangement in a third position. Figure 10 shows a further schematic top view of a shoulder joint arrangement in the first position. Figure 11 shows a further schematic top view of the shoulder joint arrangement in the third position.Figure 12 shows a perspective view of the shoulder joint assembly in the first position, Figure 13 shows a perspective view of the shoulder joint assembly in a folded position, Figure 14 shows an exoskeleton in a stowed configuration in a container, Figure 15 shows a perspective view of a container designed as a system box, Figure 16 shows a stack of several containers, Figure 17 shows a top view of the exoskeleton, and Figure 18 shows a schematic representation of distances between rotation axes of an articulated chain.

[0013] 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.

[0014] The Figure 1shows a schematic representation of an exoskeleton device 10, which comprises 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] The exoskeleton 20 comprises a 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.

[0019] The base section 1 comprises a main section and a textile carrying system, which is particularly detachably attached to the main section. The main section serves, for example, to be worn on the back of the human body, particularly in a backpack-like manner, by means of the textile carrying system. The main section comprises a back part 8, which is particularly elongated and whose longitudinal axis is expediently aligned vertically and / or in the longitudinal direction of the user's back.

[0020] For example, the longitudinal direction of the back part 8 extends along the longitudinal direction of the back. The main section further comprises a particularly strip-shaped and / or rigid force transmission element 18, 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 further to the lap belt 16. By way of example, the back part 8 is designed to be tubular and / or backpack-shaped. The back part 8 is designed to be particularly rigid. In particular, the back part 8 comprises a suitably 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.

[0021] The support section 3 can conveniently be referred to as arm actuator.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] The exoskeleton 20 further comprises the support section 3, which is movably coupled to the base section 1 and is used to support 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 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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 201 with one or more pivot bearings for defining one or more vertical axes of rotation. By means of the articulated chain 201, 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 201 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 201 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.

[0031] The shoulder joint arrangement 9 is expediently arranged and / or designed such that it defines a free space which, when the exoskeleton 20 is worn, 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.

[0032] 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 201 such 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.

[0033] 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.

[0034] The exoskeleton 20 comprises an actuator device 5 acting on the support section 3 to provide a support force for the limb, for example, the user's arm. The actuator device 5 is arranged at least partially in the arm part 11.

[0035] 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.

[0036] 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 limb, in particular the arm 4, of the user, in particular upwards, and thus provides the support force acting on the limb, in particular the arm 4, of the user.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The drive cylinder 31, the actuator member 32 and / or the coupling element 33 are preferably arranged in the arm part housing.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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).

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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. The "A" and "B" components of the exoskeleton 20 are particularly shown in the Figures 4 , 5 and 17 shown.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In the Figure 2The 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 strap(s) 19 extend over the shoulder(s) of the user, and / or by having one or both arms of the user attached to the respective support section 3 by means of a respective arm attachment 12.

[0064] 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.

[0065] In the following, the shoulder joint arrangement 9 will be discussed in more detail. An exemplary design of the shoulder joint arrangement 9 is shown in the Figure 6shown. The support section 3 is movably coupled to the base section 1 via the shoulder joint arrangement 9.

[0066] The shoulder joint assembly 9 includes the lifting pivot bearing 34, via which the support section 3 is pivotably mounted on the shoulder joint assembly 9 about the horizontal lifting axis 36. For example, the arm part 11 is pivotably mounted on the shoulder part 29 about the horizontal lifting axis 36 via the lifting pivot bearing 34.

[0067] The shoulder joint assembly 9 comprises the joint chain 201, which defines a curved movement path 202 for the lifting pivot bearing 34 relative to the base section 1. The curved movement path 202 preferably lies in a plane, in particular in a horizontal plane. An exemplary movement path 202 is shown in the Figures 7, 8 and 9shown. In particular, during operation of the exoskeleton 20, the articulated chain 201 limits the positioning of the lifting pivot bearing 34 relative to the base section 1 to the curved movement path 202.

[0068] Preferably, by means of the articulated chain 201, the positioning of the lifting pivot bearing 34 along the curved movement path is firmly coupled to a rotation of the lifting pivot bearing 34 about an imaginary vertical axis of rotation extending through the lifting pivot bearing 34. When the lifting pivot bearing 34 moves along the movement path, the lifting pivot bearing 34 necessarily rotates about its own vertical axis—the imaginary vertical axis of rotation that runs parallel with the lifting pivot bearing 34—which expediently results in a horizontal pivoting movement of the support section 3 relative to the base section 1. The rotation of the lifting pivot bearing about the imaginary vertical axis of rotation should also be referred to as the self-rotation of the lifting pivot bearing 34.

[0069] Preferably, the articulated chain 201 is designed to pivot the lifting pivot bearing 34 about an imaginary vertical axis of rotation running through the lifting pivot bearing 34 as a function of the path position of the lifting pivot bearing 34 on the movement path 202, so that the support section 3 is horizontally pivotable relative to the base section 1 by carrying out a movement of the lifting pivot bearing 34 along the movement path 202.

[0070] The articulated chain 201 is designed in particular such that the horizontal pivoting of the support section 3 relative to the base section 1 does not occur about an imaginary vertical axis of rotation that is fixed (relative to the base section 1), but instead about an imaginary vertical axis of rotation that moves in a horizontal plane (depending on the horizontal pivoting).

[0071] The horizontal pivoting of the support section 3 relative to the base section 1 can be described by means of a horizontal pivot angle between the support section 3 and a horizontal axis of the base section 1, for example an axis running parallel to the x-direction, which can also be referred to as the depth axis or sagittal axis.

[0072] Preferably, the articulated chain 201 is designed to guide the lifting pivot bearing 34 along the movement path 202 such that the lifting axis 36 is aligned along the movement path 202, in particular along the entire movement path 202, corresponding, in particular coaxial, to a horizontal shoulder joint axis 203 of a shoulder, in particular a shoulder joint 204, of a user wearing the exoskeleton 20, in particular during a lifting movement of the arm 4 and / or during a horizontal pivoting movement of the arm 4.

