Device for movably supporting, moving and / or detecting a leg, system comprising two such devices and method for operating same

Abstract

The invention relates to a device (10, 100) for movably supporting a leg, comprising a base (12, 112); a first support (14, 114); a second support (16, 116); a sensor system (18, 118); and a control apparatus (20, 120) which is designed to control and / or monitor at least one function of the device (10, 100) connected to a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12) is connected in an articulated manner to the first support (14) by means of a first arm (22) and the second support (16) is connected in an articulated manner to the first support (14) or the first arm (22) by means of a second arm (24); or wherein on the base (112), a carrying structure (102) having at least one first pair of deflection rollers (104) and a second pair of deflection rollers (106) is arranged, and wherein the first support (114) is connected to a first traction cable (108) which is connected to the base (112) via the first pair of deflection rollers (104); and the second support (116) is connected to a second traction cable (109) which is connected to the base (112) via the second pair of deflection rollers (106). The present invention also relates to a system having two such devices and to a method for operating the device and the system.

Description

[0001] Device for movably supporting, moving and / or grasping a leg, system comprising two such devices and method for operating the same

[0002] The present invention relates to a device for movably supporting, moving and / or gripping a leg, a system comprising two such devices and a method for operating such a device and a method for operating such a system.

[0003] Nowadays, the extremities, such as the legs, of people who work physically are often exposed to high and sustained strain. For example, there are jobs that involve a lot of standing or walking during work. This leads to high and sustained strain on the legs, so that after a full day at work, the only thing left is rest, especially in a sitting or lying position. While this is understandable, it is ultimately detrimental to the health of those who spend their free time essentially "sedentary." Rather, it would be desirable for people to take advantage of joint-friendly opportunities for simple, low-impact movements during their free time. Such simple, low-impact movements would also be beneficial in a rehabilitation setting, for example, after surgery or injury, where a recording function would also be desirable.This can also include rehabilitation measures after a stroke.

[0004] The present invention is based on the object of providing a device, a system with two such devices and methods for operating such a device and such a system, with the aid of which the above-mentioned problems can be solved or at least mitigated.

[0005] This object is achieved by a device having the features of independent claim 1, a system having the features of independent claim 11 and the methods having the features of the independent claims 12 and 13, respectively.

[0006] Advantageous embodiments arise from the dependent claims.

[0007] A device for movably supporting a leg is described, comprising a base; a first support; a second support; a sensor system; and a control device configured to control and / or monitor at least one function of the device associated with a spatial movement of the two supports; wherein the base is pivotally connected to the first support by means of a first arm, and the second support is pivotally connected to the first support or the first arm by means of a second arm; or wherein a support structure having at least a first pair of deflection pulleys and a second pair of deflection pulleys is arranged on the base, and wherein the first support is connected to a first traction cable, which is connected to the base via the first pair of deflection pulleys; and the second support is connected to a second traction cable, which is connected to the base via the second pair of deflection pulleys.

[0008] In the context of these application documents, the "movable support" of a leg is understood to mean, for example, a force-free support in a suspended rest position. The term "suspended" refers to the ability to move the leg in any possible (spatial) direction, starting from a rest position in which the leg is supported without force. The rest position achieved by the device then corresponds to a zero position of the force-free supported leg. The base associated with the device can, for example, define a lower part of the device that supports the rest of the device. The base can serve as a stand for the entire device, supporting it in its entirety and being placed independently and freely on a floor.The term "support," specifically the first support and the second support, used in the present application documents can be understood to mean, for example, padded surfaces on which individual areas of the leg, which is to be supported without exerting any force, can be placed. For example, the first support can be designed as a support surface for a thigh, and the second support as a support for a lower leg. Alternatively, the first support can be designed as a support for a lower leg, and the second support as a support for a foot. The dimensions of the supports can be suitably selected based on the intended use; for example, a support intended for supporting a thigh can be larger, in particular wider, than a support intended for supporting a lower leg.In the context of the present application documents, an "articulated" connection can be understood, for example, as a connection consisting of at least two segments that can pivot relative to each other at their common connection point. The pivotability within the framework of the articulated connection can be present in one or two planes. Pivotability in one plane can be realized, for example, by a linear joint, in which one segment is pivoted relative to the other segment about a fixed axis of rotation. Pivotability in two planes can be realized, for example, by a ball joint, in which one segment is pivoted arbitrarily relative to the other segment. Such pivotability can be realized, for example, by two mutually perpendicular axes of rotation, both of which can be used simultaneously.Additional articulation points within the first arm and / or the second arm can be added as needed to adapt the existing range of motion of the two supports and the existing restoring forces acting on the two supports and holding them in a defined "zero position" to the external conditions dictated by the supported leg. In the context of these application documents, the term "supporting structure" can be understood as an essentially stiff, rigid structure that can be used as a fixed attachment point for any movable components. The described device can provide a joint-friendly option for simple, low-stress movements of a leg. The device can have a stool-like function and be used in a sitting or lying position.The device can therefore be freely positioned in front of any piece of seating or reclining furniture and used together with it while the user is sitting or lying down.

[0009] If the base is articulated to the first support by means of the first arm and the second support is articulated to the first support or the first arm by means of the second arm, it can advantageously be provided that the first arm mounts the first support relative to the base so that it can be rotated and tilted, and that the second arm mounts the second support relative to the first support or the first arm so that it can pivot. In this way, the natural movement of the supported leg can be simulated by means of the device, with the freedom of movement of the hip joint designed as a ball and socket joint being simulated by the rotatable and tiltable mounting of the first support relative to the base, and the freedom of movement of the knee joint being simulated by the simple pivotability of the second support relative to the first support or the first arm.Accordingly, the possible relative positioning of the two supports of the device usually always corresponds to positions into which the supported leg can be easily brought.

