Exoskeleton
Patent Information
- Application Number
- EP2023724885
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2022-05-20
- Filing Date
- 2023-05-17
- Publication Date
- 2025-03-26
AI Technical Summary
Existing gait-supporting exoskeletons for the human knee joint are expensive to produce and operate due to the need for significant actuators, sensors, and control systems, which also require considerable energy to function effectively.
An exoskeleton design featuring a deflection guide and an elongated spring element, such as an elastomer spring or band-spring combination, which adjusts its spring action and moment by changing the distance between the deflection guide and the joint, allowing for dynamic relief and support without the need for actuators, sensors, or electronic control, using a deflection guide positioning device to adjust the spring's characteristic curve.
This design achieves effective, passive support for the knee joint across various movements, including walking uphill or downhill, without the need for electrical energy, making it cost-effective and easy to handle, suitable for medical use and space applications.
Smart Images
Figure 1.1
Abstract
Description
[0001] Exoskeleton
[0002] The present invention relates to an exoskeleton for relieving and / or supporting a human knee joint.
[0003] Gait-assisting exoskeletons, which are attached to a human thigh and lower leg and are designed to support the movement of the human knee joint and relieve the load on the human knee joint during walking, often have extensive actuators, sensors, and controls to ensure support and relief as needed. This makes such exoskeletons expensive to manufacture and complex to handle and use. Furthermore, such exoskeletons require considerable energy to control the actuators, sensors, and controls, and to ensure the required joint torques.
[0004] For example, EP 2 276 433 A2 discloses a knee orthosis comprising a thigh structure, a lower leg structure, and an actuator unit between the thigh and lower leg structures. An effective ankle moment is determined within the orthosis, and the behavior of the actuator unit is modified depending on the ankle moment and / or the knee angle.
[0005] It is therefore an object of the present invention to provide an exoskeleton with which an effective relief and / or support of a human knee joint is achieved, but which can be manufactured and operated more cost-effectively and which is easy to handle.
[0006] This problem is solved by the subject matter of independent patent claim 1. Advantageous further developments emerge from the dependent patent claims.
[0007] An exoskeleton according to the invention is understood to be an external support structure for a human knee joint, which is attached with its upper structural part to a human thigh and with its lower structural part to a human lower leg, and which relieves and / or supports the human knee joint during operation. Such an exoskeleton is also applicable in the medical field and is referred to there as an orthosis. According to the invention, the exoskeleton is provided with a deflection guide arranged in front of the joint and an elongated spring element, in particular an elongated elastomer spring, an elastic band, or a band-spring combination, which runs between an upper attachment point, which is arranged in particular on a lateral, front region of the upper structural part, and a lower attachment point, which is arranged in particular on a lateral, front region of the lower structural part.and which is guided over the deflection guide, which defines a deflection point or a deflection path for the elongated spring element; According to a finding underlying the invention, by changing the distance between the deflection guide and the joint, viewed essentially in the direction from the joint forward, the spring action and, in particular, the characteristic curve of the spring action can be adjusted so that the appropriate moment is applied to the exoskeleton, thus achieving relief and support through the elongated spring element that is individually tailored to the respective human knee joint. A deflection guide positioning device is provided for this purpose.
[0008] According to a first variant of the invention, the deflection guide positioning device is designed as a device for resiliently positioning the deflection guide and is configured such that the deflection guide can be resiliently positioned in the direction of increasing and reducing the distance between the deflection guide and the joint, viewed essentially in the direction from the joint forwards, for dynamically adjusting the degree of relief and / or support.
[0009] According to a second variant of the invention, the deflection guide positioning device is designed as a device for adjusting the deflection guide and is configured such that the distance between the deflection guide and the joint, viewed essentially in the direction from the joint forward, is adjustable to adjust the degree of relief and / or support. In the second variant of the invention, the user can be provided with instructions indicating which position the deflection guide positioning device should be locked in for which desired operating mode, so that the user can adjust the deflection guide positioning device to the appropriate position and the appropriate distance from the joint using the appropriate spring or adjustment cable.
[0010] Due to the basic kinematic design of an exoskeleton according to the invention, very high forces can be achieved in the elongated spring element by comparatively small holding forces of the deflection guide positioning device and thus the desired moment at the joint of the exoskeleton can be achieved.
[0011] In the first variant of the invention, the distance between the guide rail and the joint changes as the upper and lower structural parts, and thus the human upper and lower leg, pivot relative to each other. This results in a dynamic adjustment of the acting moment, and thus the degree of relief and / or support is dynamically adjusted.
[0012] In the second variant of the invention, the deflection guide positioning device, designed as a device for adjusting the deflection guide, adjusts the distance between the deflection guide and the joint, viewed essentially in the forward direction from the joint. When using the exoskeleton, the relief and / or support is then provided based on the moments that arise when the upper and lower structural parts pivot relative to each other and the corresponding pivoting of the human upper and lower leg relative to each other, resulting from the respective moment applied to the joint of the exoskeleton and generated by the spring action of the elongated spring element.
[0013] It is recommended to adapt the exoskeleton according to the invention to the respective human knee joint before use by selecting or adjusting the elongated spring element, in particular by appropriately selecting the elongated spring element and / or by adjusting the spring characteristic and / or the spring action and / or the spring preload of the elongated spring element, and / or by adjusting the upper and lower connection point of the elongated spring element.
[0014] The torque adjustment by the deflection guide positioning device can be achieved by the corresponding design of the same, according to the embodiments explained in detail below.
[0015] The exoskeleton according to the invention, apart from the embodiment with actuator explained below, does not require actuators, sensors and electronic control / regulation, and is accordingly inexpensive to manufacture and also inexpensive to operate, especially since no electrical energy is required for operation.
[0016] In the embodiment with an actuator described below, the manufacturing and operating costs are also comparatively low because the actuator does not have to apply the actual gear-supporting forces. Instead, in the first variant of the invention, it only has to spring-load the deflection guide, or in the second variant, it only has to adjust the deflection guide to the desired position once. For this purpose, the actuator can be designed to be correspondingly small and with correspondingly low electrical power consumption.
[0017] The exoskeleton according to the invention thus achieves effective, passive, non-actuator- or motor-based gait support or relief and / or support of the relevant human knee joint, specifically for all desired movement spectra, including walking on level ground, downhill walking, uphill walking / mountain climbing / stair climbing, ski touring, and downhill walking / stair climbing. Furthermore, the exoskeleton according to the invention is also suitable for space applications.
