Method for controlling an orthopaedic joint arrangement

Abstract

The invention relates to a method for controlling an orthopaedic joint arrangement of a lower extremity having an upper part (10) and a lower part (20), which are hinged to one another so as to be pivotable about a pivot axis (15), using an actuator (30) which is coupled to the upper part (10) and the lower part (20) and influences a movement state of the upper part (10) and / or lower part (20), wherein the actuator (30) is coupled to a control device (40) which is coupled to at least one sensor (50) and, on the basis of sensor values from the at least one sensor (50), activates, deactivates or modulates the actuator (30), wherein at least one movement speed of at least one part of the orthopaedic joint arrangement is detected from the sensor values and the actuator (30), on the basis of the movement speed in the standing phase, is activated, deactivated or modulated, wherein the movement speed in the standing phase and the resistance at least for part of the movement are inversely correlated.

Description

[0001] Method for controlling an orthopaedic joint device

[0002] The invention relates to a method for controlling an orthopaedic joint device for a lower extremity having an upper part and a lower part which are pivotably mounted to one another about a pivot axis, with an actuator which is coupled to the upper part and the lower part and influences a state of movement of the upper part and / or lower part, wherein the actuator is coupled to a control device which is coupled to at least one sensor and activates, deactivates or modulates the actuator on the basis of sensor values ​​of the at least one sensor, wherein at least one movement speed of at least one part of the orthopaedic joint device is determined from the sensor values ​​and the actuator is activated, deactivated or modulated on the basis of the movement speed in the stance phase.

[0003] Orthopedic joint devices include, in particular, orthoses, exoskeletons, or prostheses that comprise an upper part and a lower part articulated to it. In orthoses and exoskeletons, the upper and lower parts are attached to a still-existing limb, for example, using shells, straps, belts, cuffs, or other fastening devices. Orthoses and exoskeletons can guide movements, limit pivoting around a joint axis, prevent pivoting movements, or support or fix the alignment of limbs relative to one another. In polycentric joints, the pivot axis is the instantaneous center of rotation, which shifts depending on the pivoting movement. In addition, orthoses can be equipped with damping devices to dampen pivoting movements around the joint axis.The damping devices can be equipped with a control system so that, depending on sensor data, modified damping can be provided in the flexion and / or extension directions. It is also known to assign energy storage devices to the upper or lower part, so that movement support can be achieved by releasing the stored energy from the energy storage device.

[0004] Prostheses replace a missing or no longer existing limb and serve to provide functionality that is as close as possible to that of the natural limb. Furthermore, prostheses serve to provide the most natural appearance possible for the prosthetic user. For example, a prosthetic upper part is designed as a prosthetic socket or as a component attached to a prosthetic socket, where the prosthetic socket serves to secure it to a limb or limb stump. The prosthetic joint, for example, a prosthetic knee joint or a prosthetic ankle joint, connects the upper part to a lower part, which in turn may have further prosthetic components, such as a lower leg tube or a prosthetic foot.

[0005] Particularly in orthoses, exoskeletons and prostheses of the lower extremities, but also of the upper extremities, dampers, in particular hydraulic dampers or other resistance devices are arranged between the upper and lower parts. These dampers provide different resistances in individual states or movement situations based on sensor data. Such resistance devices are often designed as linear actuators that provide a defined resistance to a flexion movement and / or extension movement. The resistance is changed, for example, by changing the position of valves. When the flow cross-section is reduced, the corresponding resistance to a movement increases. Passively damped, in particular passively hydraulically damped prostheses or orthoses work purely dissipatively. Energy is taken from the movement of the upper part relative to the lower part, whereby very high moments orForces can be generated. At the same time, passive damping exhibits very low resistance in an open state, for example, when no valves are closed or throttles are activated. The operating range of such an orthosis or prosthesis is limited in that no energy can be directed into the movement to support it, actively counteract it, or initiate a change from a static state.

[0006] In addition, orthoses, exoskeletons, and prostheses with motorized drives are known from the state of the art. These are so-called active orthoses or prostheses, in which a movement is initiated, assisted, or decelerated by activating, deactivating, or modulating the drive. For this purpose, stored electrical energy from a battery or accumulator is converted into the actuator. The motorized drives also serve to influence the movement behavior between the components of the orthosis or prosthesis, for example, to decelerate a pivoting movement. Motorized drives can be operated in braking mode or as part of a generator circuit.

[0007] Both purely passive devices such as dampers and semi-active devices such as energy storage devices and motor drives influence the movement behavior of the upper and / or lower parts and are actuators that influence the state of movement of the upper and / or lower parts. The actuators can initiate a movement, reverse a movement, assist a movement, or resist a movement. The state of movement of the upper and / or lower parts is also influenced if a load is counteracted, a static state is maintained, or a change in a state of movement due to external forces is prevented or suppressed. This can happen, for example, if a uniform pivoting movement is to be maintained and external forces act in the direction of movement or against the direction of movement.

[0008] EP 2 869 792 B1 discloses a method for controlling an orthopedic joint device of a lower extremity comprising an upper part and a lower part articulated thereto, between which an energy conversion device and / or a storage device is arranged, via which kinetic energy from the relative movement between the upper part and the lower part is converted and / or stored during walking. This energy can be fed back to the joint to support the relative movement, wherein within a movement cycle of the joint device, kinetic energy is converted and / or stored and, within the same movement cycle, is fed back to the joint device as kinetic energy in a controlled manner and with a time delay. The conversion rate and / or storage rate of the energy conversion device or storage device is inversely proportional to the pivoting speed of the lower leg.

[0009] WO 2016 / 169 850 A1 relates to a method for controlling a damping change in an artificial joint of an orthosis, an exoskeleton, or a prosthesis of a lower extremity, comprising a resistance unit between an upper and a lower part, which are pivotally attached to each other. The resistance is changed via a resistance unit when a sensor signal from a control unit associated with the adjustment device activates the adjustment device. The resistance is changed depending on the position and / or length of the leg tendon or its temporal derivatives.

[0010] WO 2016 / 169 848 A1 also relates to a method for controlling a damping change of an artificial knee joint, in which the flexion resistance is reduced during the swing phase. During walking or standing, the course of at least one load characteristic acting on an orthosis or prosthesis to which the artificial knee joint is attached is recorded. If a maximum of the load characteristic course is determined during the stance phase or standing and a threshold value of the load characteristic below the maximum is subsequently detected, the flexion damping during the stance phase is reduced to a swing phase damping level.

[0011] For example, in the stance phase of orthopedic devices for the lower extremities, microprocessor-controlled knee joints use movement resistance in the flexion direction to enable controlled flexion in different movement situations. The level or progression of the resistance is changed depending on the respective movement situation, for example walking on level ground with stance phase flexion, going down ramps or going down stairs. During stance phase flexion, the resistance is generally higher than the resistance when standing. If the orthopedic device is at rest for a certain period of time, for example if the user is standing for an extended period, the joint is locked. This lock is released when moving.