[0010] If the base is pivotally connected to the first support by means of the first arm and the second support is pivotally connected to the first support or the first arm by means of the second arm, it can usefully be provided that the first arm comprises a plurality of first arm sections, each of which is pivotally connected to one another by an angle gamma, and that the first arm sections are braced against one another by means of elastic tensioning elements, so that pivoting of the first arm sections by the respective intermediate angle gamma is counteracted. In this way, a rest position of the first support (relative to the base) can be precisely preset and, at the same time, a restoring force (or torque), which drives the first support back to the predetermined rest position after a deflection, can also be individually adjusted.Because the restoring forces can be adjusted using the elastic tensioning elements, they can easily be adapted to the weight of the leg being supported, for example, by changing / adjusting the existing tensioning forces. The elastic tensioning elements can be designed as elastic ropes or bands, for example. It is also possible, for example, to use spring elements in the form of simple compression or tension springs together with non-elastic ropes or bands.

[0011] If the base is pivotally connected to the first support by means of the first arm and the second support is pivotally connected to the first support or the first arm by means of the second arm, it can further be provided that the second arm comprises a plurality of second arm sections, each of which is pivotally connected to one another by an angle delta, and that the second arm sections are braced against one another by means of further elastic tensioning elements, so that pivoting of the second arm sections by the respective intermediate angle delta is counteracted. In this way, a rest position of the second support (relative to the first support) can ultimately be precisely preset and, at the same time, a restoring force can be provided, which drives the second support back to its predetermined rest position after a deflection.Due to the adjustability of the restoring forces or the torques generated by the additional elastic tensioning elements, adaptation to the weight of the leg to be supported can also be achieved in a simple manner, for example by changing / adjusting the existing tensioning forces. The additional elastic tensioning elements can also be designed as elastic cables or bands, for example. It is again possible, for example, to use simple compression or tension springs as spring elements, which are used together with non-elastic cables or bands. As an alternative to a design that uses elastic tensioning elements, a more direct adjustment of the positions and restoring forces can also be provided using electric motors, as is the case, for example, with known control controllers that provide a force feedback function. Steering wheels are mentioned as an example here.

[0012] If the support structure with at least the first pair of deflection pulleys and the second pair of deflection pulleys is arranged on the base and the first support is connected to a first traction cable which is connected to the base via the first pair of deflection pulleys; and the second support is connected to the second traction cable which is connected to the base via the second pair of deflection pulleys, it can usefully be provided that the first traction cable is elastic or is connected to the base via a first spring element and that the second traction cable is elastic or is connected to the base via a second spring element. In this way, a rest position of the first support and the second support can be precisely preset in this case too, and at the same time, adjustable restoring forces can be implemented which drive the two supports back to their respective predetermined rest positions after a deflection.Due to the adjustability of the forces using the elastic elements, adjustment to the weight of the leg being supported can also be easily achieved. Advantageously, the adjustability of the restoring forces is independent of each other due to the separate restoring elements.

[0013] It can also be provided that the base comprises holding means that counteract any relative movement of the base on a support surface on which the base is arranged. This allows for easy "fixing" of the device on the support surface. For example, the holding means can be designed as rubber buffers to counteract any movement of the base on the support surface during use of the device due to the increased frictional forces between the rubber buffers and the support surface. Other designs of the holding means for easy and simple attachment of the base to the support surface are also conceivable. For example, spikes, suction cups, Velcro surfaces, or similar elements can be used, which, depending on the nature of the support surface, increase the frictional forces between the support surface and the device.These elements can be designed to be interchangeable to allow adaptation to the surface.

[0014] Furthermore, the sensor system can comprise means for detecting spatial positions and orientations of the first support and the second support and transmitting them as detectable signals to the control device. In this way, the device can be used as an input device, with a spatial movement of the supported leg being detected as an input signal and kept ready and / or stored for further use.

[0015] In this context, it can be provided that the control device is configured to receive and further process the detectable signals. The input signal generated by the supported leg can in this way, for example, be smoothed and / or conditioned and stored in this way and / or in its raw form for later use. For example, a comparison with a previously known movement pattern that is to be practiced / repeated is conceivable, wherein the success of the exercise can be verified by means of a simple comparison between the currently detected input signal and a stored reference signal. The stored reference signal can, for example, have been previously generated by a user themselves or be predefined at the factory.

[0016] Furthermore, the device can comprise movement means for actively influencing a movement of the first support and / or the second support in space. In this way, the device can be used as a training device, for example, to optimize existing movement sequences of the supported leg. It is also possible, for example, to influence a movement of the leg depending on the state of an avatar in a virtual environment, for example, to make it more difficult when the avatar is wading through water.

[0017] Additionally, the control device can also be configured to generate control signals for the movement means and send them to the movement means in order to influence a movement of the first support and / or the second support in space. In this way, the device can be used as a therapeutic device, for example, as part of post-operative care for remobilization. This also allows for customized movement therapy to be implemented for users who are completely unable to move the supported leg independently, for example, due to temporary or permanent paralysis.

[0018] Furthermore, a system comprising two such devices firmly connected to one another is described. Using the system, both legs of a user can be supported simultaneously, so that, for example, natural movements of both legs, such as walking, running, jumping, or crouching, are possible and can be recorded simultaneously. Any embodiment of the device described above can be used as such devices coupled to form a system, whereby these are preferably identical.

[0019] Both one of the above-mentioned devices and the system can be designed to be foldable and / or dismantled. For example, one, several or all of the articulated connection points can be provided with a special pivoting movement, for example a particularly wide pivoting, to achieve a relative positioning of the device and / or the system as a whole that is particularly space-saving. In this context, it is conceivable that locking in this special relative position is possible. Alternatively or additionally, it may also be possible to dismantle the device and / or the system into individual, separable elements. Likewise, further articulated connection points can be provided, which can serve solely or also for space-saving storage.