[0018] In the first variant of the invention, the deflection guide is systematically positioned or mounted in a flexible manner by the spring action of the deflection guide positioning device, which is designed as a device for resiliently positioning the deflection guide, due to the forces acting on it during the gait. The feature that the deflection guide is arranged in front of the joint also includes an arrangement of the deflection guide in a vertical plane in front of the joint, as seen in the direction of movement, even if the deflection guide is arranged slightly above or below the height level at which the joint is located.
[0019] In addition to a joint arranged externally next to the human knee joint, the exoskeleton according to the invention can also have an additional joint arranged internally next to the human knee joint, which is arranged in particular at a corresponding height and depth position with the outer joint.
[0020] When viewing the exoskeleton from the front, the outer joint, the deflection guide, the elongated spring element with its upper and lower connection points and the deflection guide positioning device are arranged in particular at a width position which is on the outer side of the exoskeleton, viewed from the front, and in particular outwardly adjacent to the plane which, again viewed from the front of the exoskeleton, passes through the vertical center plane of the exoskeleton.
[0021] According to one embodiment of the invention, the characteristic curve of the elongated spring element is preferably degressive, and the characteristic curve of the deflection spring of the deflection guide positioning device is preferably progressive.
[0022] The springs / spring elements of the deflection guide positioning device can be designed as classic steel springs, but composite springs, elastomer springs, air springs or other spring elements can also be provided.
[0023] The joint that pivotally connects the upper structural part to the lower structural part can be designed as a single joint, a double joint or a spring joint.
[0024] The deflection point and thus the deflection guide positioning device are preferably arranged as centrally as possible between the upper and lower connection points of the elongated spring element. According to a first embodiment, the deflection guide positioning device is designed as a spring, in particular a tension spring, which is fixed with its front attachment point to a front, lower section of the upper structural part and which is fixed with its rear attachment point to the deflection guide. In particular, the spring with its front and rear attachment points and the deflection guide are arranged substantially in front of the joint.
[0025] According to a first embodiment, the deflection guide positioning device is designed as a spring, in particular a compression spring, which is secured with its front attachment point to the deflection guide and with its rear attachment point to a lower section of the upper structural part adjacent to the joint. In particular, the rear attachment point of the spring and the deflection guide are arranged substantially in front of the joint.
[0026] Such embodiments are simple and inexpensive to manufacture, have a compact design and, according to the first variant of the invention, they allow an effective dynamic change in the distance between the deflection guide and the joint with a corresponding pivoting of the upper and lower structural part, or, in the second variant of the invention, an individual adjustment of the desired distance between the deflection guide and the joint to the desired distance
[0027] According to an alternative embodiment, the deflection guide positioning device is designed as an arrangement comprising a lever element and a spring element. The lever element can have a first, in particular shorter, and a second, in particular longer, leg and a pivot point that is rotatably mounted on a lower, lateral section of the upper structural part. The deflection guide can be designed or arranged at a lower coupling point of the lever element, which is arranged in particular at the lower end of one of its two legs, in particular at the lower end of its longer leg. The lever element can be coupled to the spring element by an upper coupling point, which is arranged in particular at the upper end of the other of its two legs, in particular at the upper end of its shorter leg.The spring element can be fixed with its lower fixing point to the lever element and with its upper fixing point to a lateral section of the upper structural part.
[0028] According to a further embodiment, the deflection guide positioning device is designed as an arrangement comprising a lever element, a cord / rope, and a spring element. The lever element can have a first, in particular shorter, and a second, in particular longer, leg and a pivot point rotatably mounted on a lower, lateral section of the upper structural part. The deflection guide can be formed or arranged at the lower coupling point of the lever element, which is arranged in particular at the lower end of one of its two legs, in particular at the lower end of its longer leg. The lever element can be coupled to the cord / rope with its upper coupling point, which is arranged in particular at the upper end of the other of its two legs, in particular at the upper end of its shorter leg.The spring element can be attached by its lower end to the upper end of the cord / rope, and its upper attachment point can be attached to an upper portion of the upper structural part. The lower end of the cord / rope can be attached to the lever element, in particular to its upper coupling point, which is arranged in particular at the upper end of one of its two legs, in particular at the upper end of its shorter leg.
[0029] Both designs are effective, cost-effective to manufacture, and compact. The space required by the guide positioning device in the area of the knee in front of the joint is very minimal. This allows the exoskeleton to be designed very slim in the knee area.
[0030] In the first variant of the invention, both embodiments allow a dynamic change in the distance between the deflection guide and the joint when the upper and lower structural parts pivot relative to each other, thus allowing a dynamic adjustment of the acting moment and a dynamic adjustment of the degree of relief and / or support. In the second variant of the invention, the distance between the deflection guide and the joint can be easily adjusted to the desired distance in both embodiments.
[0031] According to a further embodiment, the pivot point of the lever element, relative to the upper structural part, is arranged in a plane behind the upper attachment point of the spring element. The two legs of the lever element, viewed from the pivot point, are directed, in particular, obliquely upwards and diagonally forwards. The spring element is designed, in particular, as a tension spring.
[0032] It is preferable that the spring element is suspended in such a way that, at the end stop, the spring action is guided precisely through the joint center / joint. Therefore, the spring element must be attached somewhat lower on the upper structural part.
[0033] According to a further alternative embodiment, the pivot point of the lever element, relative to the upper structural part, is arranged in a plane in front of the upper attachment point of the spring element. The two legs of the lever element, viewed from the pivot point, are directed obliquely backward and obliquely downward. The spring element is designed, in particular, as a compression spring.
[0034] It is preferable that the spring element is suspended in such a way that, at the end stop, the spring action is guided precisely through the joint center / joint. Therefore, the spring element must also be attached somewhat lower on the upper structural part.
[0035] According to a further embodiment, at least one stop is provided for the lever element, which limits the rotational movement of the lever element. This stop can be adjustable to adjust the effect of the deflection guide positioning device. In particular, the stop for the lever element can be arranged such that one of the two legs of the lever element, in particular the longer leg of the lever element, strikes the stop during its rearward movement, thus limiting the rotational movement of the lever element. The stop can in particular be arranged on a lower, lateral section of the upper structural part, in particular above the joint.