[0073] Advantageously, the shoulder joint arrangement 9 does not couple the vertical pivoting of the support section 3—i.e., the pivot angle 47—with the path position of the lifting pivot bearing 34 along the curved movement path 202 and / or with the horizontal pivot angle of the support section 3. During a vertical pivoting forward (in particular, at a pivot angle 47 of 0 to 90 degrees), the human shoulder is moved forward in the x-direction about a pivot axis aligned parallel to the y-direction. When the exoskeleton 20 is worn, this results in the support section 3, and thus the lifting pivot bearing 34, being moved forward by the arm 4 along the curved movement path 202.The movement along the curved movement path 202 in turn causes the self-rotation of the lifting pivot bearing 34—and thus of the lifting axis 36—so that the spatial orientation of the lifting axis 36 follows the spatial orientation of the horizontal shoulder joint axis 203. In this way, optimal force transmission can be enabled and unnatural or forced postures of the user can be prevented.

[0074] With reference to the Figures 7, 8 and 9 The curved movement path 202 defined by the articulated chain 201 will be discussed in more detail below.

[0075] According to the invention, the movement path 202 has a curvature that changes along the movement path 202, so that the movement path 202 is not a circular segment. The movement path 202 has a concave shape facing the center of the exoskeleton 20 in the width direction.

[0076] In the Figures 7, 8, 9Furthermore, a curved shoulder axis movement path 209 is shown by way of example, on which the shoulder joint 204 and / or the horizontal shoulder joint axis 203 moves during a (vertical) lifting movement and / or during a horizontal pivoting movement of the arm 4.

[0077] By way of example, the movement path 202 has a smaller curvature than the shoulder axis movement path 209 and / or runs externally around the shoulder axis movement path 209. In particular, the course of the movement path 202 corresponds to the course of the shoulder axis movement path 209 and / or in particular is concave with respect to the center of the exoskeleton (in the width direction).

[0078] Optionally, the shoulder part 29 and / or the lifting pivot bearing 34 has a constant distance from the user's shoulder in every position of the articulated chain 201.

[0079] Optionally (particularly due to the course of the movement path 202), the arm attachment 12 rests at the same point on the arm 4 in every position of the arm part 11 when the arm 4 is raised or lowered and / or pivoted horizontally. In this way, relative movement between the arm 4 and the arm attachment 12 can be reduced and / or wearing comfort for the user can be increased.

[0080] With reference to the Figure 6 An exemplary structure of the articulated chain 201 will be described below.

[0081] Preferably, the articulated chain 201 comprises a first main joint element 211, a first secondary joint element 213, a second main joint element 212, a second secondary joint element 214 and the shoulder part 29 comprising the lifting pivot bearing 34.

[0082] The joint elements 211, 212, 213, 214 are expediently each elongated, in particular rod-shaped and / or bar-shaped. The joint elements 211, 212, 213, 214 are expediently aligned with their longitudinal axes in a horizontal plane.

[0083] The articulated chain 201 further comprises a first main pivot bearing 221, via which the first main joint element 211 is rotatably mounted relative to the base section 1, and a first secondary pivot bearing 231, via which the first secondary joint element 213 is rotatably mounted relative to the base section 1.

[0084] The articulated chain 201 further comprises a second main pivot bearing 222, via which the second main joint element 212 is rotatably mounted on the first main joint element 211, and a second sub-pivot bearing 232, via which the second main joint element 212 is rotatably mounted on the first sub-joint element 213.

[0085] The articulated chain 201 further comprises a third secondary pivot bearing 233, via which the second secondary joint element 214 is rotatably mounted on the first main joint element 211, and a third main pivot bearing 223, via which the shoulder part 29 is rotatably mounted on the second main joint element 212.

[0086] The articulated chain 201 further comprises a fourth secondary pivot bearing 234, via which the shoulder part 29 is rotatably mounted on the second secondary joint element 214.

[0087] The first main joint element 211 and the second main joint element 212 expediently intersect, in particular at a second main axis of rotation 242 provided by the second main pivot bearing 222.

[0088] The second main pivot bearing 222 is arranged in the longitudinal direction of the second main joint element 212 between the second sub-pivot bearing 232 and the third main pivot bearing 243. Furthermore, the second main pivot bearing 222 is arranged in the longitudinal direction of the first main joint element 211 between the first main pivot bearing 221 and the third sub-pivot bearing 233.

[0089] The first main joint element 211 and the first secondary joint element 213 expediently run parallel to one another. The second main joint element 212 and the second secondary joint element 214 expediently run parallel to one another in at most one position of the articulated chain 201. In particular, the second main joint element 212 and the second secondary joint element 214 do not run parallel to one another in several positions of the articulated chain 201 and expediently have different angles to one another. Alternatively, it can be provided that the second main joint element 212 and the second secondary joint element 214 run parallel to one another.

[0090] By way of example, the first main joint element 211 and / or the first secondary joint element 213 forms the aforementioned inner shoulder joint section 27. The second main joint element 212 and / or the second secondary joint element 214 forms the aforementioned outer shoulder joint section 28.

[0091] The articulated chain 201 is particularly designed as a kinematic system, the joint elements 211, 212, 213, 214 of which are expediently movable only in one (particularly non-variable) plane, in particular a horizontal plane. The kinematic system is designed such that a virtual vertical pivot axis of the articulated chain 201 formed by the kinematic system follows the pivot point of the shoulder when the arm 4 is raised or lowered. Optionally, the articulated chain 201 can be designed as a double parallelogram kinematic system.

[0092] As in the Figure 6As shown, the first main joint element 211 is mounted on the connecting element 26 via the first main pivot bearing 221. Furthermore, the first secondary joint element 213 is mounted on the connecting element 26 via the first secondary pivot bearing 231. The connecting element 26 connects the articulated chain 201 to the back part 8.

[0093] The first main joint element 211 is connected to the connecting element 26 and is rotatable in a horizontal plane. The second main joint element 212 crosses the first main joint element 211, with the joint elements 211, 212 being rotatably connected to one another in a horizontal plane. The secondary joint element 213, designed in particular as a coupling rod, connects one end of the second main joint element 212 to the connecting element 26, with the connections being rotatably mounted. Furthermore, the second secondary joint element 214, designed in particular as a coupling rod, connects one end of the first main joint element 211 to the shoulder part 29. The articulated chain 201 is connected to the support section 3 via the shoulder part 29.