[0012] The object of the present invention is to provide a method for controlling an orthopaedic joint device of the lower extremity, which enables the user to use the orthopaedic device comfortably and safely with the least possible physical effort.

[0013] This object is achieved by a method having the features of the main claim. Advantageous embodiments and further developments of the invention are disclosed in the subclaims, the description, and the figures.

[0014] In the method for controlling an orthopaedic joint device of a lower extremity having an upper part and a lower part which are pivotably mounted to one another about a pivot axis, having an actuator which is coupled to the upper part and the lower part and influences a movement state of the upper part and / or lower part, wherein the actuator is coupled to a control device which is coupled to at least one sensor and activates, deactivates or modulates the actuator on the basis of sensor values ​​of the at least one sensor, wherein at least one movement speed of at least one part of the orthopaedic joint device is determined from the sensor values ​​and the actuator is activated, deactivated or modulated on the basis of the movement speed in the stance phase,The movement speed in the stance phase and the resistance are inversely correlated with each other, at least for part of the movement. For example, with increasing movement speed in the stance phase, the resistance decreases. Thus, the resistance of a relative movement of the upper and lower parts around the pivot axis is adjusted depending on the movement speed, with an increased movement speed resulting in reduced resistance in the stance phase. The movement speed is also considered to be the speed, but translational or rotational speeds of the upper and / or lower parts can also be used to determine the movement speed. It is also possible to determine the speed via the temporal change of forces, moments, lever arms, and / or force application points.For example, the rate of change at which a force application point on the sole of the foot moves from the forefoot to the heel or vice versa, or the rate of change of the ankle moment. The resistance can be either flexion resistance or extension resistance. The resistance can be passive resistance, such as that provided by a passive damping device, a locking device, or a brake, or a force applied to the movement by an actuator, such as a drive or energy storage device.A moment or force applied by the actuator can counteract a movement in one direction and influence the movement as a resistance, and actively support a movement in a reverse direction and perform work. For example, a force can counteract knee flexion and represent flexion resistance, and actively support knee extension and act as a drive or support.

[0015] In a further development of the method, the resistance is increased with decreasing movement speed in the stance phase, so that with decreasing walking speed the flexion resistance in the stance phase increases. The slower the walking speed, the longer the stance phase and the shorter the stride length. Accordingly, it is advantageous to increase the resistance to movement, in particular the resistance to flexion of the knee joint, in order to make the sinking slow so that the user does not have to raise their center of gravity excessively at the end of the stance phase flexion in order to complete the step. By increasing the resistance with decreasing speed, the extent of a movement, for example the flexion of a knee joint, can be reduced or completely prevented and / or with increasing speed the extent of movement can be increased or a movement can be permitted.In one embodiment of the method, a change in resistance only occurs above a specified threshold value and / or only up to a specified threshold value of the movement speed. The movement speed is in particular the walking speed, whereby in addition to forward progression, the speed in the backward or sideways direction can also be used. Alternatively, the speed is a rotational movement around an axis. Preferably, the movement speed is determined in the respective stance phase itself. The determination is carried out as up-to-date as possible and only takes into account the speeds in a previous step or in a previous movement phase as boundary conditions, since the movement speed can change at any time and a change in resistance is best adapted to the current conditions and not to the step or movement at a previous point in time.Changing the resistance only from a specified threshold value for the change in movement speed ensures that changes at very low and / or high speeds are ignored, thus reducing control effort and energy consumption. Alternatively or additionally, the change in resistance only occurs from or up to a specified threshold value for the change in speed, thereby ensuring that smaller changes in speed are ignored and thus reducing control effort and energy consumption.

[0016] In one embodiment, the change in resistance in at least one speed range is non-linear. In particular, the resistance initially remains almost constant at low speeds and drops only slightly with a slight increase in speed. It is reduced with increasing speed. Saturation occurs, particularly at very high movement speeds, and the resistance to flexion or extension approaches a limit value. Alternatively or additionally, the resistance decreases in at least one speed range proportional to a power of the movement speed, in particular the square of the movement speed. The reduction in resistance with increasing speed can also be implemented in one step or several discrete steps or levels.The resistance can be changed by changing the resistance level, i.e., a uniform increase in resistance, for example, across the entire pivoting range. The resistance level or resistance profile can change across the pivoting range; for example, a resistance can be set that is adapted to the load depending on the angular position. The resistance curve can also be changed to change the resistance. For example, starting from a standard resistance curve for a certain movement speed, a reduction in speed can result in an increase in resistance in certain areas across the pivoting angle or over the duration of the movement, and an increased reduction in resistance can occur when the movement speed increases.

[0017] The change in resistance can also occur depending on forces, relative and / or absolute angles and / or moments of the position of components or limbs relative to one another or to the environment and / or their temporal progression as well as temporal derivatives determined by sensors or calculated from sensors. These variables can refer to the supplied side as well as to the contralateral side. The change in resistance can also depend directly on time. The adjustment of the resistance can therefore also be based on other determined variables, for example a knee angle, a segment angle, a leg tendon angle, the ground reaction force vector, a moment, a force, a lever arm, a variable of the contralateral side or a combination of one or more of these variables or factors. The temporal derivatives can also be used to adjust the resistance.It is also possible that the properties of the environment, for example the incline, geometry or nature of the ground, are determined from sensor data and used to adjust the resistance. In this case, the relationships between the variables or factors and the resistance can also depend on the speed of movement and can be varied together with the speed. For example, a resistance can be increased more strongly or earlier at a low speed with a comparatively small knee angle than at a higher speed or a larger knee angle. In one embodiment, the resistance curve and / or the resistance level is changed separately for each stance phase so that the correct resistance level or the correct resistance curve is provided for the current stance phase.

[0018] A further development provides that the speed of movement, in particular the walking speed in orthopedic devices of the lower extremities, especially with artificial knee joints, is calculated or determined using a determined position and / or length of a leg tendon and / or its rates of change, and is used as the basis for the speed of movement of the change in resistance. The leg tendon is considered to be, in particular, the connecting line between a hip pivot point and a foot point, with the foot point being defined in particular at the end of the extension of a lower leg section into the sole of the foot. The foot point can also be defined as the pivot point of the foot section relative to the lower leg or as a rolling point or instantaneous center of rotation of the foot section.The length of the leg tendon changes with a change in the knee angle, while the position and location of the leg tendon changes with a pivoting movement around the foot point in the stance phase or the hip pivot point in the swing phase. Both the leg tendon of the treated and the contralateral side can be used. Based on the known segment lengths, i.e. the distance from the knee joint axis to the hip pivot point and the foot point, and the determined position of the upper part of the knee joint to the lower part of the knee joint, it is possible to calculate the length of the leg tendon. The position of the leg tendon is determined, for example, using spatial position sensors and angle sizes as well as segment lengths, for example based on an absolute angle of a lower leg and a knee angle as well as the length of the lower leg and thigh. The change in position can be determined using the time derivative of the position or using speeds and segment lengths.The speed of movement is calculated from the position and / or length of the leg tendon and, if applicable, its changes over time, and used as the basis for the change in resistance. During the stance phase, the leg tendon and its change in position and / or length can be used to determine the speed of the hip, torso and / or body center of gravity. A further development provides for the speed of movement to be determined by temporal integration of accelerations recorded by sensors, for example the translational speed of the lower leg at the level of the knee joint axis or that of the torso. Using kinematic chains and their degrees of freedom, which can be recorded by sensors, the speed of one point, for example on the sole of the foot or on the lower leg at the level of the knee axis, can be used to determine the speed of another point, for example from the foot to the hip.It is also possible to infer a speed based on sensor signals, for example, using a force sensor and an absolute angle sensor on a lower leg to conclude that a foot is in the middle stance phase and therefore almost at a standstill.