[0036] Such a stop allows the rotational movement of the lever element to be limited, thus allowing the guide positioning device to be individually adjusted to the user. In particular, the degree of relief and / or support in the first variant of the invention can be limited in one direction.
[0037] According to a further embodiment, the at least one joint comprises an upper and a lower hinge part. The upper hinge part of the outer joint can be formed with two spaced-apart plates, and the deflection guide and the lower part of the lever element can be guided between the spaced-apart plates and laterally covered by them when the upper and lower structural parts pivot relative to each other.
[0038] Such a design is particularly space-saving. The elongated spring element, with its central section and deflection guide, can be guided between the spaced plates when the upper and lower structural parts pivot toward each other, and can be covered laterally by them, thus also providing protection against accidental pinching.
[0039] According to a further embodiment, the deflection guide positioning device is designed as an adjustment cable with a deflection. The adjustment cable is designed, in particular, as a cable-spring combination. The adjustment cable can be fastened with its upper connection point to a section of the upper structural part, wherein the upper connection point of the adjustment cable can be arranged, in particular, in front of the upper connection point of the elongated spring element, relative to the upper structural part. The adjustment cable can be guided over an adjustment cable deflection point; wherein the adjustment cable deflection point is arranged, in particular, in a lower section of the upper structural part and positioned in front of the deflection guide of the cable element. The adjustment cable can be fastened with its lower connection point, coming from the front, to the deflection guide. This embodiment is effective, cost-effective to manufacture, and compact.The space required by the guide rail positioning device in front of the knee joint is very small. This allows the exoskeleton to be designed very slim in the knee area.
[0040] In the first variant of the invention, this embodiment allows a dynamic change in the distance between the deflection guide and the joint when the upper and lower structural parts are pivoted relative to each other and thus a dynamic adjustment of the acting moment and a dynamic adjustment of the degree of relief and / or support.
[0041] In the second variant of the invention, the distance between the deflection guide and the joint can be easily adjusted to the desired distance.
[0042] According to a further embodiment, the deflection guide positioning device, which is designed as a device for adjusting the deflection guide, is further configured such that the deflection guide can be locked in at least one position at a distance from the joint. In particular, the deflection guide, the spring, the spring element, or the adjustment cable can be locked in at least one selectable locking position.
[0043] This embodiment relates to the second variant of the invention. This allows the deflection guide and thus the deflection point / deflection path of the elongated spring element to be adjusted or locked by a user at a specific distance from the joint. The locking can be achieved by a corresponding latching mechanism or a fixing mechanism. In particular, the deflection guide, the spring element, or the adjustment cable can be locked in at least one of a plurality of selectable locking positions.
[0044] According to a further embodiment, the deflection guide positioning device is designed as an actuator. The actuator is arranged, in particular, on a lower lateral section of the upper structural part. It can be designed as a hydraulic actuator, in particular as a hydraulic cylinder, as an electric actuator, in particular as a torque motor, as a pneumatic actuator, as a piezoelectric actuator, or as a passive actuator. Furthermore, a pressure accumulator and control valves can be provided.
[0045] By means of such an actuator, according to the first variant of the invention, the distance between the deflection guide and the joint can be resiliently and / or dynamically adjusted upon corresponding pivoting of the upper and lower structural parts, and thus of the human upper and lower leg, relative to each other, resulting in a corresponding dynamic adjustment of the acting moment and a corresponding dynamic adjustment of the degree of relief and / or support. Likewise, according to the second variant of the invention, it is possible to use the actuator to adjust the distance between the deflection guide and the joint to a desired distance and to lock the deflection guide at this distance from the joint, thereby resulting in the advantages stated above with reference to the second variant of the invention.
[0046] According to a further embodiment, an adjusting device for the upper connection point or the lower connection point or a tensioning device for the elongate spring element at the upper connection point or at the lower connection point is further provided.
[0047] According to a further embodiment, the elongate spring element and / or the deflection guide positioning device is at least partially surrounded by a protective sheath, a protective tube or a cover.
[0048] According to a further embodiment, the upper and lower structural parts are each designed as cuffs or half-shells with adjustable straps to allow detachable attachment to a leg. The upper structural part, in particular, has a larger diameter than the lower structural part.
[0049] The invention is explained in more detail below using exemplary embodiments with reference to the accompanying figures.
[0050] Figure 1 shows a sketch of an exoskeleton 2 with an upper structural part 4 and a lower structural part 6, which are pivotally connected to one another by means of a single joint 8 (Figure 1(a)), by means of a double joint 8 (Figure 1(b)) and by means of a spring joint 8 (Figure 1(c)), and with an elongated spring element 10 whose deflection point 16 can be moved forwards and backwards.
[0051] Figure 2 shows a sketch of the exoskeleton 2 from Figure 1(a) with relevant parameters marked.
[0052] Figure 3 shows a sketch of an exoskeleton 2 with the elongated spring element 10 and with a deflection guide positioning device 18 with tension spring 20, according to a first embodiment of the present invention, in two different positions (Figures 3(a) and (b)), and a sketch of an exoskeleton 2 according to the invention with a deflection guide positioning device 18 with compression spring 26, according to a second embodiment of the present invention, in two different positions (Figures 3(c) and (d)).
[0053] Figure 4 shows a sketch of an exoskeleton 2 with a deflection guide positioning device 18, which comprises a lever element 28, a cord 40 and a tension spring 42, according to a third embodiment of the present invention, in two different positions (Figures 4(a) and (b)) and a sketch of an exoskeleton 2 with a deflection guide positioning device 18, which comprises a lever element 28, a cord 40 and a compression spring 48, according to a fourth embodiment of the present invention, in two different positions.
[0054] Figure 5 shows a schematic view from the front of two exoskeletons 2 with a deflection guide positioning device 18 according to the third exemplary embodiment from Figure 4 on a right and a left human leg (Figure 5(a)), and a schematic view from the front of two exoskeletons 2 according to the invention on a left and right human leg, according to the third exemplary embodiment from Figure 4, wherein additionally on the inner sides of the two exoskeletons 2 two struts are shown which can be pivoted relative to one another about an inner joint.