[0020] Also described is a method for operating such a device for movably supporting a leg, comprising a base; a first support; a second support; a sensor system; and a control device configured to control and / or monitor at least one function of the device associated with a spatial movement of the two supports; wherein the base is pivotally connected to the first support by means of a first arm, and the second support is pivotally connected to the first support or the first arm by means of a second arm; or wherein a support structure having at least a first pair of deflection pulleys and a second pair of deflection pulleys is arranged on the base, and wherein the first support is connected to a first traction cable, which is connected to the base via the first pair of deflection pulleys.and the second support is connected to a second traction cable, which is connected to the base via the second pair of pulleys, the method comprising: detecting a movement cycle of the movably mounted leg; storing the detected movement cycle;and replicating the detected movement cycle by means of a movement means designed to actively influence a movement of the first support and / or the second support in space. In this way, the advantages of this device with regard to detecting and subsequently replicating a movement cycle can also be implemented within the framework of a method. Even if only one embodiment of the device of the devices described above is explicitly mentioned in the context of the implementation of the method, all other embodiments of the device described above that have the necessary movement means are also explicitly suitable for the described method, and their use within the framework of the described method is hereby deemed to be disclosed.

[0021] Also described is a method for operating a system described above, the method comprising: detecting movements of the movably mounted legs; and sending data representing the detected movements to an external interface. In this way, the system can be used as an input device, wherein detected, in particular natural, movements of the mounted legs can be used as an output signal for control. For example, an avatar can be controlled in a virtual reality, wherein detected leg movements can be interpreted as walking or running movements, as well as jumping and ducking movements, and transmitted to the controlled avatar. By means of this method, relaxed control of a walking or running movement of an avatar in a virtual environment from a relaxed sitting or lying position is possible.Again, the system may include any of the devices described above.

[0022] The invention described above will now be explained by way of example with reference to the accompanying drawings.

[0023] They show:

[0024] Figure 1 is a side view of a first device;

[0025] Figure 2 is a plan view of a system comprising two first devices; Figure 3 is a three-dimensional isometric view of the first device from Figure 1;

[0026] Figure 4 is a view of the first device from Figure 3, broken down into three sections;

[0027] Figure 5 is an exploded view of a first portion of the first device of Figure 4;

[0028] Figure 6 is an exploded view of a second portion of the first device of Figure 4;

[0029] Figure ? an exploded view of a third section of the device of Figure 4;

[0030] Figure 8 is a side view of a second device;

[0031] Figure 9 is a plan view of a system comprising two second devices;

[0032] Figure 10 is a three-dimensional isometric view of the system of Figure 9;

[0033] Figure 11 is an exploded view of the second device from Figure 8;

[0034] Figure 12 shows three alternative schematic third sections for the device of Figure 4;

[0035] Figure 13 is a side view of an alternatively designed device;

[0036] Figure 14 is a flowchart of a first method;

[0037] Figure 15 is a flowchart of a second method;

[0038] Figure 16 is a first three-dimensional isometric view of another embodiment of the first device; and Figure 17 is a second three-dimensional isometric view of the another embodiment of the first device.

[0039] In the following description of the drawings, the same reference symbols refer to the same or comparable components.

[0040] Figures 1 and 3 to 7 show a device 10 from different perspectives and in different assembly states. Since the same device 10 is shown in each of the aforementioned figures, the description of the device 10 will alternate between the figures as needed below. The side view of the exemplary first device 10 shown in Figure 1 shows a base 12, to which a first arm 22 is connected at the top. A first support 14 is pivotally connected to the base 12 by means of the first arm 22. The first support 14 can optionally be connected to the first arm 22 so that it can be moved linearly along the latter. The first arm 22 continues upwards into a second arm 24, on which a second support 16 is arranged. The second support 16 can optionally be connected to the second arm 24 so that it can be moved linearly along the latter.The second arm 24 is connected to the first arm 22 via a cantilever arm 84, wherein the cantilever arm 84 coincides with a first pivot axis 44 about which the second arm 24 can pivot relative to the first arm 22. Since the second arm 24 is also designed to be articulated, just like the first arm 22, the second support 16 is ultimately connected to the first support 14 in an articulated manner via the two arms 22, 24 and, moreover, also to the base 12. In an end region of the second arm 24 facing away from the first arm 22, Figure 1 also shows an optional footrest 40 which is articulated to the other components of the second arm 24 via a connecting arm 42.Since the two arms 22, 24 can each be designed to be movable within themselves, the aforementioned optional linear displacement of the two supports 14, 16 on the respective arms 22, 24 on which they are arranged can occur in a direction that is not necessarily parallel to an orientation of the respective arms 22, 24, but is always parallel to a direction in which the respective supported leg section would normally extend. These directions are identified in Figure 3 as the first displacement direction 14' and the second displacement direction 16', respectively.

[0041] The device 10 can be used in its entirety for the movable support of a leg, with a thigh of the leg resting on the first support 14, an inner leg of the supported leg resting on the second support 16, and a foot of the leg resting on the footrest 40. The first support 14 and / or the second support 16 and / or the footrest 40 can optionally be padded as needed and / or equipped with additional retaining elements to freely hold the section of the leg supported therein in the correct storage position on the respective supports 14, 16 during use of the device 10. During use of the device 10, the weight of the supported leg is absorbed by elastic tensioning elements associated with the first arm 22 and the second arm 24 to enable "force-free" support of the leg. These elastic tensioning elements are explained in more detail below.With the help of the forces applied by the elastic tensioning elements, the device 10 is held in a resting position when the leg, with its respective supported sections, acts on the two supports 14, 16, so that the leg is ultimately supported "force-free" in a resting or zero position preset by the device 10. The resting position can, for example, in the broadest sense, simulate a nearly stretched leg, so that a user sitting or lying in an external piece of furniture, who supports their leg in the device 10, can move their leg from the resting position without exerting much effort. The device 10 then acts as a stool-like "piece of furniture" that can be used accordingly by the user. The piece of furniture can, for example, generally be a piece of seating furniture or a piece of reclining furniture, such as a weight bench with a short backrest support surface.