[0019] Alternatively or additionally, the speed of movement can also be determined relative to the ground and / or the environment, for example using environmental sensors such as LIDAR, radar, Doppler radar or ultrasound or navigation systems such as indoor navigation or global navigation systems such as QZSS or Galileo.

[0020] It is possible to use the absolute speed and / or one or more components, for example the components parallel to the ground or the horizontal component, as the speed of movement.

[0021] A further development provides that at least the rotational speed of a thigh, a lower leg, and / or the angular speed of an ankle joint, knee joint, and / or hip joint is used as the movement speed. For example, the rotational speed of the lower leg during the stance phase can be used as the movement speed for changing the resistance.

[0022] The change in resistance occurs primarily in real time, whereby an estimate can be made of what future movements, speeds, or loads might look like based on previous data or movement profiles. This allows an expected value to be preset and compared with parameters measured in real time. Preferably, the speed and other parameters or values ​​are determined in the respective movement phase itself and as up-to-date as possible. The change in resistance depending on the movement speed can occur in preparation for the stance phase and / or during the stance phase. The adjustment can occur once per step or movement cycle, or the resistance can be adjusted multiple times or continuously.The adaptation of resistance with movement speed can be limited, particularly the adaptation from step to step or from movement cycle to movement cycle, or even the rate of change over time. In one embodiment, a resistance level is increased with decreasing movement speed by reducing the resistance later and / or more slowly. A later and / or slower reduction of resistance allows for slower and more controlled movements during slower movements. Alternatively or additionally, an increase in resistance can occur earlier or more quickly with decreasing speed.

[0023] In a further development, the resistance is changed in such a way that when the speed is reduced by increasing the resistance, a movement is stopped earlier, a movement amplitude is reduced or a movement reversal is achieved earlier.

[0024] In one embodiment, the resistance, which is reduced with decreasing speed and / or increased with increasing speed, has a supporting effect in one direction of movement. For example, an actuator can apply an extension moment around a knee joint axis. This extension moment acts as resistance against a flexion movement and has a supporting effect during an extension movement. A springy or elastic resistance, which is generated, for example, by a force storage device or an active actuator such as an electric motor, also has a supporting effect in the opposite direction of movement. If the resistance is increased with decreasing speed and / or reduced with increasing speed, the supporting effect is also increased or reduced. The speed used in this case can be, in particular, the walking speed.To achieve a harmonious movement sequence at different movement speeds, it is useful not only to vary the resistance to the movement depending on the speed, but also to support a movement alternatively or additionally. For example, in stance phase flexion and stance phase extension, it is advantageous to initially apply resistance to the flexion movement to achieve a controlled flexion, and then, after reversing the movement, to support the extension movement. At higher movement speeds, the practitioner often generates higher forces and moments via the retained limbs and joints. For example, in the stance phase, a higher hip extension moment is applied to generate propulsion.The hip extension moment also influences the moment acting on the knee joint axis, in particular by reducing the external flexion moment and increasing the extension moment in the middle and late stance phase. Accordingly, a supporting knee extension moment can be reduced in a middle stance phase compared to a slower movement speed. The support can be adjusted, for example, by changing the internal extension moment provided by an actuator such as an electric motor, or by adjusting the spring stiffness, spring point, gear ratio, lever arm, additional damping, or by switching a force accumulator on or off. A lower spring stiffness, damping, or lever arm, for example, leads to a reduction in resistance.It is also possible to vary the resistance level with speed by adjusting the resistance, for example, motor torque or spring stiffness, earlier or later depending on the speed. This also influences the level of assistance. In particular, in a movement phase that includes a reversal of movement, a resistance, force, or torque is provided that counteracts a movement and assists a movement when moving in the opposite direction. The resistance provided throughout the movement phase is increased with decreasing speed and / or reduced with increasing speed. The resistance can be varied throughout the movement.

[0025] In one embodiment, the state of a resistance device, which influences the resistance, is adjusted by the controller depending on the speed. In a hydraulic throttle valve, the flow cross-section can be changed; in a magnetorheological brake, the applied magnetic field; or in a friction brake, a braking force. It is possible that, for a given state of the resistance device, the resistance to a movement is not constant but depends on the movement, as is the case, for example, with a throttle valve, whose flow resistance depends on the flow rate. The resistance thus results from both the characteristics of the resistance device itself and its state, which is changed by the controller depending on the speed.

[0026] In one embodiment, the change in resistance occurs in at least one movement or movement phase that deviates from the stance phase of walking on level ground. In particular, a change in resistance in the stance phase is useful when walking up and / or down inclines, when walking up and / or down stairs and / or over individual steps or ledges, when walking backwards and / or sideways, or even when making turning movements. Such a change in resistance is also advantageous when stopping and starting. Last but not least, a change in resistance can be used in a special mode that is suitable for special movements and sports such as cycling, skiing, or scootering, particularly when under load. For this purpose, the speed of movement is determined, in particular the walking speed or speed of locomotion, and if the speed of movement decreases under load, the resistance is increased or decreased.As the speed of movement increases, the resistance decreases. The stance phase can be a phase of movement in which the orthopedic device is loaded with part or all of the body weight.

[0027] In a further development, resistance is adjusted when walking downhill on inclined surfaces and / or when overcoming height differences such as steps in such a way that a correlation between forward progression and downward movement in the stance phase of the supported side is adjusted to the ground slope or height difference detected by sensors or depends on it. At faster walking speeds, it is advantageous to sink in faster or move the body downwards for a given slope or height difference. Based on a determined correlation between forward and downward speed, which is advantageous for the determined ground slope, the resistance is increased as the speed of movement decreases or decreased as the speed of movement increases.In addition to the correlation of speeds, the correlation of distances traveled in the forward and downward directions over a certain period of time can also be used to adjust resistance. The quotient or another functional relationship can be used to correlate speeds or distances traveled.

[0028] The change in resistance can depend on the type of movement, the phase of movement, the surface, the environment and / or the current operating mode of the aid. The resistance can be adjusted differently for climbing stairs than for walking down inclines, for example. It is also possible for the change in resistance and speed to be individually adapted to the user, for example to adapt to body weight or personal preference. Such individual adjustment can be made via controls or an app. The type and / or extent of the change in resistance can also be adjusted autonomously by the aid from step to step or during a movement in order to adapt to the user or to components of the orthopedic device, for example a shoe or cosmetic device.