[0055] Figure 6 shows a sketch of an exoskeleton 2 with a deflection guide positioning device 18 with an adjustment cable 30 with a spring 32, according to a fifth embodiment of the present invention, in two different positions (Figures 6(a) and (b)). Figure 7 shows two perspective views of a prototype of an exoskeleton 2 according to a sixth embodiment of the present invention, in which the deflection guide positioning device 18 comprises a lever element 28 and a spring 48, in two different positions (Figures 7(a) and (b)).
[0056] The exoskeletons 2 shown in Figures 1 to 7 have an upper structural part 4 for attachment to a human thigh and a lower structural part 6 for attachment to a human lower leg, which are connected to one another by means of at least one joint 8 arranged laterally outside next to the human knee joint. In Figures 1 to 4 and 6, the structural parts 4 and 6 are shown in the form of rectangles for the sake of simplicity; in practice, they can have a half-shell, lateral struts and / or fastening straps by means of which the upper and lower structural parts 4, 6 can be attached to the respective human thigh or lower leg, as can be clearly seen with reference to Figure 7.
[0057] The joint 8 can be arranged in various ways and in various positions between the upper structural part 4 and the lower structural part 6. In Figure 1 (a) and Figures 2 to 7, the joint 8 is designed as a single joint. In Figure 1 (b), the joint is designed as a double joint with a pivotable plate, wherein the lower joint of the double joint is pivotally connected to the lower structural part 6 and the upper joint of the double joint is pivotally connected to the upper structural part 4. In Figure 1 (c), the joint is designed as a spring joint 8.
[0058] In a simple embodiment, it is sufficient if one joint is arranged laterally, preferably externally, next to the human knee joint, as can be clearly seen, for example, in the front view of Figure 5(a). To increase stability, an additional joint can be provided on the inside, located inside the human knee joint, pivotally connecting the upper structural part 4 and the lower structural part 6, as can be clearly seen in the front view of Figure 5(b) and in the views of the prototype in Figure 7.The exoskeletons shown in Figures 1 to 7 further comprise an elongate spring element 10, which runs between an upper attachment point 12, which is arranged in particular on a lateral, front region of the upper structural part 4, and a lower attachment point 14, which is arranged in particular on a lateral, front region of the lower structural part 6, and which is guided via a deflection guide which defines a deflection point or a deflection path for the elongate spring element 10. The elongate spring element 10 can be designed as an elongate elastomer spring, as an elastic band, or as a band-spring combination. The latter variant is shown in Figures 1 to 7, wherein in each case the spring of the band-spring combination is arranged at the upper end and with its upper end, which represents the upper attachment point 12 of the band-spring combination as a whole, is attached to a suitable point ora suitable holder of the upper structural part 4. The band is attached to the lower connection point of the spring and extends over the deflection point 16 to the lower connection point 14 on the lower structural part 6.
[0059] The exoskeletons shown in Figures 1 to 7 further comprise a deflection guide positioning device 18, wherein there are two variants of the invention.
[0060] In the first variant of the invention, the deflection guide positioning device 18 is designed as a device for resiliently positioning the deflection guide 16 and is configured such that the deflection guide 16 can be resiliently positioned in the direction of increasing and decreasing the distance between the deflection guide 16 and the joint 8, viewed essentially in the direction from the joint 8 to the front, for dynamically adjusting the degree of relief and / or support of the human knee joint.
[0061] In the second variant of the invention, the deflection guide positioning device 18 is designed as a device for adjusting the deflection guide 16 and is configured such that the distance between the deflection guide 16 and the joint 8, viewed essentially in the forward direction from the joint 8, is adjustable to adjust the degree of relief and / or support of the human knee joint. In the second variant of the invention, the deflection guide 16 can further be locked in at least one position at a distance from the joint 8. In Figures 1(a), (b) and (c), only the spring direction for the first variant of the invention, or the adjustment position direction for the second variant of the invention, is indicated by a double arrow.In this direction, the deflection guide 16 and, with it, the deflection point / deflection section, which are designated by the same reference numeral 16 for simplicity, can move resiliently in the first variant of the invention, or, in the second variant of the invention, the deflection guide 16 can be locked in a desired setting position. In the following, the deflection point 16 is also understood to mean a deflection section.
[0062] The deflection guide 16 and the deflection point 16 are located at a position in front of the joint 8 and essentially at the height position of the joint 8, wherein it is also conceivable that the deflection guide 16 and the deflection point 16 are offset upwards or downwards relative to the joint 8, as long as they are arranged only in a vertical plane in front of the joint 8.
[0063] In Figure 2, the parameters a, b, d, h and (ah) are defined as follows: a: distance of the upper connection point 12 of the elongated spring element 10 to the joint 8, h: distance of the deflection point 16 / the deflection guide 16 to the joint 8, ah: distance of the upper connection point 12 of the elongated spring element 10 to the deflection point 16 / the deflection guide 16; b: offset of the spring joint 8.
[0064] All these quantities are related to the direction perpendicular to the vertical plane through the exoskeleton 2 or through the upper structural part 4 of the exoskeleton 2.
[0065] The parameter d denotes the distance between the upper attachment point 12 of the elongated spring element 10 and the deflection point 16 / the deflection guide 16, viewed in the direction of the plane that runs perpendicularly through the upper structural part 4 of the exoskeleton 2. In particular, the ratio of a / d determines the fundamental moment curve, which is modified according to the invention by shifting the deflection point 16 / the deflection guide 16 along the double arrow, thereby changing the parameter h and also the parameter ah.
[0066] In the embodiment of Figures 3(a) and (b), the deflection guide positioning means 18 is designed as a tension spring 20, which is fixed with its front fixing point 22 to a front, lower portion of the upper structural part 4 at a position in front of the joint 8, and which is fixed with its rear fixing point 24 to the deflection guide 16. The tension spring 20 is arranged with its front fixing point 20 and its rear fixing point 24 in front of the joint 8, and thus the deflection guide 16 is also arranged in front of the joint 8.
[0067] In Figure 3(a), the tension spring 20 is shown with a small deflection / short length, so that the total length (ah) of the tension spring 20 is short, but the distance h between the deflection point 16 and the joint 8 is large. The angle between the lower section and the upper section of the elongated spring element 10 is relatively large, approximately 20-25° in the present drawing, and a correspondingly large supporting moment acts on the human knee joint.