[0042] Figure 1 also abstractly depicts a sensor system 18 with associated signal lines 38, which lead to various movable sections of the device 10, as well as a control device 20. By means of the sensor system 18, in particular, the relative positioning of the relevant components of the device 10 to one another can be detected, so that ultimately, with the aid of the sensor system 18, it can be detected how a leg supported by the device 10 is moved over time. Even though in Figure 1 the sensor system 18 is depicted remote from the movable components of the device 10 and only the signal lines 38 lead to them, this is to be understood within the context of the present documentation as meaning that specific sensors detect the movements of the movable components of the device 10. In this respect, a specific means 32, for example sensors, could also be provided at the end of each of the signal lines 38 and depicted accordingly.The sensor system 18 and the associated signal lines 38 are therefore merely exemplary placeholders for a specific configuration designed for the function, which is known per se to those skilled in the art. Sufficiently precise detection of the position of the device 10 can, for example, be achieved using three sensors, although more specific means 32 may be provided, for example, for redundancy reasons. Furthermore, it is also possible that, depending on the quality of the position data provided by the sensors used, more or fewer sensors may need to be provided. In particular, just a single position sensor may be sufficient. Furthermore, the specifically selected positioning of existing sensors can also be adapted to the respective circumstances and changed as needed.

[0043] Furthermore, Figure 1 shows movement means 34 on the respective elastic tensioning elements, which are connected to the control device 20 and can be controlled by it, thereby inducing or at least influencing a movement of the various components of the device 10 relative to one another. The control device 20 can also have an external interface 36, by means of which the control device 20 can transmit the positions of the movement of the supported leg detected by the sensor system 18 to an external instance, for example, a PC. This data can then be used, for example, as control signals for an avatar in a virtual world.

[0044] Figure 3 shows the first device 10 according to Figure 1 from a three-dimensional isometric perspective, wherein the device 10 in Figure 4 is disassembled into three sections, namely a lower leg section I, a thigh section II and a base section III. The three sections can be brought together along the disassembly line shown, wherein for better visualization of the mechanical relationships, some components of the first device 10 are shown multiple times in the intersection areas between the three different sections I, II, III. In the subsequent Figures 5 to 7, one of the three sections is shown in an exploded view, wherein Figure 5 shows the lower leg section I, Figure 6 the thigh section II and Figure 7 the base section III.

[0045] Figure 3 also shows the first pivot axis 44 and a second pivot axis 46. The first pivot axis 44 represents, by way of example, an axis about which the first support 14 and the components of the second arm 24 can be pivoted. By pivoting about the first pivot axis 44, a spatial position of the second support 16 can be changed along a circular arc around the first pivot axis 44 as the axis of rotation, while the first support 14 remains essentially fixed in space and is rotated in its spatial orientation about the first pivot axis 44 (it should be noted that the first pivot axis 44 lies just below the first support 14, so that the existing small distance will in reality induce a slight spatial movement during pivoting).Furthermore, by pivoting components of the second arm 24 about the second pivot axis 46, the spatial position of the second support 16 (and the footrest 40) can be changed independently. The first arm 22 further comprises a lower pivot point 86 and an upper pivot point 88, at which parts of the first arm are again mounted so as to be movable relative to one another.

[0046] Figure 6 shows an exploded view of the components of thigh section II. The thigh section II comprises the first support 14, which is movably fixed to a first arm section 48, which belongs to the first arm 22. Also shown in Figure 6 are a second arm section 50, which belongs to the second arm 24 and is mentioned again in Figure 5 in connection with the lower leg section I, as well as an elastic tensioning element 52, 52', which engages the first arm section 48, with an opposite end of the respective elastic tensioning elements 52, 52' engaging other first arm sections 48', 48" of the first arm 22, which are shown in Figure 7. The elastic tensioning elements 52, 52' can, for example, be designed as a cable element and linear springs, as shown, and can define zero positions in the sense of a rest position of the movably connected components.If the first arm sections 48, 48' and the struts 49, which are movably connected to one another, are deflected relative to one another, i.e. if they are pivoted about an axis of rotation predetermined by the respective connection, the elastic tensioning element 52, 52' arranged there generates a restoring force.

[0047] Furthermore, Figure 6 shows a multitude of smaller elements, not further identified, which essentially allow a detachable and, if necessary, adjustable or articulated connection of the arm sections. Since these smaller elements, in particular the provided screw connections, are essentially interchangeable with functionally equivalent elements and are therefore merely exemplary, a more detailed description of these elements will be omitted here.