[0029] In one embodiment, the resistance is a force or moment characteristic dependent on the movement and / or position of the actuator or components of the orthopedic device, such as friction, damping, elasticity, spring force, or the like. It can be either linear or non-linear. A change in resistance can be achieved by changing a friction value, damping, stiffness, zero point, and / or the like. One or more parameters of such characteristics can also be adjusted to change the resistance, for example, the progressivity of a non-linear stiffness or damping. Resistance can also be generated by a combination of several characteristics, for example, a spring and a damping behavior acting in series or in parallel.Characteristics such as stiffness and damping can also relate to degrees of freedom other than those between the upper and lower parts, for example, the angle of the lower part relative to the direction of gravity. For example, a knee extension moment can be linearly related to the lower leg inclination relative to the direction of gravity, corresponding to a linear spring behavior, and the spring stiffness can be varied with the speed of movement. Resistance can also be a moment or force applied by an actuator; this moment or force can be varied depending on the speed of movement.

[0030] With an active electromechanical or piezoelectric actuator, resistance to movement can be applied or movements can be supported using currents and voltages. Voltages and / or currents can therefore be varied depending on the speed of movement. In addition to applying torques and torque curves, control algorithms and sensor information can be used to track trajectories via the pivoting movement of the upper and lower parts, control target variables, or emulate system properties in the sense of impedance or admittance control. For example, the behavior of a linear or nonlinear spring, the behavior of a damper, or inertia can be emulated, or a combination of several properties can be used to influence the state of movement of the upper and / or lower parts. This type of control offers a high degree of flexibility.Such controls can also actively support pivoting movements. For example, if the actuator emulates a spring characteristic, a movement counter to the spring is initially met with resistance, and when the movement is reversed, the movement is supported. As the movement speed increases, for example, the stiffness of this spring characteristic can be reduced, thereby reducing both the resistance to a movement and the degree of support in the opposite direction. Other control strategies can also be adapted to the movement speed so that resistance decreases with increasing movement speed. Actuators can also be used to activate and deactivate energy storage devices, for example a hydraulic spring accumulator, change drive ratios and / or engage or disengage or lock them.These types of actuation can also be used to influence the pivoting movement and change the resistance.

[0031] In a further development, the sensor signals are superimposed with a biosignal to change the resistance, whereby the biosignal is recorded by a human-machine interface (MMI) and transmitted to the control device. This makes it possible to adjust the resistance, in particular the flexion resistance, intentionally. Control via the MMI can also take place subconsciously and thus be integrated into the natural control of body movement by the central nervous system. The resistance can thus be determined both by the intentional and voluntary signal of the human-machine interface and by the sensor signals regarding the movement speed and, if applicable, the additional sensor signals. In one embodiment, the human-machine interface is a sensor device via which electromyographic signals are recorded and transmitted to the control device.By contracting the muscles in the area of ​​the electrodes, the resistance to movement of the orthopedic device, such as a prosthesis or orthosis, is modulated, particularly increased. This can involve contracting a single muscle, multiple muscles, or one or more muscle groups. It can also involve the intention of one or more muscle contractions or the influence of a movement, which is determined, for example, by recording nerve impulses in the central or peripheral nervous system.Tissue deformation, tissue conductivity, absorption, reflection, and / or propagation of sound and / or electromagnetic waves in tissue, electromagnetic fields, electrical potentials, substance concentrations, and electrochemical gradients in tissue can also be used as biosignals. In particular, this can be used to determine the control of one or more muscles. It is also possible for the MMI to apply pattern recognition, signal processing, classification, and / or artificial intelligence methods to the recorded biosignals, and to make the resulting discrete and / or continuous values ​​available to the controller as biosignals. Different biosignals can be used in different contexts, environments, operating modes, movements, and / or movement phases.

[0032] In one embodiment, in at least one movement phase the biosignal takes precedence over the movement speed signal in the control device, so that without the biosignal there is no change in resistance with speed. The biosignal thus serves as a so-called trigger for a change in resistance. The type and manner of the change is then changed and adapted by evaluating the movement speed, if necessary in conjunction with other sensor variables and variables derived from sensor data. It is also possible for the movement speed to determine the extent to which the resistance can be influenced or modulated via the biosignal. Thus, at low speeds, the resistance can be adjusted by the biosignal up to a complete block, whereas with increasing movement speed only a slight increase is possible.If a threshold value of the movement speed is exceeded, the adaptation of the resistance by the biosignal can also be completely prevented. Alternatively or additionally, the sensitivity of the resistance change can be changed depending on the biosignal based on the speed, in particular with lower sensitivity at higher speeds. The biosignal is particularly suitable for defining the time and / or duration of the change in resistance, while the movement speed determines the type and / or extent of the change in resistance, optionally together with other sensor values ​​and indicators. In one embodiment, a resistance adjustment is triggered by the biosignal and maintained over a certain period of time or movement phase, even if control via the biosignal is no longer provided.In addition to continuous modulation, the biosignal can also be used to discretely adjust a resistance level, which is superimposed on a continuous or discrete adjustment of the movement speed. Depending on the situation, the movement sequence, the movement phase, or the operating mode, control via the biosignal can be configured differently or deactivated. In one embodiment, the movement speed is averaged over a movement phase, and the averaged movement speed is used for control.

[0033] The translational speed in one or more directions of at least one component of the orthopedic device, the torso, the center of gravity and / or the contralateral side can be determined from sensor values ​​and used as the speed of movement, in particular a speed component parallel to the ground or in the horizontal direction.

[0034] The resistance is applied in at least one movement phase, whereby in one embodiment, the resistance counteracts a flexion movement in at least one movement phase and / or supports a stretching movement. The resistance actively supports a movement in at least one movement phase when the direction of movement changes while the direction of action remains the same. The resistance can be adjusted in a movement phase with a reversal of movement, whereby the resistance counteracts a movement in a first direction and supports a movement in the opposite direction.

[0035] The resistance can be adjusted according to the speed of movement, particularly when descending one or more steps, when descending slopes, and / or when descending a height difference. In one embodiment, the resistance can also be adjusted according to the speed of movement when braking and / or stopping from a movement.

[0036] An adjustment of the resistance can occur when overcoming differences in height, in particular when climbing one or more steps and / or climbing on inclined ground.

[0037] In one embodiment, the resistance increases with decreasing movement speed until a stop or until the movement of the upper and lower parts relative to each other stops. In one embodiment, the resistance is a linear or non-linear, elastic and / or damping behavior depending on the pivoting movement between the upper and lower parts and / or on movements and / or loads detected by sensors.

[0038] A change in resistance can be achieved by adjusting one or more parameters of an elastic and / or damping behavior. The resistance can be varied with the movement speed such that the horizontal and vertical movement speeds and / or a horizontal and vertical distance traveled correlate with each other in at least one movement phase, in particular in a ratio that depends on the ground gradient determined by sensors or a height difference to be overcome. The correlation of the resistance with the movement speed can be varied depending on the operating mode, the movement, the movement phase, and / or the ground.