[0094] By way of example, the shoulder part 29 is elongated and oriented vertically with its longitudinal axis. The support section 3 is expediently mounted at one end, in particular at a lower and / or free end of the shoulder part 29, for rotation about a horizontal axis—the lifting axis 36.

[0095] The articulated chain 201, which comprises the articulated elements 211, 212, 213, and 214, expediently forms a double parallelogram. The shape of the curved movement path 202 is expediently defined by the length ratios of the articulated elements 211, 212, 213, and 214.

[0096] Preferably, the movement along the movement path 202 provided by the articulated chain 201 is the only degree of freedom for positioning the lifting pivot bearing 34 relative to the base section during operation. The inherent rotation of the lifting pivot bearing 34—i.e., the rotation of the lifting axis 36 about an imaginary vertical axis of rotation—is expediently coupled to the movement along the movement path and therefore does not represent a separate degree of freedom.

[0097] Conveniently, all pivot bearings 221, 222, 223, 231, 232, 233, 234 of the articulated chain 201 are coupled to one another via the articulated chain 201, so that none of these pivot bearings can provide rotation independently of the other pivot bearings of the articulated chain 201. The currently provided rotation angle of each of the pivot bearings of the articulated chain 201 depends on the position of the lifting pivot bearing 34 on the curved movement path 202. In particular, none of the pivot bearings 221, 222, 223, 231, 232, 233, 234 provides an independent degree of freedom.

[0098] With reference to the Figure 18 In the following, exemplary length ratios of the distances between the axes of rotation of the articulated chain 201 defined by the articulated elements 211, 212, 213, 214 will be discussed in more detail.

[0099] Preferably, the ratio of a distance LH2H3 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 243 of the third main pivot bearing 223 to the distance LH1H2 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 241 of the first main pivot bearing 221 is between 0.75 and 1. Expediently, LH2H3 / LH1H2 is between 0.75 and 1.

[0100] The rotation axis 241 can be referred to as the first main rotation axis 241, the rotation axis 242 as the second main rotation axis 242, and the rotation axis 243 as the third main rotation axis 243. The rotation axes 241, 242, 243 are, in particular, vertical rotation axes.

[0101] Preferably, the ratio of the distance LH2N2 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 252 of the second secondary pivot bearing 232 to the distance LH1N1 between the rotational axis 241 of the first main pivot bearing 221 and the rotational axis 251 of the first secondary pivot bearing 231 is equal to 1. Expediently, LH2N2 / LH1N1 is equal to 1.

[0102] The rotation axis 251 can also be referred to as the first secondary rotation axis 251, the rotation axis 252 as the second secondary rotation axis 252, the rotation axis 253 as the third secondary rotation axis 253, and the rotation axis 254 as the fourth secondary rotation axis 254. The rotation axes 251, 252, 253, 254 are, in particular, vertical rotation axes.

[0103] Preferably, the ratio of the distance LH2N2 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 252 of the second secondary pivot bearing 232 to the distance LH3N4 between the rotational axis 243 of the third main pivot bearing 223 and the rotational axis 254 of the fourth secondary pivot bearing 234 is equal to 1. Expediently, LH2N2 / LH3N4 is equal to 1.

[0104] Preferably, the ratio of the distance LH2N2 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 252 of the second secondary pivot bearing 232 to the distance LH2N3 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 253 of the third secondary pivot bearing 233 is between 0.85 and 1. Expediently, LH2N2 / LH2N3 is between 0.85 and 1.

[0105] Preferably, the ratio of the distance LH1H2 between the rotational axis 241 of the first main pivot bearing 221 and the rotational axis 242 of the second main pivot bearing 222 to the distance LN1N2 between the rotational axis 251 of the first secondary pivot bearing 231 and the rotational axis 252 of the second secondary pivot bearing 232 is equal to 1. Expediently, LH1H2 / LN1N2 is equal to 1.

[0106] Preferably, the ratio of the distance LH2H3 between the rotational axis 242 of the second main pivot bearing 222 and the rotational axis 243 of the third main pivot bearing 223 to the distance LN3N4 between the rotational axis 253 of the third secondary pivot bearing 233 and the rotational axis 254 of the fourth secondary pivot bearing 234 is between 0.9 and 1. Expediently, LH2H3 / LN3N4 is between 0.9 and 1.

[0107] The specified ranges of values ​​for the ratios include the specified limit values ​​and can therefore also be assumed for the ratios.

[0108] Preferably, a first quadrilateral, in particular a first parallelogram, is formed, specifically from a first imaginary connecting line between the first main axis of rotation 241 and the second main axis of rotation 242, a second imaginary connecting line between the first secondary axis of rotation 251 and the second secondary axis of rotation 252, a third imaginary connecting line between the first main axis of rotation 241 and the first secondary axis of rotation 251, and a fourth imaginary connecting line between the second main axis of rotation 242 and the second secondary axis of rotation 252. In particular, the first imaginary connecting line is the same length as the second imaginary connecting line and / or parallel to the second imaginary connecting line. In particular, the third imaginary connecting line is the same length as the fourth imaginary connecting line and / or parallel to the fourth imaginary connecting line.

[0109] Preferably, a second quadrilateral is formed, namely from a fifth imaginary connecting line between the second main axis of rotation 242 and the third main axis of rotation 243, a sixth imaginary connecting line between the third secondary axis of rotation 253 and the fourth secondary axis of rotation 254, a seventh imaginary connecting line between the second main axis of rotation 242 and the third secondary axis of rotation 253, and an eighth imaginary connecting line between the third main axis of rotation 243 and the fourth secondary axis of rotation 254.