[0048] The lower leg section I shown in Figure 5 comprises in particular the second support 16 and the footrest 40, wherein the footrest 40 is connected via the connecting arm 42, which is slidably connected to a second arm section 50'. The second arm section 50' is further articulated to the other second arm section 50, which has already been shown in Figure 6, wherein a further elastic tensioning element 54 comprising a cable element and linear springs defines a zero position in the sense of a rest position of the two second arm sections 50, 50' relative to one another. If a deflection of the two second arm sections 50, 50' relative to one another occurs, i.e. a pivoting about the axis of rotation predetermined by the connection, the further elastic tensioning element 54 generates a restoring force.As can be seen, the lower leg section I also comprises a plurality of smaller, in particular detachable, elements (not further described), for example screw elements, with the aid of which the relative distances between different components can be variably adjusted. For example, the relative distances between the footrest 40 and the second support 16 can be individually adjusted and adapted. Furthermore, the restoring force applied by the further elastic tensioning element 54 can also be individually adjusted by adjusting a spring preload. This can be achieved, for example, by a contact point of the linear spring used being displaceably fixed along a groove in the second arm section 50. The adjustability of the various elastic tensioning elements 52, 52' as well as the further elastic tensioning element 54 can be provided at one or both ends of the respective tensioning element.The clamping element 54 can be adjusted, for example, using a combination of a rotary knob 92, a threaded bolt 94, and rollers 96. By turning the rotary knob, which, for example, comprises an internal thread in which a thread of the threaded bolt 94 is movable, a cross strut of the threaded bolt, which carries the rollers 96 and is guided in an elongated hole 98 of the second arm section 50', can adjust the force or the imparted torque of the clamping element. In an analogous manner, adjustment is realized at another location on the device 10 using a second rotary knob 92' and a second threaded bolt 94'. Furthermore, further adjustment is shown using a third rotary knob 92" and a third threaded bolt 94". Yet another adjustment is possible using a fourth rotary knob 92"" and a fourth threaded bolt 94"".A locking knob 92'" additionally serves to set a "zero position" on the cantilever arm 84. Further adjustment options are easily recognizable in the figures for the person skilled in the art, but are not explicitly provided with reference symbols in all cases in order not to overload the figures with reference symbols. For example, the second support can be guided or locked in its position along an elongated hole. Furthermore, the same applies to other smaller elements not designated in more detail as to the smaller elements shown in Figure 6. They can be easily replaced with functionally equivalent elements and are therefore merely examples, so that a more detailed description of these elements is again omitted here.Some of the recognizable elements obviously represent adjusting elements which can be used to adapt the relative dimensions of the device 10, for example to adapt it to a piece of furniture used together with the device 10.

[0049] Figure 7 shows the base section III, on which further parts of the first arm 22, in particular the first arm sections 48, 48', 48" and struts 49 with associated elastic tensioning elements 52', are visualized in an exploded view. The first arm sections 48, 48' and the struts 49 are connected to one another in an articulated manner and are coupled to one another by means of the elastic tensioning element 52' so that they can be deflected at least indirectly about their respective rest positions. The first arm section 48", on the other hand, is arranged "relatively fixed" (at least in its inclination relative to the base plate) and comprises an elongated slotted guide which, together with a further rotary knob 93 and an associated threaded bolt 95 and rollers fixed thereto, can adjust a preload on the elastic tensioning element 52'.The movably integrated struts 49 can, for example, serve to increase the stability of the first arm 22 by increasing the torsional rigidity of the arm through their multiple presence and also imposing additional restrictions on the degrees of freedom of movement of the interconnected arm sections 48, 48'. The first arm 22 ends at the base 12, which is arranged on a base plate 60 of the base 12 by means of linear springs 62, which are movable along a linear direction 66. The linear springs 62 are adjustable by means of an adjustment knob 28 and another adjustment knob 28'. In this way, both a "zero position" and the existing restoring forces in the linear direction 62 can be set. The linear springs 62 can be covered in the base 12 under a bellows 26 for safety. The construction provided in the base 12 in this respect can, for example, be considered similar to a drawer system.In addition, the first arm 22 is also rotatably mounted about a rotation axis 68 by means of a torsion spring 64, so that the first arm 22 is rotatably and displaceably mounted on the base plate 60 of the base 12. Furthermore, holding means 30 are provided on the base plate 60, which can be designed, for example, as simple rubber buffers to prevent relative movement of the base plate 60, i.e., the base 12 and thus the device 10 as a whole, on a support surface on which the base 12 rests. The base plate 60 can, for example, be completely detached from the remaining parts of the device 10 by means of clamping levers (not shown in more detail but nevertheless visible in the figure) and separated as needed. At the end of the first arm 22 opposite the base 12, a ball bearing 90 can also be seen, which provides the second arm 24 (relative to the first arm 22) with the ability to rotate about a further axis of rotation 68' at the connection area to the second arm 24.Instead of the ball bearing 90, an alternative swivel joint based on a different mechanical operating principle and providing the same degree of rotation can of course also be provided. Figure 7 also shows a multitude of other unspecified smaller elements, for which the same applies as for the unspecified smaller elements in Figures 5 and 6.

[0050] All of the aforementioned smaller, unspecified elements in Figures 5 to 7, which serve to releasably or non-releasably secure individual components of the device 10 to one another, are, as already mentioned, freely selectable in their exact design, with various alternatives being familiar to those skilled in the art. The precise structural details of the first device 10, visualized in exploded view in Figures 5 to 7, are therefore not limiting, but rather are to be provided as exemplary possibilities, and individual elements can easily be replaced with functionally equivalent elements.

[0051] The first device 10 is shown in Figure 2 in duplicate in a top view, visualizing a system 200 constructed from two first devices 10. This system 200 can then be used for the movable support of both legs of a user. The system 200 can, in particular, be designed to be collapsible and / or easily disassembled to allow for easy storage and / or transport.

[0052] Figure 8 shows a side view of a second embodiment of a device 100, which can be considered an alternative embodiment to the previously described first device 10. Instead of the two arms 22, 24, in the second device 100, a first support 114 and a second support 116 are connected to a base 112 by means of a rigid support structure 102. Since the support structure 102 is rigid in the second device 100, the two supports 114, 116 in the second device 100 are movably fixed via a cable construction. The first support 114 is connected to the base 112 via a first tension cable 108 and a first spring element 122. This is done via a first pair of pulleys 104, so that ultimately a lower leg of a leg to be supported can be placed in the first support 114, and there it is supported in a floating position above the base 112 without any force.In the same way, the second support 116 can be movably fixed above the base 112 via a second pull cable 109 and an associated second spring element 124, which is completely concealed by the first spring element 122 in Figure 8, via a second pair of deflection pulleys 106. If the first support 114 serves to support a lower leg, a foot of the leg to be supported can be placed on the second support 116. In order to prevent or at least minimize relative movement of the base 112 on a support surface (not shown in Figure 8) on which the second device 100 rests in its entirety, holding elements 130, for example in the form of rubber buffers, can be provided below the base 112, which increase friction between the second device 100 and the support surface.The second device 100 can also have a sensor system 118, which acquires sensor data via signal lines 138, in order to at least indirectly detect the spatial positions of the two supports 114, 116. The position data detected by the sensor system 118 can then be transmitted, for example, to a control device 120. The control device 120 can also be configured to control movement means 134, which can influence the spatial position of the two supports 114, 116. The movement means 134 can, for example, represent motors, which in turn influence the length of the tension cables 108, 109. Furthermore, the movement means 134 can also influence the restoring forces provided by the two spring elements 122, 124.