[0068] In the illustration in Figure 3(b), the tension spring 20 is shown with a greater deflection / a greater length, so that the distance (ah) between the front attachment point 22 and the rear attachment point 24 of the tension spring 20 is greater, and accordingly, the distance h between the deflection point 16 and the joint 8 is small. The angle between the lower and upper sections of the elongated spring element 10 is small and, in the illustration in Figure 3(b), is approximately 5°. Accordingly, only a small supporting moment acts on the human knee joint.
[0069] In the embodiment of Figures 3(c) and (d), the deflection guide positioning device 18 is designed as a compression spring 26, which is fixed with its front fixing point 22 to the deflection guide 16 and with its rear fixing point 24 to a lower portion of the upper structural part 4 adjacent to the joint. The front fixing point 22 of the compression spring 26, and thus the deflection guide 16, is arranged in front of the joint 8. The rear fixing point 24 of the compression spring 26 can be arranged slightly in front of the joint, approximately at the level of the joint 8, or even slightly behind the joint 8.
[0070] When the present description refers to one of the spring's attachment points being arranged in front of or behind the joint 8, it is important that the vertical plane relative to the exoskeleton 2, in which the respective attachment or attachment point is located, is arranged in a corresponding position in front of or behind the vertical plane passing through the joint 8. The respective attachment or attachment point does not have to be exactly at the height of the joint 8, but can be slightly above or below the horizontal plane passing through the joint 8.
[0071] In the illustration in Figure 3(c), the compression spring 26 is shown with a large deflection / a large total length. Accordingly, the distance h between the deflection point 16 and the joint 8 is relatively large, and the lower and upper sections of the elongated spring element 10 are arranged at a relatively large angle to each other, approximately 20-25° in the illustration. Accordingly, a relatively large supporting moment acts on the human knee joint. In the illustration in Figure 3(d), the compression spring 26 is shown with a small deflection / a short total length, i.e., in a compressed state.Accordingly, the distance h between the deflection point 16 and the joint 8 is small, and the upper and lower sections of the elongated spring element 10 are arranged at a small angle to each other or even lie in a line, as shown in Figure 3(d), so that only a small or no supporting moment results for the human knee joint.
[0072] In the first variant of the invention, the deflection point 16 is spring-mounted by the tension spring 20 or the compression spring 26, resulting in a dynamic moment profile. It may be particularly preferred that the supporting moment is reduced / damped by the tension spring 20 or the compression spring 26 when the upper structural part 4 pivots relative to the lower structural part 6. In the second variant of the invention, the tension spring 20 or the compression spring 26 or the deflection guide 16 is locked in the desired length and position by a suitable locking or latching device, and the distance between the deflection point 16 / deflection guide 16 and the joint 8 remains essentially constant throughout the movement process.
[0073] In the embodiment shown in Figures 4(a) and (b), the deflection guide positioning device 16 is designed as an arrangement comprising a lever element 28, a cord 40, and a tension spring 42. The lever element 28 comprises a first, shorter leg 30 and a second, longer leg 34, which are arranged, in particular, at right angles to one another. The pivot point 38 is arranged at their transition, by means of which the lever element 28 is rotatably mounted on a lower lateral section of the upper structural part 4. At the lower end of the longer, second leg 34, the lever element 28 is coupled to the deflection guide 16 via the deflection guide coupling point 36, or the deflection guide 16 is formed there. The elongated spring element 10 extends over or through this deflection guide 16.At the upper end of the shorter leg 30, a cable coupling point 32 is formed, to which the cable 40 is attached and from which the cable 40 extends to the tension spring 42. The cable is attached to the lower end of the tension spring 42. The upper end of the tension spring 42 is attached to an upper portion of the upper structural part 4.
[0074] As can be clearly seen from the illustrations in Figures 4(a) and (b), the pivot point 38 of the lever element 28 is arranged in a vertical plane relative to the upper structural part 4 behind the upper attachment point 44 of the spring element 42, but in front of the vertical plane through the joint 8. Furthermore, it can be clearly seen that the upper attachment point 44 of the spring element 42 is arranged in a vertical plane behind that through the upper connection point 12 of the elongated spring element 10.
[0075] In the illustration in Figure 4(a), the distance between the cable fixing point 44 and the cable coupling point 32 has been slightly shortened by a corresponding contraction / shortening of the tension spring 42. As a result, the lever element 28 with its shorter leg 30 has been pulled slightly upward and pivoted clockwise about the pivot point 38, so that the deflection guide coupling point 36 has been pivoted slightly obliquely to the left, which in turn has increased the distance between the deflection guide 16 and the joint 8. Accordingly, the angle between the upper and lower sections of the elongated spring element 10 has also increased, resulting in a greater supporting moment on the human knee joint.
[0076] In the present purely exemplary and non-limiting illustration, this angle is approximately 20-25°. In the position shown in Figure 4(b), the distance between the cable attachment point 44 and the cable coupling point 32 is increased by a corresponding extension of the tension spring 42. Accordingly, the lever element 28 has been pivoted counterclockwise, so that the shorter leg 30 is approximately perpendicular to the vertical axis of symmetry through the upper structural part 4, and accordingly, the longer leg 34 is directed downwards essentially parallel to this vertical axis of symmetry. The distance between the deflection point 16 and the joint 8 is thus small, and there is only a small angle between the upper and lower sections of the elongated spring element 10, or no angle at all, resulting in little or no moment support for the human knee joint.
[0077] The shorter leg 30 of the lever element 28 is arranged in particular in a plane spaced from the vertical plane which runs from front to rear in a plan view of the exoskeleton 2, as can be clearly seen in Figure 5, so that in the pivoting position according to Figure 4(b) the shorter leg 30 is arranged laterally next to the elongate spring element 10 and does not touch it when it passes under the elongate spring element 10.
[0078] The exoskeleton 2 according to the present embodiment further comprises a stop 36 for the lever element 26, in particular for the longer leg 34, which limits the rotational movement of the lever element 28, in particular to the rear. This stop 46 is arranged in particular on a lower lateral section of the upper structural part 4 above the joint 8. This stop 46 can in particular also be designed to be adjustable in order to limit the pivotability of the deflection guide 16 to the rear and to adapt the torque range achievable by the exoskeleton 2 to the respective user. In the embodiment shown in Figures 4(c) and (d), the deflection guide positioning device 18 is also designed as an arrangement comprising a lever element 28, a cable 40, and a spring element 48. In contrast to the embodiment of Figures 4(a) and (b), the spring element 48 is designed as a compression spring.Identical elements are marked with the same reference symbols and are not described separately here.