[0110] Preferably, the second quadrilateral is an irregular quadrilateral, in particular a quadrilateral other than a parallelogram. In the second quadrilateral, the fifth imaginary connecting line is advantageously not equal to, in particular shorter than, the sixth imaginary connecting line, and / or the eighth imaginary connecting line is not equal to, in particular shorter than, the seventh imaginary connecting line.In particular, the distance LH3N4 between the rotation axis 243 of the third main pivot bearing 223 and the rotation axis 254 of the fourth secondary pivot bearing 234 is not equal to or smaller than the distance LH2N3 between the rotation axis 242 of the second main pivot bearing 222 and the rotation axis 253 of the third secondary pivot bearing 233 and / or the distance LH2H3 between the rotation axis 242 of the second main pivot bearing 222 and the rotation axis 243 of the third main pivot bearing 223 is not equal to or smaller than the distance LN3N4 between the rotation axis 253 of the third secondary pivot bearing 233 and the rotation axis 254 of the fourth secondary pivot bearing 234.

[0111] Conveniently, the second quadrilateral can assume the shape of a trapezoid with only two parallel sides in one position of the articulated chain 201. For example, in (in particular at most) one position of the articulated chain 201, the fifth imaginary line and the sixth imaginary line are parallel to each other, and the seventh imaginary line and the eighth imaginary line are not parallel to each other in this position.

[0112] Preferably, the axes of rotation of the second main pivot bearing 222, the third main pivot bearing 223, the third sub-pivot bearing 233 and the fourth sub-pivot bearing 234 lie on corners of an imaginary quadrilateral (namely the second quadrilateral) which is not a parallelogram and is preferably an irregular quadrilateral.

[0113] Preferably, the second quadrilateral is not a parallelogram.

[0114] Optionally, the second quadrilateral can be designed as a parallelogram.

[0115] Optionally, the connecting lines between the rotation axes 241, 242, 243, 251, 252, 253, 254 form a double parallelogram.

[0116] The lengths of the connecting lines mentioned correspond to the distances between the axes of rotation mentioned above.

[0117] The length ratios in the second parallelogram and the length ratios between the first and second parallelogram define the course of the curved movement path 202.

[0118] In particular, the above-explained length ratios of the connecting lines—i.e., the distances between the rotation axes—define the changing curvature of the curved movement path 202 along the movement path. Due to this curvature, during a lifting movement of the user's upper arm attached to the support section 3, the lifting axis 36 follows the horizontal shoulder joint axis 203 of the user. In this way, the shoulder kinematics of the exoskeleton 20 can adapt to the natural movement of the shoulder and arm. This can lead to a favorable transmission of the support force, whereby incorrect loading of the arm and shoulder can be avoided, and a large range of motion and a high level of comfort for the user can be achieved.

[0119] Preferably, the exoskeleton 20 defines a free space 205 which, in the worn state of the exoskeleton 20, is located above the shoulder of the user wearing the exoskeleton 20 and around which the articulated chain 201 extends, so that the user can align his arm 4, supported by the support section 3, upwards, in particular above shoulder height, preferably vertically upwards, through the free space 205 past the articulated chain 201.

[0120] In the Figure 17 the free space 205 is shown, which exemplarily comprises a first free space 205A (for the right arm) and a second free space 205B (for the left arm).

[0121] In particular, the articulated chain 201 can assume an L-shaped position—for example, a folded-out position—in which the first main joint element 211 extends outward in the y-direction from the back part 8 and / or the connecting element 26, specifically (in the x-direction) behind the user's shoulder, and delimits the free space 205 in the x-direction. In the L-shaped position, the second main joint element 212 expediently extends forward in the x-direction from the first main joint element 211, specifically (in the y-direction) laterally outside the area occupied by the shoulder, and delimits the free space 205 in the y-direction.

[0122] The articulated chain 201 is therefore expediently located completely behind and / or to the side of the user's shoulder, and in particular not above the shoulder, so that the user's freedom of movement is not restricted by the articulated chain 201 when performing overhead activities.

[0123] With reference to the Figures 10 and 11 Various positions of the link chain 201 will be discussed below.

[0124] In the Figure 10a first end position of the articulated chain 201 is shown, which can also be referred to as the folded position. In the folded position, the articulated chain 201 is folded in as far as it will go. In the folded position, the lifting pivot bearing 34 is located at a first end of the curved movement path 202, in particular in a position that can be assumed minimally in the x-direction by the lifting pivot bearing 34 - thus in particular in a position maximally to the rear. In the folded position, the horizontal angle 281 between the lifting axis 36 and the sagittal axis of the exoskeleton 20 (running parallel to the x-direction) is preferably at its maximum, in particular greater than 90 degrees or greater than 120 degrees or greater than 150 degrees. In the folded position, the articulated chain 201 has, for example, a V-shape in plan view. The horizontal angle 281 is in the Figure 7drawn; exemplarily with respect to an imaginary straight line 282 running parallel to the sagittal axis. The horizontal angle 281 is defined in particular such that it would be zero if the lifting axis 36 were oriented forward in the x-direction. The horizontal angle 281 increases as the support section 3 is pivoted further outward.

[0125] When the exoskeleton 20 is worn, the articulated chain 201 assumes the folded position in particular when the user places his arms against the body and / or stretches them out sideways or backwards.

[0126] In the Figure 11a second end position of the articulated chain 201 is shown, which can also be referred to as the unfolded position. In the unfolded position, the articulated chain 201 is unfolded to its maximum extent. In the unfolded position, the lifting pivot bearing 34 is located at a second end of the curved movement path 202, in particular in a position that can be assumed maximally by the lifting pivot bearing 34 in the x-direction - i.e., in particular in a position maximally facing forward. In the folded position, the horizontal angle between the lifting axis 36 and the sagittal axis of the exoskeleton 20 (running parallel to the x-direction) is preferably minimal, in particular less than or equal to 90 degrees. In the unfolded position, the articulated chain 201 has, for example, an L-shape in plan view.

[0127] When the exoskeleton 20 is worn, the joint chain 201 assumes the unfolded position particularly when the user stretches his arms forward.

[0128] With reference to the Figure 12 The following will discuss an overlap of cover caps 271, 272 in the folded position.