[0039] The embodiments and further developments of the method can be combined with each other and / or with other control methods and embodiments, for example with control methods known from the prior art. Examples of the invention are explained in more detail below with reference to the attached figures. They show:

[0040] Figure 1 - a schematic representation of a prosthetic leg;

[0041] Figure 2 - a schematic movement sequence and a speed determination;

[0042] Figure 3 - a resistance curve versus speed;

[0043] Figure 4 - a resistance and velocity curve over time;

[0044] Figure 5 - different resistance curves over time;

[0045] Figure 6 - a relationship between biosignal and resistance curve;

[0046] Figure 7 - a variant of Figure 6;

[0047] Figure 8 shows a design of the control system; and

[0048] Figure 9 - different control characteristics of an actuator

[0049] Figure 1 shows a schematic representation of a prosthetic knee joint as part of a prosthesis. The prosthetic knee joint has an upper part 10 and a lower part 20, which are pivotally mounted to one another about a pivot axis 15. A prosthetic foot 60 is arranged at the distal end of the lower part 20. In the embodiment as a prosthetic leg according to Figure 1, a prosthetic socket or other device for receiving a femoral stump or for securing it to a person is arranged or formed on the upper part 10. A resistance device 30 as a linearly acting hydraulic actuator is arranged between the upper part 10 and the lower part 20. In the illustrated embodiment, the hydraulic actuator 30 is designed with a hydraulic chamber or a cylinder, which is arranged or formed in a housing or base body 31. A piston 32 is displaceably mounted in the cylinder.The piston 32 is displaceable along the longitudinal extent of the cylinder and is attached to a piston rod 33 that projects from the housing or base body 31. The piston 32 divides the cylinder into chambers that are fluidly connected to one another via a hydraulic line. The base body 31 or the housing can be pivotally mounted on the lower part 20 at a fastening point 23 to prevent the piston 32 from tilting during a pivoting movement of the upper part 10 relative to the lower part 20. The end of the piston rod 33 facing away from the piston 32 is attached to the upper part 10 at an upper fastening point 21, in the illustrated embodiment to an extension arm to increase the distance from the pivot axis 15.During flexion, the piston 32 is pushed downwards, so that the volume of a flexion chamber decreases; correspondingly, the volume of an extension chamber increases, reduced by the volume of the retracting piston rod 33. An electric motor can be arranged in the housing 31 to generate pressure within one of the chambers. This electric motor drives a pump (not shown) to pressurize the hydraulic fluid within one of the two chambers and thereby move the piston 32 within the cylinder in one direction or the other. This causes a flexion movement or an extension movement of the orthopedic device in the form of the prosthetic leg. The electric motor for driving the pump is an option that can be used in one embodiment in combination with the hydraulic actuator 30. In principle, a drive or motor is not necessary for a passive prosthetic knee joint.An alternative embodiment to the configuration of the actuator 30 as a passive linear damper, in particular a linear hydraulic damper, is a rotary damper, in particular a rotary hydraulic damper, a magnetorheological resistance device, or an electric motor, in particular in combination with a gear or a spindle drive. The electric motor can be operated in generator mode. A combination of several of the aforementioned resistance devices as an actuator is also implemented in one embodiment.

[0050] Arranged within or on the housing 31 is a drive 34, which is coupled to at least one control valve 35, via which the hydraulic resistance in the actuator 30 can be varied. The actuator 30, and in particular the drive 34, is coupled to a control device 40, which activates, deactivates, or modulates the drive 34 based on sensor values ​​in order to provide an adapted resistance through the passively designed actuator 30. If the actuator 30 is configured as a magnetorheological resistance device, the resistances are varied by activating, deactivating, or modulating a magnetic field; the drive 34 is then the electromagnet or the magnetic coil.When the actuator 30 is designed as an active drive with an electric motor, the change in resistance occurs by activating, deactivating or modulating voltages which influence the torque generated by the electric motor.

[0051] At least one sensor 50 for detecting the spatial orientation of the lower part 20 and the upper part 10 is arranged on both the upper part 10 and the lower part 20. In particular, the sensor 50 for detecting the spatial orientation is arranged only on the upper part 10. This sensor 50, which can be designed as an IMU (inertial measurement unit), for example, determines the solid angle or the absolute angle to a fixed spatial orientation, for example the direction of gravity, during use of the prosthetic knee joint. Instead of being designed as an IMU for detecting spatial positions, the corresponding sensor 50 can also detect other status data, in particular status data relating to the artificial knee joint. Status data includes, in particular, positions, angular positions, speeds, accelerations, forces, as well as their progressions or changes.The determined solid angle of the upper part 10 and / or the lower part 20 or another state variable is compared with a threshold angle. Upon reaching or exceeding a threshold value stored in a control device 40 for the respective sensor value or a variable derived therefrom, the drive 34 is modulated, activated, or deactivated to otherwise change the flow resistance in the actuator 30 in the hydraulic damper configuration, the viscosity, the braking force, the torque, the stiffness, or the force counteracting the flexion movement.

[0052] The actuator 30 in an artificial knee joint typically serves to modulate a flexion movement and an extension movement in order to generate or support an appropriate or desired movement sequence. An extension movement is supported if necessary and advantageously decelerated shortly before reaching maximum extension to avoid a hard impact. A flexion movement is decelerated or prevented during the stance phase and swing phase to ensure that the flexion is limited. In order to be able to drive the drive 34 to actuate the control valve 35, an energy storage device, in particular in the form of an accumulator, is also assigned to the drive 34. The energy storage device can be arranged directly next to the drive 34 or at another location in the orthopedic device where more space is available or where this appears advantageous due to the weight distribution.

[0053] Furthermore, the control device 40 and at least one angle detection device in the form of a sensor 50 are arranged on the prosthesis or orthosis. The angle detection device 50 detects the angle between the upper part 10 and the lower part 20 and is designed, for example, as a direct angle sensor that detects the angle directly. Alternatively, the angle between the upper part 10 and the lower part 20 can be determined by evaluating the sensor data from two spatial position sensors 50. Both methods can also be used simultaneously or in a complementary manner. All sensors arranged on the prosthesis or orthosis are coupled to the control device 40, and their sensor values ​​serve as the basis for controlling the drive 34 of the actuator 30 if the actuator is designed as a damper, or as input signals for a motor control if the actuator 30 is designed as a motor.In the case of magnetorheological damping, the sensor values ​​are used to control the magnetic field or its variation. Based on the sensor data, in particular the spatial and / or angular positions, as well as position data and data on the load, orientation, acceleration, and / or deformation of other components, the drive 34 is controlled to reduce or increase the resistance to pivoting by the actuator 30.