[0079] Due to the different designs of the spring element: compression spring 48 instead of tension spring 42, the lever element 28 is designed / arranged differently. In the embodiment of Figures 4(a) and (b), the lever element 28 has the appearance of a large L mirrored around the pivot point 38 or a hook pointing to the left. In the embodiment of Figures 4(c) and (d), the lever element 28 has the appearance of an inverted L mirrored along a horizontal axis or a hook pointing backward.
[0080] In the embodiment shown in Figures 4(c) and (d), the pivot point 38 of the lever element 28 lies in a vertical plane, again relative to the upper structural part 4 of the exoskeleton 2, in front of the vertical plane of the cable attachment point 44 and behind the vertical plane of the upper connection point 12 of the elongate spring element 10. The upper cable attachment point 44 lies in a vertical plane which runs immediately in front of the vertical plane through the joint 8 and is offset rearwardly compared to the vertical plane in which the cable attachment point 44 of the embodiment of Figures 4(a) and (b) lies.
[0081] In the embodiment of Figures 4(c) and (d), the cable 40 is to be designed in particular to be rigid, e.g. as a steel cable and, if necessary, provided with a corresponding guide (not shown here) in order to be able to transmit the effect of the compression spring 48 to the lever element 28.
[0082] In the position of Figure 4(c), the compression spring 48 is shown in its longer, extended state, so that the distance between the cable attachment point 44 and the cable coupling point 32 is relatively large. Accordingly, the shorter leg 30 extends in a plane approximately perpendicular to the vertical plane of symmetry through the upper structural part 4 or is even inclined slightly downwards in a clockwise direction relative to the upper structural part 4. Accordingly, the longer leg 34 extends in this vertical plane of symmetry or is even inclined slightly obliquely to the left in a clockwise direction relative to the upper structural part 4. Accordingly, the distance between the deflection guide 16 and the joint 8 is relatively large, and the angle between the lower and upper sections of the elongated spring element 10 is also large, and in the present purely exemplary and non-limiting illustration, is approximately 25-30°.In contrast, in the position shown in Figure 4(d), the compression spring 48 is compressed somewhat and has a shorter length than in the position shown in Figure 4(c). Accordingly, the distance between the cable attachment point 44 and the cable coupling point 32 is smaller, and the lever element 28 is pivoted obliquely upwards in a counterclockwise direction with its shorter leg 30 and its longer leg 34. As a result, the distance between the deflection guide 16 and the joint 8 is so small that there is only a small angle between the upper and lower sections of the elongated spring element 10, or no angle at all, and accordingly, only little or no moment support acts on the human knee.
[0083] In the first variant of the invention, the deflection guide 16 is spring-mounted by the deflection guide positioning device 18 shown in Figure 4. In the second variant of the invention, the distance between the deflection guide 16 and the joint 8 is initially set to a desired distance, and the deflection guide positioning device 18 is locked to this distance, e.g., by locking the lever element 28 with a suitable locking mechanism.
[0084] Figures 5(a) and (b) show exoskeletons 2 in which the deflection guide positioning device 18 is designed according to Figure 4, schematically from the front. It can be clearly seen that the tension spring 42, the cable 44 and at least partially the lever element 28 are arranged in a plane from front to back, laterally outside and next to the plane in which the elongated spring element 10 is arranged. Furthermore, the upper structural part 4 and the lower structural part 6 are each designed with a lateral, outer strut and with fastening straps, two fastening straps for the human thigh on the upper structural part 4 and two fastening straps for the lower leg on the lower structural part 6. In the illustration in Figure 5(b), struts are also provided on the inside, each of which can be pivoted against one another by means of an additional internal joint.
[0085] In the embodiments of Figures 4 and 5, it is preferred if the lever element 28 is positioned at the end stop 48 so that the spring action is guided precisely through the joint center / joint 8. In the other positions, the positioning is not so central and should be as central as possible between the spring connection points 12 and 14. This can be defined by the selection of the pivot point 38 of the lever element 28.
[0086] In the embodiment shown in Figures 6(a) and (b), the deflection guide positioning device 18 is designed as an adjustment cable 50 with a deflection. The adjustment cable 52 is designed in particular as a cable-spring combination, with an upper tension spring 52 and a cable 50 adjoining it at the bottom. The upper tension spring 52 is fastened with its upper connection point 54 to an upper front section of the upper structural part 6. The adjustment cable 50 is fastened to the lower end of the upper tension spring 52. This is guided via an adjustment cable deflection point 58, which is positioned on a lower, lateral section of the upper structural part 4 in front of the deflection guide 16 of the elongated cable element 50 and thus also in front of the joint 8.
[0087] The upper connection point 54 of the cable-spring combination of the adjustment cable 50 is arranged in front of the upper connection point 12 of the spring element 10.
[0088] The adjustment cable 50 is attached to the deflection guide 16 by its lower connection point 36, coming from the front. In the position shown in Figure 6(a), the tension spring 52 is shown in its contracted, shortened state. Accordingly, the distance of the adjustment cable 50 between the adjustment cable deflection point 58 and the deflection guide 16 is short, and the distance h between the deflection guide 16 and the joint 8 is correspondingly large. The angle between the lower and upper sections of the elongated spring element 10 is relatively large and, in this purely exemplary and non-limiting illustration, is approximately 20-25°. A corresponding supporting moment thus acts on the human knee joint. In the position shown in Figure 6(b), the tension spring 52 is shown in its extended, extended state.Accordingly, the distance of the adjustment cable 50 between the adjustment cable deflection point 58 and the deflection guide 16 is relatively large, and the distance h between the deflection guide 16 and the joint 8 is relatively small. The upper and lower sections of the elongated spring element 10 are arranged at a slight angle of approximately 5° to each other. Thus, a correspondingly small supporting moment acts on the human knee joint.
[0089] In the first variant of the invention, the deflection point 16 is spring-mounted by means of the adjustment cable 50 designed as a cable-spring combination, and this results in a dynamic torque adjustment when pivoting from the upper structural part 4 to the lower structural part 6. In particular, a damping and mitigation of the acting torque results when pivoting from the upper structural part 4 to the lower structural part 6.