[0129] By way of example, the shoulder joint arrangement 9 comprises a first cover cap 271 and / or a second cover cap 272. The first cover cap 271 is in particular assigned to and / or fastened to the inner shoulder joint section 27, for example the first secondary joint element 213. The second cover cap 272 is in particular assigned to and / or fastened to the outer shoulder joint section 28, for example the second secondary joint element 214. The first cover cap 271 surrounds the inner shoulder joint section 27 at least partially, in particular on at least two sides. The second cover cap 272 surrounds the outer shoulder joint section 28 at least partially, in particular on at least two sides.

[0130] Each cover cap 271, 272 expediently comprises a respective upper and / or lower horizontal cover cap section 273 for covering the articulated chain 201 upwards and / or downwards, and / or a respective vertical cover cap section 274 for covering the articulated chain 201 outwards. The cover caps 271, 272 are expediently made of plastic.

[0131] In the folded-in position, the upper and / or lower horizontal cover cap section 273 of the first cover cap 271 preferably overlaps with the upper and / or lower horizontal cover cap section 273 of the second cover cap 272. For example, in the folded-in position, one of the cover caps, for example the first cover cap 271, encompasses the other cover cap, for example the cover cap 272. In particular, in the folded-in position, an upper cover cap section 273 is inserted in the vertical direction between another upper cover cap section 273 and the joint elements 211, 212 and / or a lower cover cap section is inserted in the vertical direction between another lower cover cap section and the joint elements 211, 212. In the unfolded position, the overlap of the upper and / or lower horizontal cover cap sections 273 is expediently not or only partially present.

[0132] Preferably, the first main pivot bearing 221 is located in the folded position directly next to the third main pivot bearing 223 and in particular rests against it.

[0133] As in the Figure 6 As shown by way of example, the first main joint element 211 and / or the second secondary joint element 214 are preferably arranged vertically offset from the second main joint element 212. In the folded position, a particularly horizontal pivot angle between the first main joint element 211 and the second main joint element 212 is expediently minimal. In the folded position, the first main joint element 211 and / or the second secondary joint element 214 expediently overlaps the second main joint element 212 horizontally by more than half of their respective longitudinal extent.

[0134] As in the Figure 6As can be seen, the second main joint element 212 comprises, by way of example, two joint element sections 275, 276 arranged vertically offset from one another, namely an upper joint element section 275 and a lower joint element section 276. The first main joint element 211 and / or the second secondary joint element 214 is arranged in the z-direction between the two joint element sections 275, 276, so that the first main joint element 211 and / or the second secondary joint element 214 can at least partially penetrate into the space between the two joint element sections 275, 276 in the folded-in position.

[0135] Preferably, in the folded position, the joint elements 211, 212, 214 and / or the cover caps 271, 272 are immersed and / or folded into each other, as shown in the Figure 10 can be seen. This allows the user to achieve a high range of motion and / or a compact exoskeleton 20.

[0136] With reference to the Figure 17 An adjustment mechanism 206 for adapting the exoskeleton 20 to the shoulder width of the user will be explained in more detail below.

[0137] The exoskeleton 20 preferably comprises an adjustment mechanism 206, via which the shoulder joint arrangement 9 can be positioned in an adjustment direction 207 relative to the base section 1, in particular relative to the back part 8, in order to adapt the exoskeleton 20 to the shoulder width of the user.

[0138] The adjustment mechanism 206 expediently comprises the connecting element 26, which is particularly elongated, for example strip-shaped, and which can expediently be inserted into the back part 8 and / or pulled out of the back part 8 in the manner of an extension in order to position the shoulder joint arrangement 9 (together with the support section 3) in the adjustment direction 207 relative to the back part 8.

[0139] The adjustment mechanism 206 comprises, in particular, an actuating element 215, designed, for example, as a lever, in particular as a clamping lever, by actuating which the user can fix the shoulder joint arrangement 9 (together with the support section 3) in a set position (in the adjustment direction 207) relative to the base section 1, in particular relative to the back part 8. Expediently, by actuating the actuating element 215, the connecting element 26 can be fixed, in particular clamped, in its set position relative to the back part 8.

[0140] Preferably, the adjustment mechanism 206, in particular the connecting element 26 and / or the actuating element 215, is arranged in an upper and / or lateral region of the back part 8.

[0141] For example, the adjustment mechanism 206 comprises a locking section that can be selectively moved into a locking position or a release position by actuating the actuating element 215. In particular, the locking section is in positive and / or non-positive engagement with the connecting element 26 in the locking position. Conveniently, the locking section is not in positive and / or non-positive engagement with the connecting element 26 in the release position.

[0142] The adjustment mechanism 206 preferably has discrete width adjustment positions 279, which are designed, for example, as locking points arranged particularly on the connecting element 26. The locking points are, for example, point-like depressions. The width adjustment positions 279 serve to adjust to the user's shoulder width. Optionally, the discrete width adjustment positions at least partially have width markings. The adjustment mechanism provides, in particular, a stepped—i.e., expediently not a continuous—adjustment of the exoskeleton to the user's shoulder width.

[0143] The adjustment direction 207 is expediently directed forward relative to a horizontal axis of the exoskeleton 20 running parallel to the y-direction by an angle of attack. The angle of attack is preferably greater than 15 degrees, greater than 20 degrees, greater than 27 degrees, less than 45 degrees, less than 37 degrees, or less than 32 degrees. By way of example, the angle of attack is 30 degrees.

[0144] By adjusting the shoulder joint arrangement 9 along the adjustment direction 207, the lifting pivot bearing 34 is expediently adjusted further outwards in the y-direction and / or further forwards in the x-direction.

[0145] By way of example, the shoulder joint arrangement 9 is the first shoulder joint arrangement 9A, the adjustment mechanism 206 is a first adjustment mechanism 206A, and the adjustment direction 207 is a first adjustment direction 207A. The exoskeleton 20 further comprises the second shoulder joint arrangement 9B and a second adjustment mechanism 206B, via which the second shoulder joint arrangement 9B can be positioned in a second adjustment direction 207B relative to the base section 1. The first adjustment direction 207A and the second adjustment direction 207B intersect at an obtuse angle (in particular open towards the front in the x-direction), in particular at an angle of less than 150 degrees or less than 135 degrees or less than 125 degrees and / or at an angle of greater than 90 degrees or greater than 105 degrees or greater than 115 degrees. For example, the first adjustment direction 207A and the second adjustment direction 207B intersect at an angle of 120 degrees.