[0054] Furthermore, a human-machine interface 100 is assigned to the prosthesis, via which a biosignal can be transmitted from the human to the control device 40. The human-machine interface (MMI) 100, as a switch or sensor, can be housed in a separate component or, for example, be part of the prosthesis. The MMI transmits a biosignal to the control device 40 wirelessly or wired, thereby triggering, for example, an increase in flexion resistance at the beginning of the stance phase. The increase in the stance phase is modulated by the evaluation of the sensor values ​​of the sensors 50 or at least one of the sensors 50. The MMI 100 thus only provides the initial signal, which is then adjusted autonomously and sensor-supported as the movement progresses.

[0055] Figure 2 schematically shows a prosthetic leg with an upper part 10 in the form of a prosthetic socket with a joint component arranged thereon, and a lower leg part as the lower part 20, which are articulated to one another. Within the upper part 10, an MMI 80 in the form of a sensor arrangement for detecting myoelectric signals is housed. If, for example, contractions of thigh muscles are measured, this biosignal, which is detected by the MMI 80, is transmitted to the control device 40 and serves to trigger the change in resistance. Also shown in Figure 2 is a leg tendon 70, which extends proximally from the hip pivot point 71 to a foot point 72. The change in resistance via the actuator is carried out depending on the walking speed during the stance phase.The walking speed is the speed of movement of the entire body in the stance phase from the heel strike, which is shown at time t0, until the end of the stance phase. The time t1 represents a point in time in the terminal stance phase. The speed of movement is not necessarily constant in the stance phase, but can vary over time. In this case, the hip or the hip pivot point 71 moves forward in the direction of walking, while the prosthetic foot remains on the ground and thus the foot pivot point 72 also essentially remains stationary. The walking speed can be determined from the distance traveled between two points in time, for example the distance Ax in the time between t0 and t1. In addition to the average speed over a longer period of time via the secant S, the instantaneous speed can also be determined from the movement via the tangent T, which is shown in the right-hand illustration in Figure 2.

[0056] An adjustment of the resistance against a displacement of the lower part 10 relative to the leg 20, in particular against flexion in the stance phase, occurs in particular as a function of the speed at which the leg is moved. The adjustment occurs in particular as a function of the walking speed. Resistance to flexion can be a passive resistance, in which, for example, kinetic energy is converted into thermal energy via damping, or a force exerted by an active actuator that opposes the movement. A resistance acting against a displacement in one direction of movement can actively support the movement in the opposite direction. In addition to the movement speed, in particular the walking speed, other translational or rotational speeds, for example of the upper part 10 or the lower part 20, can also be used to characterize a movement speed.Such different speeds of movement can also occur when performing a movement that differs from walking.

[0057] The flexion resistance in the knee joint during the stance phase is reduced with increasing movement speed. Figure 3 shows the relationship between the average level of movement resistance R' and the movement speed v. The average level of movement resistance R' is reduced with increasing walking speed v, with saturation occurring at low walking speed v and a comparatively high walking speed v and the curve approaching a limit value. Reducing the flexion resistance during the stance phase with increasing speed is also useful when walking down ramps, for example. The slower the walking speed, the longer the stance phase and the shorter the stride length. The same applies to walking on level ground.Accordingly, it is advantageous to select a high flexion resistance when walking slowly so that the sinking only occurs slowly and the user of the prosthesis or orthosis does not have to laboriously raise the body's center of gravity. When walking quickly and in a short stance phase, reducing the flexion resistance is advantageous so that the user can sink deeper, e.g. to absorb the body's momentum. When walking on level ground at a high speed, reducing the flexion resistance not only takes account of the shorter stance phase but also of the stronger driving hip moment. When braking, it is also advantageous to select a lower resistance at higher speeds, for example during a rapid forward rotation of the lower leg and / or the leg tendon, as the body's high kinetic energy must be absorbed.At high speeds, it is advantageous to decelerate the body with less resistance over a greater distance, i.e. over a greater flexion angle, whereas at lower speeds, faster, more precise deceleration is advantageous. Since speed decreases continuously during deceleration, this can lead to a gradual increase in resistance if the resistance changes dynamically with speed. The feedback between resistance and speed, with an increase in resistance at a reduced speed, then leads to progressive deceleration and a progressive resistance curve in the movement sequence, which can also transition smoothly into a locking function or into the standing function with a greatly increased flexion resistance. This can enable relaxed standing with the joint flexed.

[0058] Figure 4 shows an example of the movement velocity v and the resistance R for a dynamic coupling during a braking step. Starting from an initial velocity v and an initial resistance R, the body is decelerated. This decreases the velocity v, which in turn leads to an increase in the resistance R, resulting in a progressive decrease in the velocity v and thus a progressive increase in the resistance R, until the used position comes to a standstill or the joint is locked, for example.

[0059] The resistance level R' can be increased as a function of movement speed in various ways, two of which are shown in Figure 5. In the left-hand illustration, the resistance curve is simply increased with decreasing speed v, whereby the characteristic or the curve as such remains essentially unchanged. The dependence of the resistance level as a function of speed can be selected similarly to the curve shown in Figure 3. In the right-hand illustration, the shape of the curve of the average resistance level R' is changed; in the illustrated embodiment, the rate of change and the time of the resistance change are changed. The change in the resistance level can depend on the operating mode of the orthopedic device, the type of movement, or the movement phase.It is also possible that a change in the resistance level is only made in certain operating modes, movements, or movement phases. Figure 5 (right) shows different dependencies of the resistance level R' on the speed v for two different movement phases, labeled R1'(v) and R2'(v), whereby no adjustment of the resistance level with speed is made in a middle movement phase.

[0060] In addition to walking on level ground, on ramps and inclined surfaces, over steps, or during a braking step, adjusting the flexion resistance depending on the speed of movement of either the person or a part of the orthosis or prosthesis can be useful in situations that deviate from walking, such as kneeling, sitting, or squatting. For example, the shift in the body's center of gravity or the speed of a pivoting or rolling movement forwards or backwards can be used as the speed of movement, and an increase in the speed of movement can initiate a reduction in the flexion resistance.

[0061] The adjustment of the resistance R can also refer to a maximum, an average value, instantaneous or integral values, or another characteristic value. If a resistance level is changed with speed, the resistance does not have to be constant throughout the movement sequence, but can follow a curve that depends in particular on other sensor variables. For example, an increase in resistance can occur earlier or later in the movement sequence depending on the movement speed, or it can be adjusted faster or slower. By changing the ratio of areas with lower resistance to areas with higher resistance, the overall level is changed. It is also possible to increase the flexion resistance to the point where the joint is locked, whereby the time or threshold at which a lock is triggered can be made dependent on the movement speed.In addition to a lock, an actuator can apply a moment or force that is opposite to and equal to the external moment or force, so that a force equilibrium is achieved and movement between the upper and lower parts is stopped or prevented.

[0062] In addition to speed, other determined variables can be used to optimally adapt the resistance to the movement situation, for example the joint angle, a segment angle, a leg tendon angle relative to a reference plane, a ground reaction force vector, a parameter of the contralateral side, the time derivatives of these variables or a combination thereof. For example, a resistance can be increased earlier with an increasingly lower movement speed, i.e. at a small knee angle. Both the level and the time or rate of change of the resistance can be changed with the movement speed. The adjustment of the level or the course can be dynamic, so that the resistance can be changed continuously in terms of both the level and the course within a step.Alternatively, only one adjustment can be made per step, so that the level doesn't change within a single step. Alternatively, the resistance can be changed only in the initial phase of the movement and kept constant in a later phase.