[0053] Figures 9 to 11 now show the system 200, which comprises two second devices 100. In particular, Figure 9 shows a top view of the system 200, Figure 10 an isometric three-dimensional view of the system 200, and Figure 11 an exploded view of the second device 100. For the sake of simplicity, the sensor system 118, the control device 120, the movement means 134, and the associated signal lines 138 are not shown. The mechanical structure of the second device 100 is self-explanatory for those skilled in the art and should be understood merely as an example. In particular, individual components can be replaced and exchanged for functionally similar assemblies. Furthermore, an external interface 136 is provided, via which the various detected movement signals can be output. This applies in particular to the smaller elements not further identified.Since the two supports 114, 116 are not clearly defined in their respective spatial positions due to the chosen "hanging" mounting by means of the tension cables 108, 109, a clear detection of the spatial positions of the two supports 114, 116 can be achieved, for example, using common means 132, such as position sensors, directly on the two supports, with direct optical detection representing only one of the possible approaches. This embodiment of the system 200 can also be designed to be collapsible and / or easily disassembled to allow for simple storage and / or transport.

[0054] Figure 12 shows three alternative schematic base sections for the device of Figure 4. The three alternatives of the base sections III shown in Figure 12 a , alb and lll cfulfill a similar function to the base section III shown in Figure 4, which essentially comprises the base 12 and the first arm 22. In the alternative base section III a The first arm 22 is replaced by three shock absorbers 72 that are pivotally connected to the base 12 and joined at a common connection point 70 at their ends opposite the base 12. This connection point 70 can then serve, for example, as a connection point to the thigh section II. The three shock absorbers 72 allow spatial movement of the connection point 70 relative to the base 12 in all three spatial dimensions, with the given range of motion being limited by the deflectability of the three shock absorbers 72. The force required for a movement is determined by the shock absorbers 72 themselves.

[0055] Similarly, in the alternative base section 111b, the connection point 70 is connected to the base 12 via a single shock absorber 72. However, in addition, a connection point is provided between the shock absorber 72 and the base 12 via a linear bearing 74 and another linear bearing 76, so that in the alternative base section 111b, too, spatial mobility of the connection point 70 relative to the base is ensured within the scope of the freedom of movement of the two linear bearings 74, 76 and the shock absorber 72.

[0056] In a functionally similar way, the alternative base section III cThe connection point 70 is realized by means of a gimbal suspension in the form of a rocker device 78, which additionally includes a linear spring providing a restoring force. Although the freedom of movement of the connection point 70 in the alternative base section IIIc is comparatively limited, it is entirely sufficient for the required application.

[0057] Figure 13 shows a side view of an alternatively designed device 10. The

[0058] The alternative device 10 shown in Figure 13 in a side view again comprises a plurality of arm sections 48, 48', 48", each of which is articulated to one another via a joint point 80. The first arm sections 48, 48', 48" can be viewed as arm sections forming a first arm 22. At the end of the first arm 22, a first support 14 is again arranged, which is intended for supporting a thigh. In the alternative embodiment shown in Figure 13, the first support 14 is displaceable along a linear direction by means of a first bearing 82, so that, compared to the first device 10 shown in Figure 1, there is an additional or alternative degree of freedom in the movement of the first support 14. The first arm 22 is connected to a second arm 24, which consists of individual second arm sections 50, 50', 50", which are again articulated to one another at joint points 80.The second support 16 and the foot support 40 are arranged on second arm sections 50', 50", wherein a second bearing 82' or a third bearing 82" serves to displace the second support 16 or the foot support 40 relative to the second arm section 50'; 50". The alternatively designed device 10 shown in Figure 13 can of course be supplemented with further components required for its functionality, for example clamping means, movement means, sensors and control devices, as already indicated or shown in Figure 1 in connection with the first device 10. Likewise, an addition to the linear displaceability of the two supports in the first embodiment according to Figures 1 and 3 to 7 is possible.

[0059] The articulation points 80 can each designate a rotation axis about which adjacent arm sections are rotatably mounted. The connection between the base 12 and the first arm section 48 can again be configured to be linearly displaceable and rotatable, analogous to the corresponding connection in the first device 10 in Figure 7.

[0060] Figure 14 shows a flowchart of a first method. The first method 1000 illustrated in Figure 14 begins, for example, with a step 1010 by detecting a movement cycle of the movably supported leg. The detected movement cycle can then be stored in a subsequent step 1020. Subsequently, a replication 1030 of the detected and stored movement cycle can be performed using a movement means designed to actively influence a movement of the first support 14 and / or the second support 16 in space. The detection 1010 of the movement cycle of the movably supported leg can optionally be performed based on a real movement of the movably supported leg or, alternatively, by "uploading" a movement cycle from an external source. A repetitive movement of the movably supported leg can then be realized with the aid of method 1000.This can be performed, for example, as part of a rehabilitation measure following surgery, injury, or in the case of paralysis. In the method 1000, the supported leg can thus be moved passively, while the user of the device 10, 100 performing the method 1000 can continue to sit or lie down.