[0146] Preferably, the second adjustment mechanism 206B is configured to correspond to the first adjustment mechanism 206A, so that the explanations for the first adjustment mechanism 206A apply correspondingly to the second adjustment mechanism 206B. The second adjustment mechanism 206B is configured, for example, to be mirror-symmetrical to the first adjustment mechanism 206A, in particular with respect to an axis running parallel to the x-direction. Each adjustment mechanism 206A, 206B expediently comprises its own actuating element 215A, 215B.

[0147] In an xy view, the adjustment directions 207A, 207B expediently form a V-shape. In the Figure 17For illustrative purposes, the two adjustment mechanisms 206A, 206B are set differently. Both adjustment mechanisms 206A, 206B can be set differently or identically, so that the connecting elements of the two shoulder joint assemblies 9A, 9B can be extended from the back part 8 to different or equal distances.

[0148] Conveniently, the width markings of the second adjustment mechanism 206B correspond to the width markings of the first adjustment mechanism 206A. In particular, identical width markings of the first adjustment mechanism 206A and the second adjustment mechanism 206B have the same distance from the sagittal plane of the exoskeleton. In this way, the shoulder joint assembly 9 can be easily adjusted to the user's shoulder width.

[0149] As exemplified in the Figure 4As shown, the support section 3 is preferably oriented laterally outwardly with its support section longitudinal axis 261 directed maximally downwards, in particular at a minimum pivot angle 47, with its support section longitudinal axis 261 relative to a vertical axis 262 of the exoskeleton 20 at an angle, in particular an abduction angle, greater than zero in the width direction y of the exoskeleton 20, so that a distance in the width direction y between the support section longitudinal axis 261 and the vertical axis 262 increases vertically downwards. The support section longitudinal axis 261 is preferably equal to the support section axis 61 and / or the vertical axis 262 is expediently equal to the base section axis 62.

[0150] The angle, especially the abduction angle, is preferably between 5 and 10 degrees, for example 5 degrees. This angle preferably corresponds to the human abduction angle. The human abduction angle refers specifically to the angle at which the upper arm extends relative to the vertical body axis when the arm hangs loosely.

[0151] As explained above, the first support section 3A and the second support section 3B are expediently directed outward with their respective support section axes 261. The longitudinal axes 261 of the two support sections 3A, 3B expediently have twice the abduction angle, for example, 10 degrees, relative to each other in the yz plane.

[0152] Preferably, the joint chain 201 does not have a degree of freedom that allows pure abduction of the arm 4. Abduction of the arm during use of the exoskeleton 20 can preferably be achieved by a combined flexion and rotation movement of the arm 4.

[0153] With reference to the Figures 13 and 14 A storage configuration that can be assumed by the exoskeleton 20 will be discussed in more detail below.

[0154] The exoskeleton 20 can preferably be placed into a stowed configuration or an operating configuration by folding the shoulder joint assembly 9 relative to the base section 1 and / or by moving the force transmission element 18 arranged on the base section 1, in particular leading to the lap belt 16. The exoskeleton 20 is more compact in the stowed configuration and, in particular, has a smaller width and / or height than in the operating configuration. Conveniently, the exoskeleton 20 cannot be worn by a user as an exoskeleton 20 in the stowed configuration.

[0155] Preferably, the support sections 3 are folded over the back part 8 at the front in the stowed configuration. Furthermore, the force transmission element 18 is preferably pushed into the back part 8 as far as it will go in the stowed configuration.

[0156] In the Figure 14The exoskeleton 20 is shown in the stowed configuration. By way of example, the exoskeleton 20 is arranged in a container 216, which is designed, for example, as a system box or a case. Preferably, the exoskeleton 20 fits into the container 216 in the stowed configuration and / or does not fit into the container 216 in the operating configuration. Preferably, an arrangement is provided comprising the container 216 and the exoskeleton 20 accommodated in the container 216, wherein the exoskeleton 20 expediently assumes the stowed configuration.

[0157] For reasons of better presentation, the Figure 13the support section 3 is not shown. By way of example, in the stowed configuration, the articulated chain 201, in particular the first main joint element 211 and / or the second main joint element 212, is pivoted inwards relative to the back part 8 (around an imaginary vertical axis and / or around the first vertical main axis of rotation 241), in particular pivoted further inwards than in the example in the Figure 11 shown second end position. Preferably, the lifting pivot bearing 34 is located in the same y-range as the back part 8 in the stowed configuration and / or is located outside the y-range of the back part 8 in the operating configuration.

[0158] As in the Figure 14As shown by way of example, in the stowed configuration both shoulder joint arrangements 9 are expediently folded forward so that both support sections 3A, 3B are positioned in front of the back part 8 and at least partially overlap the back part in the y-direction.

[0159] Preferably, the exoskeleton 20 includes a locking mechanism 208 that locks the exoskeleton 20 in the operating configuration, such that unlocking the locking mechanism 208 is required to move the exoskeleton 20 into the stowed configuration. In particular, the locking mechanism 208 locks the shoulder joint assembly 9 of the exoskeleton 20 in the operating configuration, thus preventing the shoulder joint assembly 9 from folding into the stowed configuration.

[0160] As explained above, the shoulder joint arrangement 9 comprises the first secondary pivot bearing 231, the second secondary pivot bearing 232, and the first secondary joint element 213 extending from the first secondary pivot bearing 231 to the second secondary pivot bearing 232. For example, by unlocking the locking mechanism 208, the first secondary joint element 213 can be extended and / or decoupled in order to enable the folding of the shoulder joint arrangement 9 relative to the base section 1, in particular relative to the back part 8.

[0161] In particular, by unlocking the locking mechanism 208, the kinematic relationship between the inner shoulder joint section 27, formed for example by the first quadrilateral, and the outer shoulder joint section 28, formed for example by the second quadrilateral, can be decoupled.