[0063] The speed of movement is preferably the walking speed of the user. This can particularly be the speed of the torso, upper body, center of gravity, or hips. In addition to a forward speed, a backward or sideways speed can also be used. The speed of a rotational movement around the longitudinal axis or the rate of change in a direction of progression can also be used as speed. Alternatively or additionally, other reference points or reference elements can also be used to record the speed of movement. The speed of movement, in particular the walking speed, can be calculated or estimated from one or more segment angular velocities, for example from the forward rotation of the lower leg in the stance phase.Movement speeds can also be calculated from angular velocities, for example based on sensors in the joints, and known segment lengths, such as the length of the lower leg or the thigh. The movement speed of the leg tendon and the translational speed of the torso and hip can also be calculated or estimated in this way. It is possible to use just one component of the speed as the movement speed, for example, the horizontal movement component or the component oriented parallel to the ground. If a time interval is relevant for a movement, this can be based on typical events during the movement or during a movement sequence. In walking, this would be, for example, the heel strike or initial contact, the toe-off, or the knee break.For example, by determining the hip position via the leg tendon at the time of initial contact and at the current time, as well as the elapsed time, an average walking speed in the stance phase can be determined. The movement speed is thus the average walking speed in the stance phase. Walking speed can also be estimated from a relative angular velocity, for example, the maximum knee angular velocity in the previous swing phase. By integrating accelerations, the speed in the swing phase can be estimated. This is particularly useful if the resistance needs to be adjusted to the walking speed at the time of initial contact or heel strike, or if it is adjusted during stance phase flexion.Due to the high dynamics of the initial contact, estimating it from the kinematic parameters recorded by the sensors is difficult at this time. To avoid abrupt transitions in the measured speed, it can be filtered or smoothed between different methods. Another possibility is to estimate the movement speed or walking speed from the cadence or other gait parameters such as the duration of the stance phase, the swing phase duration, the stride length, or the stride duration.

[0064] In addition to adjusting the resistance based on the speed of movement, a biosignal B from an MMI 80, 100 can also be incorporated into the control system. One such combination is shown in Figure 6. The upper diagram shows the resistance curve R over time, and the lower diagram shows the curve of the biosignal B over time. If there is no change in the biosignal B or if no biosignal B is present at the control device 40, as shown by the dashed curve in the lower curve, for example because a muscle is not tensed, this is considered a signal not to change the resistance depending on the speed of movement, which is shown by the dashed, straight curve of the resistance R in the upper curve. In the control system shown, the resistance R is therefore at a constant level and does not change across the different speeds.However, the resistance curve can also be changed based on other sensor signals. However, if a change in the biosignal B is generated via the MMI 80, 100, which is indicated by the increase in the solid line of the biosignal B, this is an input variable for the control device 40 in order to change, in particular to increase, the resistance R. The basic increase in the resistance R is triggered by the biosignal B; the level of the resistance increase is determined by the respective speed v of the patient, the prosthesis, the orthosis, or one of the components of the orthosis or prosthesis. An increase in resistance takes place between t0 and t1. At a high speed v1, the resistance R is increased less than at a lower speed v2. Without the biosignal B, no speed-dependent adjustment of the resistance curve takes place in the illustrated embodiment.It is particularly expedient to generate the biosignal B via electrodes that are arranged on the patient and record a muscle contraction or nerve signals. In one variant of the control, the resistance level is modulated via the at least one biosignal, for example via a proportional change in the resistance as a function of the biosignal, whereby the amplitude of the modulation or the sensitivity of the control depends on the speed of movement, as shown in the solid resistance curves in Figure 6. Alternatively or additionally, the maximum increase in resistance by the biosignal can also depend on the speed of movement, thereby limiting the increase in resistance. Up to the respective maximum resistance or resistance level, a proportional control of the resistance can be achieved by the biosignal or a corresponding modulation.In addition, the resistance level or resistance curve can also be adjusted based on the movement speed without control via the MMI or without the biosignal, whereby the type and manner of the resistance adjustment can be designed differently depending on the movement speed with and without control via the MMI, or depending on the biosignal.

[0065] Figure 7 shows a control design in which the biosignal B acts as a trigger for the increase in resistance and takes precedence over the adjustment of the resistance level or resistance R. If no biosignal is present, which is represented by the dashed line, the resistance R is at an initial level, which is also represented by the dashed line. If control is via the MMI and the biosignal B exceeds a threshold value BO or if there is a minimum level of control via the MMI, the resistance R is adjusted depending on the movement speed. This is shown in the range between t0 and t1. If the biosignal is below the threshold value BO or falls below it again, for example because control is no longer provided via the MMI, the resistance R remains at the initial level or is reduced to it again.In the illustrated variant, a variation of the biosignal above the threshold BO, represented by the solid line in the range tO to t1, does not cause any further modulation of the resistance R. The resistance level in this range is determined by the movement speed and may also depend on other sensor information, such as a knee angle and axial force. When the movement speed increases from v2 to v1, the resistance level is reduced, and when the movement speed decreases, it is increased.

[0066] In the variants of control via an MMI shown in the figures, the resistance increases compared to the initial level when a biosignal is present and the speed is sufficiently low. However, it is also possible that the resistance level decreases compared to the initial level due to the biosignal, which is superimposed with an adjustment of the resistance level to the movement speed, or that the extent of the adjustment of the resistance level due to the biosignal depends on the movement speed.

[0067] Figure 8 shows an embodiment of the control during stance phase flexion and extension, for example when walking on level ground, walking uphill on an incline, or climbing stairs. The curves shown are those of the knee angle cpK and the internal knee moment MK, both for an initial movement speed v1 and a lower movement speed v2. In the movement sequence shown, the low movement speed is also associated with a longer movement duration. An increasing knee angle corresponds to knee flexion, while a positive knee moment MK corresponds to an internal flexion moment. In this specific embodiment, the knee moment is generated by an active actuator. The actuator is controlled in the range from t0 to t1, orfrom tO to t2 at reduced speed v2, controlled in such a way that the knee moment is changed as a function of the knee angle according to a linear torsion spring characteristic which has its neutral point at time tO, whereby no moment is generated at this time. Such a characteristic can be achieved, for example, by an electric motor based on a knee angle signal from the control device. During stance phase flexion, the extension moment generated by the actuator increases according to the spring characteristic and counteracts the flexion movement. After the reversal of movement, the moment is reduced again until the neutral point is reached, which is the case at times t1 and t2. In the embodiment shown, further extension is counteracted by a flexion moment by the actuator in order to harmoniously stop the extension movement.As the movement speed decreases, the stiffness of the spring characteristic, which is realized via the actuator, increases, so that a higher stiffness results for speed v2 than for v1. This can be seen from the fact that at speed v2, despite a lower maximum knee flexion angle, a higher maximum extension moment results. This means that the resistance increases with decreasing movement speed. The moment generated by the actuator according to the spring characteristic stored in the control system, which acts as resistance to flexion, has an actively supporting effect after the movement reversal. By adapting the resistance to the movement speed in the form of a torsion spring characteristic, the extent of the support is also adapted. This type of adaptation of the resistance to the movement speed enables a particularly harmonious movement sequence.