[0061] Figure 15 shows a method 1100 for operating one of the systems 200 described above, wherein the method 1100 comprises, by way of example, the following steps: detecting 1110 movements of the movably mounted legs. In this way, for example, a walking movement simulated in the system 200 can be detected. The method 1100 is subsequently continued by sending data representing the detected movements to an external interface. The external interface can then be used, for example, to connect a data processing device, for example, a PC, in order to be able to use the data as a control signal, for example, to control an avatar in a virtual reality.

[0062] Figures 16 and 17 show three-dimensional isometric views of a further embodiment of the first device 10. In this further embodiment of the first device 10, the base 12, the first arm 22 and the second arm 24 are again particularly visible. Furthermore, the first support 14, the second support 16 and the foot support 40 are also clearly visible. The basic structure of the further embodiment of the first device 10 shown in Figures 16 and 17 largely corresponds to the device 10 shown, for example, in Figure 3. In particular, the embodiment shown in Figures 16 and 17 has a largely identical mobility of individual elements, even if in Figures 16 and 17 the existing pivot axes, in particular the first pivot axis 44 and the second pivot axis 46 shown in Figure 3, are not separately marked to simplify the illustration.

[0063] The further embodiment of the first device 10 shown in Figures 16 and 17 illustrates in particular an exemplary arrangement of components which are provided for active or passive mobility of the first device 10. In the region of the first arm 22, a first belt arrangement 202 and a second belt arrangement 204 can be seen, which are integrated into the first arm 22 or fastened thereto. The two belt arrangements 202, 204 each comprise a belt which transmits power between a drive wheel (not shown in more detail), which is coupled to an associated electric motor 34, and an output wheel. The provided electric motors 34 can be, for example, servo motors or stepper motors, which can cause an active movement of the first arm 22.The electric motors 34 can, of course, enable active or passive position determination, so that the electronics controlling the electric motors 34 reliably know or can determine the exact spatial position of the first arm 22. Further or alternative options for determining the position / orientation of the device 10, which are implemented independently of the provided electric motors 34, are of course possible. Any actuating force exerted by the electric motors 34 is always counteracted by a restoring force of the springs, which are designed for a zero position and are also visible in Figures 16 and 17. In the illustrated embodiment, the electric motors 34 are supplied with power by means of a power supply unit 208, which is arranged in the lower region of the arm 22.If necessary, it can be provided that the actuating force applied by the electric motors 34 temporarily approaches zero, by being controlled accordingly by the control electronics to allow passive movement / alignment of the device 10 by the leg supported in the supports 14, 16, 40, while the orientation of the device 10 continues to be detected by the electric motors 34 or other means provided for this purpose. The provided electric motors 34 can also be used as a type of "force sensor," since the force they must apply to change position can be measured in any position. It should also be mentioned at this point that fixation means (not shown) can be provided in the area of ​​some or all of the existing supports 14, 16, 40. These fixation means serve to secure the supported extremity, in particular the leg, which can be particularly advantageous in rehabilitation measures.These fixing means can, for example, be designed as simple (holding) straps that can be adjusted using Velcro or other fasteners and can be supplemented as required in any of the embodiments described in these documents.

[0064] An electric motor 34 can also be seen in the area of ​​the second arm 24, which is associated with a third belt arrangement 206 and a fourth belt arrangement 206', respectively. The third belt arrangement 206 and the fourth belt arrangement 206' are coupled to one another via a shaft (not further identified), optionally with a transmission, so that the second arm 24 as a whole can be moved by means of the electric motor 34, or its position can be determined via the electric motor.Overall, however, it should be noted that the "motorization" of the first device 10 shown in Figures 16 and 17 is merely exemplary (and optional), and other alternative motorizations, in particular alternative arrangements of the various active elements that induce movement of the first device 10 and / or detect their positioning for the electronic control, are also possible with alternative elements known per se to those skilled in the art. While the positioning of the various components in Figures 16 and 17 is considered particularly advantageous, it can also be implemented in other ways. In all of the described embodiments, all of the supports 14, 16, 40 described above can additionally be configured to perform tilting movements at their respective suspension points perpendicular to the respective longitudinal axes of the arm sections on which they are arranged.These tilt movements can, for example, increase the perceived comfort when moving the supported leg. These tilt movements can, for example, be limited to tilt movements of a few degrees, for example, ±5° around a non-tilted central position.

[0065] The features of the invention disclosed in the above description, in the drawings and in the claims may be essential for the realization of the invention both individually and in any combination.