[0162] As in the Figure 13As shown, the first secondary joint element 213 expediently comprises a first joint element section 217 (in particular assigned to the first secondary pivot bearing 231) and a second joint element section 218 (in particular assigned to the second secondary pivot bearing 232), which are movable relative to one another by unlocking the locking mechanism 208 in order to extend the first secondary joint element 213, in particular in the longitudinal direction of the first secondary joint element 213, and preferably thereby to enable the folding of the shoulder joint arrangement 9, in particular the outer shoulder joint section 28, in front of the back part 8.

[0163] By way of example, one of the joint element sections 217, 218 can be at least partially inserted into and pulled out of the other of the joint element sections 217, 218 in order to selectively lengthen or shorten the first secondary joint element 213.

[0164] Alternatively, an embodiment may be provided in which the joint element sections 217, 218 can be pulled apart so far that they are completely decoupled from one another.

[0165] The locking mechanism 208 preferably comprises an actuating element 219, via which the locking mechanism 208 can be selectively locked or unlocked by the user. In particular, the two joint element sections 217, 218 can be selectively fixed relative to one another or made displaceable relative to one another by means of the actuating element 219. By way of example, the actuating element 219 is arranged on the first cover cap 271. Preferably, a locking element, in particular a locking pin, can be moved by means of the actuating element 219, via which the fixation of the two joint element sections 217, 218 relative to one another can be selectively established or released.

[0166] Preferably, the exoskeleton 20 further comprises a force transmission element locking mechanism 235, which locks the force transmission element 18 in the operating configuration and thus prevents the force transmission element 18 from moving into the stowed configuration. In particular, the force transmission element locking mechanism 235 is designed to selectively fix the force transmission element 18 relative to the back part 8 or to make it displaceable, in particular retractable and extendable.

[0167] In the Figure 15An exemplary embodiment of the container 216 designed as a system box is shown. The container 216 comprises a lower part 227, a lid 228 placed on the lower part 227, and coupling elements 229 for coupling the container 216 to an upper container 224 placed on the container 216 and identical to the container 216, and / or for coupling the container 216 to a lower container 225 identical to the container 216, onto which the container 216 is placed.

[0168] The coupling elements 229 comprise one or more latches, in particular rotary latches, one or more projections and / or one or more recesses.

[0169] In the Figure 16A vertical stack 226 is shown consisting of the lower container 225, the container 216 placed on the lower container 225, and the upper container 224 placed on the container 216. The containers 225, 216, and 224 are secured to one another via the coupling elements 229, particularly in all spatial directions. For example, the entire stack 226 can be lifted by lifting the upper container 224.

[0170] Conveniently, the exoskeleton 20 can also be provided with a different shoulder joint arrangement, for example, a shoulder joint arrangement without a joint chain or without a joint chain that provides a movement path, in particular a curved movement path, for the lifting pivot bearing. For example, the joint chain can define more than one degree of freedom for the movement of the lifting pivot bearing, for example, a movement in one plane of movement, in particular a movement with two or more degrees of freedom.

Claims

1. Exoskeleton (20), comprising: - a base section (1) for attachment to a torso (2) of a human body, - a support section (3) for supporting an arm (4) of the human body, - an actuator device (5), in particular a pneumatic actuator device, acting on the support section (3) for providing a support force for the arm (4), and - a shoulder joint arrangement (9) via which the support section (3) is movably coupled to the base section (1), wherein - the shoulder joint arrangement (9) comprises a lifting pivot bearing (34), via which the support section (3) is mounted on the shoulder joint arrangement (9) so as to be pivotable about a horizontal lifting axis (36), and - the shoulder joint arrangement (9) further comprises a joint chain which defines a curved movement path (202) for the lifting pivot bearing (34), in particular lying in a horizontal plane, relative to the base section (1), wherein the movement path (202) has a curvature changing along the movement path (202), so that the movement path (202) is not circular segment shaped.

2. Exoskeleton (20) according to a preceding claim, wherein the joint chain (201) is designed to pivot the lifting pivot bearing (34) about an imaginary vertical axis of rotation extending through the lifting pivot bearing (34) as a function of a path position of the lifting pivot bearing (34) on the movement path (202), so that, by performing a movement of the lifting pivot bearing (34) along the movement path (202), the support section (3) can be pivoted horizontally with respect to the base section (1), and / or wherein the joint chain (201) is designed to guide the lifting pivot bearing (34) on the movement path (202) in such a way that the lifting axis (36) is aligned along the movement path (202), in particular along the entire movement path (202), correspondingly, in particular coaxially, to a horizontal shoulder joint axis (203) of a shoulder of a user wearing the exoskeleton (20), and / or wherein a movement along the movement path (202) during operation of the exoskeleton (20) is the only degree of freedom for positioning the lifting pivot bearing (34) relative to the base section (1), and / or wherein the exoskeleton (20) defines a free space (205) which, in the worn state of the exoskeleton (20), is located above the shoulder of the user wearing the exoskeleton (20) and around which the joint chain (201) extends, so that the user can direct his arm supported by the support section (3) upwards, in particular above shoulder height, preferably vertically upwards, through the free space past the joint chain (201).

3. Exoskeleton (20) according to a preceding claim, wherein the joint chain (201) comprises a first main joint element (211), a first auxiliary joint element (213), a second main joint element (212), a second auxiliary joint element (214) and a shoulder part (29) comprising the lifting pivot bearing (34), as well as a first main pivot bearing (221), via which the first main joint element (211) is rotatably mounted relative to the base section (1), a first auxiliary pivot bearing (231), via which the first auxiliary joint element (213) is rotatably mounted relative to the base section (1), a second main pivot bearing (222), via which the second main joint element (212) is rotatably mounted on the first main joint element (211), a second auxiliary pivot bearing (232), via which the second main joint element (212) is rotatably mounted on the first auxiliary joint element (213), a third auxiliary pivot bearing (233), via which the second auxiliary joint element (214) is rotatably mounted on the first main joint element (211), a third main pivot bearing (223) via which the shoulder part (29) is rotatably mounted on the second main joint element (212), and a fourth auxiliary pivot bearing (234) via which the shoulder part (29) is rotatably mounted on the second auxiliary joint element (214).