[0068] Figure 9 shows different control characteristics of an actuator in the form of a rotary electromechanical drive, which act as a resistance and influence a pivoting movement of the upper part 10 to the lower part 20 in a stance phase. The characteristics are represented as the relationships between a respective degree of freedom or a sensor signal. <p der orthopädietechnischen Einrichtung, hier in Gestalt des Kniewinkels, beziehungsweise dessen Änderungsrate w und dem vom Aktuator erzeugten Moment T, bezogen auf den Verschwenkwinkel zwischen Oberteil 10 und Unterteil 20. Ein zunehmender Kniewinkel entspricht einer Kniebeugung, ein positives Moment wirkt einer Beugebewegung entgegen. Links dargestellt ist ein linearelastischer Zusammenhang zwischen erzeugtem Kniemoment und dem Kniewinkel.The resistance to flexion is reduced with increasing movement speed by shifting the zero crossing on the horizontal coordinate axis towards a larger knee angle. At the same knee angle, this results in a lower extension moment or already a flexion moment. The middle also shows a linear-elastic relationship, with the gradient, or stiffness, decreasing with increasing movement speed, which, for example, reduces the resistance to flexion. The linear-elastic characteristic means that the actuator supports an extension movement. The right shows a non-linear damping characteristic, with the damping coefficients decreasing with increasing movement speed, which results in less resistance to movement at a constant knee angular velocity w compared to a slower movement speed.In addition to being realized via an electromechanical actuator, such characteristics can also be achieved via one or more springs, hydraulic or pneumatic dampers, magnetorheological resistance devices or the like, as well as combinations thereof.

[0069] The statements regarding prostheses also apply to orthoses, especially those that span the knee joint. The control system makes walking at different speeds easier and more comfortable for the user.

Claims

Patent claims 1. A method for controlling an orthopedic joint device of a lower extremity, comprising an upper part (10) and a lower part (20) which are pivotably mounted to one another about a pivot axis (15), with an actuator (30) which is coupled to the upper part (10) and the lower part (20) and influences a movement state of the upper part (10) and / or the lower part (20), wherein the actuator (30) is coupled to a control device (40) which is coupled to at least one sensor (50) and activates, deactivates, or modulates the actuator (30) based on sensor values ​​from the at least one sensor (50), wherein at least one movement speed of at least part of the orthopedic joint device is determined from the sensor values, and the actuator (30) is activated, deactivated, or modulated based on the movement speed in the stance phase, characterized in thatthat the speed of movement in the stance phase and the resistance are inversely correlated for at least part of the movement.

2. Method according to claim 1, characterized in that with a decreasing movement speed the resistance is increased and with an increasing movement speed in the stance phase the resistance is reduced.

3. Method according to claim 1 or 2, characterized in that a change in the resistance only occurs from a specified threshold value and / or up to a specified threshold value.

4. Method according to one of the preceding claims, characterized in that the change in resistance is non-linear.

5. Method according to one of the preceding claims, characterized in that the change in resistance occurs by changing the resistance level with the resistance curve remaining the same or changing.

6. Method according to one of the preceding claims, characterized in that the change in resistance is changed as a function of forces, angles, positions and / or moments which are determined by sensors (50) or which are calculated from sensor values.

7. Method according to one of the preceding claims, characterized in that a change in the resistance curve and / or resistance level occurs separately for each stance phase.

8. Method according to one of the preceding claims, characterized in that the speed of movement, in particular the walking speed, is calculated using at least one measured angular velocity and a known leg tendon length and is used as the speed of movement for the change in resistance.

9. Method according to one of the preceding claims, characterized in that the change in resistance occurs in real time.

10. Method according to one of the preceding claims, characterized in that a biosignal is superimposed on the sensor signals for changing the resistance, which biosignal is detected by a human-machine interface (80, 100) and transmitted to the control device (40).

11. Method according to claim 10, characterized in that the biosignal is superior to the movement speed in at least one movement phase and without a biosignal no change in the resistance occurs as a function of the movement speed.

12. Method according to claim 10 or 11, characterized in that the time of the change in the resistance and the The type of change in resistance is determined by the speed of movement.

13. Method according to one of the preceding claims, characterized in that the movement speed is averaged over a movement phase and the averaged movement speed is used for the control.

14. Method according to one of the preceding claims, characterized in that the translational speed in one or more directions of at least one component of the orthopedic device, the torso, the body's center of gravity and / or the contralateral side is determined from sensor values ​​and is used as the speed of movement, in particular a speed component parallel to the ground or in the horizontal direction.

15. Method according to one of the preceding claims, characterized in that the resistance is applied in at least one movement phase of a movement 16. Method according to one of the preceding claims, characterized in that the resistance counteracts a flexion movement in at least one movement phase and / or supports a stretching movement 17. Method according to one of the preceding claims, characterized in that the resistance actively supports a movement in at least one movement phase 18. Method according to one of the preceding claims, characterized in that the resistance is adjusted in a movement phase with reversal of movement.

19. Method according to claim 18, characterized in that the resistance is applied to a movement in a first direction of movement and a movement in the opposite direction of movement is supported.

20. Method according to one of the preceding claims, characterized in that the resistance is adapted to the speed of movement when going downhill over one or more steps, when going downhill on inclines and / or when going downhill over a difference in height. 21 . Method according to one of the preceding claims, characterized in that the resistance is adapted to the speed of movement when braking and / or stopping from a movement.

22. Method according to one of the preceding claims, characterized in that the resistance is adapted when overcoming height differences, in particular when climbing one or more steps and / or when climbing on inclined ground.

23. Method according to one of the preceding claims, characterized in that the resistance is increased with decreasing movement speed until a barrier or until the movement of the upper part (10) and lower part (20) relative to each other stops.

24. Method according to one of the preceding claims, characterized in that the resistance is a linear or non-linear, elastic and / or damping behavior depending on the pivoting movement between the upper part (10) and the lower part (20) and / or on movements and / or loads detected by sensors (50).

25. Method according to one of the preceding claims, characterized in that a change in the resistance occurs by adjusting one or more parameters of an elastic and / or damping behavior.

26. Method according to one of the preceding claims, characterized in that the resistance is changed with the speed of movement in such a way that the horizontal and vertical speed of movement and / or a horizontally and vertically traveled path correlate with one another in at least one movement phase, in particular in a ratio which depends on the ground inclination determined by sensors (50) or a height difference to be overcome.

7. Method according to one of the preceding claims, characterized in that the correlation of the resistance with the movement speed is changed depending on the operating mode, the movement, the movement phase and / or the subsurface.

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