[0066] List of reference symbols

[0067] 10 Device

[0068] 12 bases

[0069] 14 first edition

[0070] 14' first shift direction

[0071] 16 second edition

[0072] 16' second shift direction

[0073] 18 Sensor technology

[0074] 20 Control device

[0075] 22 first arm

[0076] 24 second arm

[0077] 26 Bellows

[0078] 28 Adjustment knob

[0079] 28' additional adjustment knob

[0080] 30 holding devices

[0081] 32 funds

[0082] 34 means of transport

[0083] 36 external interface

[0084] 38 Signal line

[0085] 40 Footrest

[0086] 42 connecting arm

[0087] 44 first pivot axis

[0088] 46 second pivot axis

[0089] 48 first arm section

[0090] 48' first arm section

[0091] 48" first arm section

[0092] 49 Bracing

[0093] 50 second arm section

[0094] 50' second arm section

[0095] 52 elastic tensioning element

[0096] 52' elastic tensioning element

[0097] 54 additional elastic tensioning element

[0098] 60 Base plate 62 Linear spring

[0099] 64 torsion spring

[0100] 66 linear direction

[0101] 68 axis of rotation

[0102] 68' additional rotation axis

[0103] 70 connection point

[0104] 72 shock absorbers

[0105] 74 linear bearings

[0106] 76 additional linear bearings

[0107] 78 Rocker device

[0108] 80 articulation point

[0109] 82 first storage

[0110] 82' second storage

[0111] 82" third bearing

[0112] 84 boom arm

[0113] 86 lower hinge point

[0114] 88 upper hinge point

[0115] 90 ball bearings

[0116] 92 rotary knob

[0117] 92' second rotary knob

[0118] 92" third knob

[0119] 92'" locking knob

[0120] 92"" fourth knob

[0121] 93 additional rotary knob

[0122] 94 threaded bolts

[0123] 94' second threaded bolt

[0124] 94" third threaded bolt

[0125] 94"" fourth threaded bolt

[0126] 95 Additional threaded bolt

[0127] 96 roll

[0128] 98 slot

[0129] 100 device

[0130] 102 Supporting structure

[0131] 104 first pair of pulleys

[0132] 106 second pair of pulleys

[0133] 108 first pull rope 109 second pull rope

[0134] 112 bases

[0135] 114 first edition

[0136] 116 second edition

[0137] 118 Sensor technology

[0138] 120 Control device

[0139] 122 first spring element

[0140] 124 second spring element

[0141] 130 holding devices

[0142] 132 funds

[0143] 134 means of transport

[0144] 136 external interface

[0145] 200 systems

[0146] 202 first belt arrangement

[0147] 204 second belt arrangement

[0148] 206 third belt arrangement

[0149] 206' third belt arrangement'

[0150] 208 power supply

[0151] 1000 procedures

[0152] 1010 Capture

[0153] 1020 Save

[0154] 1030 Replicate

[0155] 1100 procedures

[0156] 1110 Capture

[0157] 1120 Send

[0158] I Lower leg section

[0159] II Femoral section

[0160] III Base section

[0161] Illa alternative base section lllb alternative base section Ille alternative base section

Claims

Claims 1. A device (10, 100) for movably supporting a leg, comprising a base (12, 112); a first support (14, 114); a second support (16, 116); a sensor system (18, 118); and a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 100) associated with a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12) is pivotally connected to the first support (14) by means of a first arm (22), and the second support (16) is pivotally connected to the first support (14) or the first arm (22) by means of a second arm (24); or wherein a support structure (102) with at least a first pair of deflection pulleys (104) and a second pair of deflection pulleys (106) is arranged on the base (112), and wherein the first support (114) is connected to a first traction cable (108) which is connected to the base (112) via the first pair of deflection pulleys (104);and the second support (116) is connected to a second traction cable (109) which is connected to the base (112) via the second pair of pulleys (106); 2. Device (10) according to claim 1, wherein the first arm (22) supports the first support (14) in a rotatable and inclinable manner relative to the base (12) and wherein the second arm (24) supports the second support (16) in a pivotable manner relative to the first support (14).

3. Device (10) according to claim 1 or 2, wherein the first arm (22) comprises a plurality of first arm sections (48, 48') which are each connected to one another so as to be pivotable relative to one another by an angle gamma, and wherein the first arm sections (48, 48') are braced against one another by means of elastic tensioning elements (52, 52'), so that Pivoting of the first arm sections (48, 48') by the respective intermediate angle gamma is counteracted.

4. Device (10) according to one of the preceding claims, wherein the second arm (24) comprises a plurality of second arm sections (50, 50') which are each connected so as to be pivotable relative to one another by an angle delta, and wherein the second arm sections (50, 50') are braced relative to one another by means of further elastic tensioning elements (54) so ​​that pivoting of the second arm sections (50, 50') by the respective intermediate angle delta is counteracted.

5. Device (110) according to claim 1, wherein the first pull cable (108) is elastic or is connected to the base (112) via a first spring element (122) and the second pull cable (109) is elastic or is connected to the base (112) via a second spring element (124).

6. Device (10, 110) according to one of the preceding claims, wherein the base (12, 112) comprises holding means (30, 130) which counteract a relative movement of the base (12, 112) on a support surface on which the base (12, 112) is arranged.

7. Device (10, 110) according to one of the preceding claims, wherein the sensor system (18, 118) comprises means (32, 132) for detecting spatial positions and orientations of the first support (14, 114) and the second support (16, 116) and for transmitting them as detectable signals to the control device (20, 120).

8. Device (10, 100) according to claim 7, wherein the control device (20, 120) is configured to receive and further process the detectable signals.

9. Device (10, 110) according to one of the preceding claims, wherein the device (10, 110) comprises movement means (34, 134) to actively influence a movement of the first support (14, 114) and / or the second support (16, 116) in space.

10. Device (10, 110) according to claim 9, wherein the control device (20, 120) is configured to generate control signals for the movement means (34, 134) and to send them to the movement means (34, 134) in order to influence a movement of the first support (14, 114) and / or the second support (16, 116) in space.

11. System (200) comprising two fixedly connected devices (10, 110) according to one of claims 1 to 10.

12. A method (1000) for operating a device (10, 110) for movably supporting a leg, comprising a base (12, 112); a first support (14, 114); a second support (16, 116); a sensor system (18, 118); and a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 110) associated with a spatial movement of the two supports (14, 16; 114, 116); wherein the base (12, 112) is pivotally connected to the first support (14) by means of a first arm (22), and the second support (16) is pivotally connected to the first support (14) by means of a second arm (24); or wherein a support structure (102) with at least a first pair (104) of deflection pulleys and a second pair of deflection pulleys (106) is arranged on the base (112), and wherein the first support (114) is connected to a first traction cable (108) which is connected to the base (112) via the first pair of deflection pulleys (106);and the second support (116) is connected to a second pulley (109) which is connected to the base (112) via the second pair of pulleys (106), the method comprising: detecting (1010) a movement cycle of the movably mounted leg; storing (1020) the detected movement cycle; and replicating (1030) the detected movement cycle by means of a movement means (34, 134) which is designed to actively influence a movement of the first support (14, 114) and / or the second support (16, 116) in space.

13. A method (1100) for operating a system (200) according to claim 11, wherein the method (1100) comprises: detecting (1110) movements of the movably mounted legs; sending (1120) data representing the detected movements to an external interface (36, 136).

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