4. Exoskeleton (20) according to claim 3, wherein the axes of rotation of the second main pivot bearing (222), the third main pivot bearing (223), the third auxiliary pivot bearing (233) and the fourth auxiliary pivot bearing (234) lie on corners of an imaginary quadrilateral which is not a parallelogram and is preferably an irregular quadrilateral.

5. Exoskeleton (20) according to claim 3 or 4, wherein - a ratio of a distance between the rotational axes (242, 243) of the second main pivot bearing (222) and the third main pivot bearing (223) to a distance between the rotational axes (242, 241) of the second main pivot bearing (222) and the first main pivot bearing (221) is between 0.75 and 1, and / or - a ratio of a distance between the rotational axes (242, 252) of the second main pivot bearing (222) and the second auxiliary pivot bearing (232) to a distance between the rotational axes (241, 251) of the first main pivot bearing (221) and the first auxiliary pivot bearing (231) is 1, and / or - a ratio of a distance between the rotational axes (242, 252) of the second main pivot bearing (222) and the second auxiliary pivot bearing (232) to a distance between the rotational axes (243, 254) of the third main pivot bearing (223) and the fourth auxiliary pivot bearing (234) is 1, and / or - a ratio of a distance between the rotational axes (242, 252) of the second main pivot bearing (222) and the second auxiliary pivot bearing (232) to a distance between the rotational axes (242, 253) of the second main pivot bearing (222) and the third auxiliary pivot bearing (233) is between 0.85 and 1, and / or - a ratio of the distance between the axes of rotation (241, 242) of the first main pivot bearing (221) and the second main pivot bearing (222) to a distance between the axes of rotation (251, 252) of the first auxiliary pivot bearing (231) and the second auxiliary pivot bearing (232) is 1, and / or - a ratio of the distance between the axes of rotation (242, 243) of the second main pivot bearing (222) and the third main pivot bearing (223) to a distance between the axes of rotation (253, 254) of the third auxiliary pivot bearing (233) and the fourth auxiliary pivot bearing (234) is between 0.9 and 1.

6. Exoskeleton (20) according to any one of claims 3 to 5, wherein the first main joint element (211) and / or the second auxiliary joint element (214) are arranged vertically offset to the second main joint element (212), so that the joint chain (201) is displaceable into a fold-in position, in which a pivot angle between the first main joint element (211) and the second main joint element (212) is minimal and the first main joint element (211) and / or the second auxiliary joint element (214) overlaps horizontally with the second main joint element (211) with more than half of the respective longitudinal extension and / or the first main pivot bearing (221) is located directly next to the third main pivot bearing (223).

7. Exoskeleton (20) according to a preceding claim, further comprising an adjustment mechanism (206) via which the shoulder joint arrangement (9) can be positioned in an adjustment direction (207) relative to the base section (1) in order to adapt the exoskeleton (20) to a shoulder width of the user.

8. Exoskeleton (20) according to claim 7, wherein the shoulder joint arrangement (9) is a first shoulder joint arrangement (9A), the adjustment mechanism (206) is a first adjustment mechanism (206A) and the adjustment direction (207) is a first adjustment direction (207A), and wherein the exoskeleton (20) further comprises a second shoulder joint arrangement (9B) and a second adjustment mechanism (207B), via which the second shoulder joint arrangement (9B) can be positioned in a second adjustment direction (207B) relative to the base section (1), wherein the first adjustment direction (207A) and the second adjustment direction (207B) intersect at an obtuse angle, in particular at an angle of less than 150 degrees or less than 135 degrees or less than 125 degrees and / or at an angle greater than 90 degrees or greater than 105 degrees or greater than 115 degrees, for example at an angle of 120 degrees.

9. Exoskeleton (20) according to a preceding claim, wherein the exoskeleton (20) is selectively movable into a stowage configuration or an operating configuration by folding the shoulder joint arrangement (9) relative to the base section (1) and / or by moving a force transmission element (18) arranged on the base section (1) and leading in particular to a pelvic strap (16) of the exoskeleton (20), wherein the exoskeleton (20) is more compact in the stowage configuration and, in particular, has a smaller width and / or height than in the operating configuration and, expediently, cannot be put on as an exoskeleton (20) by a user as intended in the stowage configuration.

10. Exoskeleton (20) of claim 9, further comprising a locking mechanism (208) that locks the exoskeleton (20) in the operating configuration such that unlocking the locking mechanism is required to place the exoskeleton in the stowage configuration.

11. Exoskeleton (20) according to claim 9 or 10, wherein the locking mechanism (208) locks the shoulder joint arrangement (9) of the exoskeleton (20) in the operating configuration, thereby preventing the shoulder joint arrangement (9) from folding over into the stowage configuration.

12. Exoskeleton according to claim 10 or 11, wherein the shoulder joint arrangement (9) comprises a first auxiliary pivot bearing (231), a second auxiliary pivot bearing (232), and a first auxiliary joint element (213) extending from the first auxiliary pivot bearing (231) to the second auxiliary pivot bearing (232), and wherein, by unlocking the locking mechanism (208), the first auxiliary joint element (213) can be extended and / or decoupled in order to enable the shoulder joint arrangement (9) to be folded over relative to the base section (1).

13. Exoskeleton (20) according to any one of claims 9 to 12, further comprising a force transmission element locking mechanism that locks the force transmission element (18) in the operating configuration and thus prevents the force transmission element (18) from moving to the stowage configuration.

14. Exoskeleton (20) according to a preceding claim, wherein the support section (3), in a position with its support section longitudinal axis (261) directed maximally downwards, is oriented with its support section longitudinal axis (261) laterally outwards relative to a vertical axis (262) of the exoskeleton (20) by an angle, in particular an abduction angle, greater than zero in the width direction (y) of the exoskeleton (20), so that a distance in the width direction (y) between the support section longitudinal axis (261) and the vertical axis (262) increases in the vertically downward direction.

15. Method for operating an exoskeleton (20) according to any of the preceding claims, comprising the step of: moving the lifting pivot bearing (34) along the movement path (202) relative to the base section (1).