[0090] In the second variant of the invention, the distance between the adjustment cable deflection point 58 and the deflection guide 16, and thus the distance between the deflection guide 16 and the joint 8, is initially adjusted, e.g., by locking the deflection guide 16 accordingly. The distance between the deflection guide 16 and the joint 8 then remains constant throughout the subsequent movement sequence.
[0091] In the prototype depicted in Figure 7, the upper structural part 4 and the lower structural part 6 are each designed with two lateral struts 59, which are connected to each other at the upper and lower ends by means of a half-shell 60. The lateral struts 59 and the half-shells 60 are each designed as a single plastic injection-molded part. To securely hold the human thigh or lower leg, two front fastening straps 62 and one rear fastening strap 62 are arranged on the lateral struts 59.
[0092] At the upper and lower ends of the lateral struts 59 of the upper and lower structural parts 4, 6, hinge parts are formed, which are particularly made of metal. Interacting hinge parts are pivotally connected to one another by means of an inner and outer joint 8. In the embodiment of Figures 7(a) and (b), the deflection guide positioning device 18 is designed as an arrangement comprising a lever element 28 and a spring element 48, particularly a compression spring.
[0093] The lever element 28 has a curved shape, but like the lever element 28 in Figures 4 and 5, has a shorter leg 30 and a longer leg 34. At the front, distal end of the longer leg 34, the deflection guide 16 is designed as a notch-like receptacle for the elongated spring element 10. The lever element 28 is pivotable about the pivot point 38, which lies in a vertical plane in front of the upper attachment point 54 of the compression spring 48. The compression spring 48 is fastened with its upper attachment point 54 to a lateral outer region of the outer strut 59 of the upper structural part 4, in particular to a fastening piece 58, on which a corresponding attachment for the upper attachment point 12 of the elongated spring element 12 is also present towards the front. With its lower connection point 32, the spring element 48 is coupled to the shorter leg 30 of the lever element 28.
[0094] The right upper metallic hinge part 70 is formed with two spaced plates and, when the upper structural part 4 is pivoted towards the lower structural part 6 according to Figure 7(b), receives the deflection guide 16 and the front lower region of the lever element 28 therebetween and covers it from both sides, thereby providing a protective effect and preventing pinching.
[0095] The pivot point 38 is also formed on the fastening piece 28 and lies in a vertical plane between the upper connection point 12 of the elongated spring element 10 and the upper connection point 44 of the spring element 48.
[0096] In Figure 7(a), the upper and lower structural parts 4, 6 are not pivoted relative to one another. The spring element 48 is shown in a position in which the deflection guide 16 rests against the elongated spring element 10, but the latter forms only a small or no angle between its upper and lower sections, thus resulting in no or only very little moment support for the human knee joint. In the illustration in Figure 7(b), the upper and lower structural parts 4, 6 are pivoted relative to one another by an angle of approximately 40°. The spring element 48 is in a shortened, compressed position. However, due to the lever element 28, the angle between the lower and upper sections of the elongated spring element 10 is significantly reduced and lies only in a range of approximately 20° (purely exemplary and not restrictive), resulting in dynamic and mitigated moment support for the human knee.In the first variant of the invention, the deflection guide 16 is spring-mounted; in the second variant of the invention, an adjustment to a specific distance between the spring element 28 and the joint 8 takes place, e.g., by a locking of the lever element 28 (not shown here). Regarding the further advantages and design options of the exemplary embodiments explained above with reference to the figures, reference is made to the general description section; these will not be repeated here.
[0097] List of reference symbols
[0098] 2 Exoskeleton
[0099] 4 upper structural part
[0100] 6 lower structural part
[0101] 8 joint
[0102] 10 elongated spring element
[0103] 12 upper connection point
[0104] 14 lower connection point
[0105] 16 Deflection guide / deflection point
[0106] 18 Deflection guide positioning device
[0107] 20 tension spring
[0108] 22 front fixing point
[0109] 24 rear fixing point
[0110] 26 compression spring
[0111] 28 Lever element
[0112] 30 shorter leg
[0113] 32 Rope coupling point
[0114] 34 longer leg
[0115] 36 Deflection guide coupling point
[0116] 38 Pivot point
[0117] 40 cord / rope
[0118] 42 tension spring
[0119] 44 Rope fixing point
[0120] 46 stop
[0121] 48 compression spring
[0122] 50 adjustment rope
[0123] 52 spring
[0124] 54 upper connection point
[0125] 56 lower connection point
[0126] 58 Adjustment cable deflection point
[0127] 59 side struts
[0128] 60 half shells
[0129] 62 fastening straps
[0130] 64 upper hinge part
[0131] 66 lower hinge part
[0132] 68 Mounting piece
Claims
Patent claims 1. Exoskeleton (2) for relieving and / or supporting a human knee joint, comprising: an upper structural part (4) for attachment to a human thigh; a lower structural part (6) for attachment to a human lower leg; wherein the upper structural part (4) and the lower structural part (6) are pivotably connected to each other by means of at least one joint (8) arranged laterally, preferably outside next to the human knee joint; a deflection guide (16) arranged in front of the joint;an elongated spring element (10), in particular an elongated elastomer spring, an elastic band, or a band-spring combination, which runs between an upper attachment point (12), which is in particular arranged on a lateral, front area of the upper structural part (4), and a lower attachment point (14), which is in particular arranged on a lateral, front area of the lower structural part (6), and which is guided over the deflection guide (16), which defines a deflection point or a deflection path for the elongated spring element (10);wherein a deflection guide positioning device (18) is provided, wherein the deflection guide positioning device (18) is designed as a device for resiliently positioning the deflection guide (16) and is configured such that the deflection guide (16) can be resiliently positioned in the direction of increasing and decreasing the distance between the deflection guide (16) and the joint (8), viewed substantially in the direction from the joint (8) forward, for dynamically adjusting the degree of relief and / or support; or wherein the deflection guide positioning device (18) is designed as a device for adjusting the deflection guide (16) and is configured such that the distance between the deflection guide (16) and the joint (8), viewed substantially in the direction from the joint (8) forward, is adjustable for adjusting the degree of relief and / or support.
2. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device (18) is designed as a spring (20), in particular a tension spring (20), which is fixed with its front fixing point (22) to a front, lower section of the upper structural part (4), and which is fixed with its rear fixing point (24) to the deflection guide (16); and / or wherein in particular the spring (20) with its front and rear fixing points (22, 24) and the deflection guide (16) are arranged substantially in front of the joint (8).
3. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device (18) is designed as a spring (26), in particular a compression spring (26), which is fixed at its front fixing point (22) on the deflection guide (16) and which is fixed at its rear fixing point (24) on a lower section of the upper structural part (4) adjacent to the joint (8); and / or wherein in particular the rear fixing point (24) of the spring (26) and the deflection guide (16) are arranged substantially in front of the joint (8).
4. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device (18) is designed as an arrangement of a lever element (28) and a spring element (48); wherein the lever element (28) has a first, in particular shorter, leg (30) and a second, in particular longer, leg (34) and a pivot point (38) which is rotatably mounted on a lower, lateral section of the upper structural part (4); wherein the deflection guide (16) is formed or arranged at a lower coupling point (36) of the lever element (28), which is arranged in particular at the lower end of one of its two legs, in particular at the lower end of its longer leg (34); wherein the lever element (28) is coupled to the spring element (48) by an upper coupling point (32), which is arranged in particular at the upper end of the other of its two legs, in particular at the upper end of its shorter leg (34);wherein the spring element (28) is fixed in particular at its lower 'fixing point' (32) to the lever element (28), and at its; upper fixing point (44) is fixed on a lateral section of the upper structural part (4).
5. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device (18) is designed as an arrangement of a lever element (28), a cord / rope (40) and a spring element (42); wherein the lever element (42) has a first, in particular shorter, leg (30) and a second, in particular longer, leg (34) and a pivot point (38) which is rotatably mounted on a lower, lateral section of the upper structural part (4); wherein the deflection guide (16) is formed or arranged, in particular, at the lower coupling point (36) of the lever element (28), which is arranged, in particular, at the lower end of one of its two legs, in particular at the lower end of its longer leg (34);wherein the lever element (28) is coupled to the cord / rope (40) at its upper coupling point (32), which is arranged in particular at the upper end of the other of its two legs, in particular at the upper end of its shorter leg (30); wherein the spring element (42) is attached in particular at its lower end to the upper end of the cord / rope (40) and is fixed at its upper fixing point (44) to an upper section of the upper structural part (4), and wherein the lower end of the cord / rope (40) is attached in particular to the lever element (28), in particular at its upper coupling point (32), which is arranged in particular at the upper end of one of its two legs, in particular at the upper end of its shorter leg (30).
6. Exoskeleton (2) according to claim 4 or 5, wherein the pivot point (38) of the lever element (28), with respect to the upper structural part (4), is arranged in a plane behind the upper fixing point (12) of the elongated spring element (10); and / or wherein the two legs (30, 34) of the lever element (28), seen from the pivot point (38), are directed obliquely forward and upward and obliquely forward; and / or wherein the spring element (42) is designed as a tension spring (42).
7. Exoskeleton (2) according to claim 4 or 5, wherein the pivot point (38) of the lever element (28), with respect to the upper structural part (4), is arranged in a plane in front of the upper fixing point (12) of the elongated spring element (10); and / or wherein the two legs (30, 34) of the lever element, seen from the pivot point (38), are directed obliquely backwards and obliquely downwards; and / or wherein the spring element (48) is designed as a compression spring (48).
8. Exoskeleton (2) according to one of claims 4 to 7, wherein at least one stop (46) is provided for the lever element (28) which limits the rotational movement of the lever element (28); wherein the stop (46) is in particular designed to be adjustable, for adjusting the effect of the deflection guide positioning device (18); wherein the stop (46) for the lever element (28) is in particular arranged such that one of the two legs of the lever element (28), in particular the longer leg (34) of the lever element (28), abuts the stop (46) when moving backwards and thus limits the rotational movement of the lever element (46); wherein the stop (46) is in particular arranged on a lower, lateral section of the upper structural part (4), in particular above the joint (8).
9. Exoskeleton (2) according to one of claims 4 to 8, wherein the at least one joint (8) has an upper and a lower hinge part; wherein the upper hinge part of the outer joint (8) is formed with two spaced-apart plates (70), and the deflection guide (16) and the lower part of the lever element (28), when the upper and lower structural part (4, 6) pivot relative to each other, are guided between the spaced-apart plates (70) and laterally covered by them.
10. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device (18) is designed as an adjustment cable (50) with deflection (58); wherein the adjustment cable is in particular designed as a cable-spring combination (50, 52); wherein the adjusting cable (50) is attached at its upper attachment point (54) to a section of the upper structural part (4), wherein the upper attachment point (54) of the adjusting cable (50) is arranged in particular in front of the upper attachment point (16) of the elongated spring element (10), with respect to the upper structural part (4); wherein the adjusting cable (50) is guided over an adjusting cable deflection point (58); wherein the adjusting cable deflection point (58) is arranged in particular on a lower section of the upper structural part (4) and is positioned in front of the deflection guide of the cable element (10); and / or wherein the adjusting cable (50) is attached at its lower attachment point (56), coming from the front, to the deflection guide (16).
11. Exoskeleton (2) according to one of the preceding claims, wherein the deflection guide positioning device (18) designed as a device for adjusting the deflection guide (16) is further configured such that the deflection guide (16) can be locked in at least one position at a distance from the joint (8); wherein in particular the deflection guide (16), the spring (20, 26), the spring element (42, 48, 52) or the adjusting cable (50) can be locked in at least one selectable locking position.
12. Exoskeleton (2) according to claim 1, wherein the deflection guide positioning device is designed as an actuator; wherein the actuator is arranged in particular on a lateral lower section of the upper structural part; wherein the actuator (42) is designed in particular as a hydraulic actuator, in particular as a hydraulic cylinder, as an electric actuator, in particular as a torque motor, as a pneumatic actuator, as a piezoelectric actuator, or as a passive actuator.
13. Exoskeleton (2) according to one of the preceding claims, wherein the force support can be adjusted by the user by means of the deflection guide positioning device (18), in particular to a degree of force support between the foremost position of the deflection guide (16), where the force support is greatest, and the rearmost position of the deflection guide (16), where the force support is least.