Tendon-driven wearable orthosis

Abstract

The present disclosure relates to a tendon-driven wearable orthosis configured to be worn by a user and to assist movement of at least one joint of the user, the tendon-driven wearable orthosis comprising an adapter unit connectable to at least one end effector via at least one tendon, the adapter unit releasably connectable to a motor unit configured to operate the adapter unit to apply tension to the at least one tendon to assist movement of the at least one joint, the adapter unit having at least one tensioning device configured to adjustably control a length of the at least one tendon between the adapter unit and the at least one end effector. Additionally, a method of calibrating a tendon-driven wearable orthosis configured to be worn by a user is disclosed.

Description

[Technical Field]

[0001] The present invention relates to a tendon-driven wearable orthosis and a method for calibrating a tendon-driven wearable orthosis. [Background technology]

[0002] The present invention is in the field of wearable prosthetics, and in particular, tendon-powered wearable prosthetics. Specifically, people suffering from some form of upper body paralysis, e.g., from a stroke, spinal cord injury, brachial plexus injury, or other cause, may have difficulty performing certain movements, such as grasping movements typically performed with their hands. To assist in or restore the ability to perform such movements, various types of mechanical devices have been developed, such as powered glove devices worn on a user's hand. Powered glove devices can be actuated using a tendon-based pneumatic system. Summary of the Invention [Problem to be solved by the invention]

[0003] Available tendon-based systems typically include an actuator connected to a glove structure via one or more tendons. Each tendon has a fixed length and is wound and unwound by the actuator. Therefore, accurate measurements must be taken of the user to ensure that the tendon length is accurately determined. The tendons are then cut to length and fixedly connected to the actuator and glove structure. Failure to obtain accurate measurements can result in inaccurate operation of the tendon-based system. For example, when an underactuated tendon-based system is used, inaccurate measurements can cause one or more fingers to flex and extend out of sync, resulting in unnatural finger movements and an inability to safely grasp an object.

[0004] Furthermore, the specific length required for each tendon is unique to each user, making mass-production of tendon-based systems impossible. This problem could be avoided by providing an individual tendon and corresponding individual actuator for each tendon. However, such an approach would significantly increase the power requirements, system complexity, cost, mass, and size of the prosthetic device.

[0005] It is therefore an object of the present invention to provide a tendon-driven wearable orthosis with excellent individual adaptability. This object is solved by a tendon-driven wearable orthosis and a method for calibrating a tendon-driven wearable orthosis according to the independent claims. Preferred embodiments are the subject of the dependent claims. [Means for solving the problem]

[0006] Aspects of the present disclosure relate to a tendon-driven wearable orthosis configured to be worn by a user. In particular, the tendon-driven wearable orthosis may be at least partially attachable to a harness, and the tendon-driven wearable orthosis and / or harness may be configured to be worn by a user. The harness may include, for example, one or more belts and / or one or more bands. The harness may include at least one of one or more fabrics, one or more plastics, one or more metals, and / or one or more composite materials. The harness may be a one-piece harness or may include one or more separate harness components, such as, for example, belts and / or bands.

[0007] The tendon-driven wearable orthosis is configured to assist movement of at least one joint of a user. A user's joint may connect two or more structures, such as bones, of the user's skeletal system. The tendon-driven wearable orthosis may be configured to generate a direct and / or indirect force, such as a tension force, on at least one structure to cause movement, such as a flexion movement, of at least one joint of the user, thereby assisting movement of the at least one joint. The tendon-driven wearable orthosis may be configured to simultaneously assist movement of multiple joints of the user, such as by assisting flexion movement of the user's fingers and / or hand.

[0008] The tendon-driven wearable orthosis may include an adapter unit connectable to at least one end effector via at least one tendon. In particular, the at least one tendon may be fixedly or releasably connectable to the adapter unit at a first end of the at least one tendon and fixedly or releasably connectable to the at least one end effector at a second end of the at least one tendon. Alternatively or additionally, the at least one tendon may be configured as at least one closed loop tendon, which may be fixedly or releasably connectable to the adapter unit and the at least one end effector.

[0009] The at least one tendon may be at least one cable element, such as a metal cable. However, the tendon-driven wearable prosthesis is not limited to this type of tendon, and any type of tendon may be used. The at least one tendon may all be formed from substantially the same material, or different materials may be used. Furthermore, the term "tendon" is intended to be broadly interpreted herein and thus includes other elements suitable for connecting the adapter unit to the at least one end effector. For example, the at least one tendon may alternatively or additionally comprise one or more of a band, a strap, a chain, a string, and / or a ribbon. Furthermore, the at least one tendon may be configured as at least one inner cable of the at least one Bowden cable.

[0010] The at least one end effector may be configured to be worn by a user, for example, on the user's hand and / or finger. However, the tendon-driven wearable prosthesis is not limited thereto and may be used on other parts and / or joints of a user. The at least one end effector may be configured to be fixedly or releasably connectable to at least one tendon. In particular, the at least one end effector may include one or more connection elements configured to be connectable to the at least one tendon, and the one or more connection elements may include one or more hooks, loops, and / or tendon guides. The at least one end effector may be configured to be attachable to a support structure, such as a glove structure, configured to be worn by a user. The tendon-driven wearable prosthesis may further include at least one tendon guide element configured to guide the at least one tendon from the adapter unit to the at least one end effector and / or support structure. The at least one tendon guide element may include a Bowden cable outer sheath, and each of the at least one tendon may be configured as an inner cable located inside the Bowden cable outer sheath. The at least one tendon guide element may be fixedly connected at a first end to the adapter unit and fixedly connected at a second end to the support structure, and thus may specifically allow for adjustably controlling the length of the at least one tendon, for example to pre-tension the at least one tendon, while maintaining a desired distance between the support structure and the adapter unit.

[0011] The adapter unit may be releasably connectable to the motor unit. For example, the adapter unit may be attachable to and / or engageable with the motor unit. The motor unit may be configured to operate the adapter unit to apply a tensile force to at least one tendon to assist movement of the at least one joint. In other words, the motor unit may be configured to operate the adapter unit to generate a tensile force, which may act on the at least one tendon to assist movement of the at least one joint. For example, when the adapter unit is connected to the motor unit, the motor unit may be configured to generate a force, such as a mechanical force, on the adapter unit to generate a tensile force on the adapter unit. The tensile force applied to the at least one tendon may be configured to generate a tensile force applied to the at least one end effector via the at least one tendon to assist movement of the at least one joint. The motor unit may be configured as, for example, a linear actuator or a rotary actuator. The motor unit may be configured as a non-backdrivable motor unit. In other words, the motor unit may be configured to move the adapter unit in one direction (e.g., forward or clockwise) instead of two directions (e.g., forward and backward, or clockwise and counterclockwise). In this way, particularly, a very simple motor unit configuration is possible.

[0012] The adapter unit further includes at least one tensioning device configured to adjustably control a length of the at least one tendon between the adapter unit and the at least one end effector. The at least one tensioning device may be configured to adjustably control the length of the at least one tendon to apply a pre-tension force to the at least one tendon between the adapter unit and the at least one end effector. Adjustably controlling the length of the at least one tendon may be understood, in particular, as adjustably increasing and / or decreasing the length of the at least one tendon. Thus, the length of the at least one tendon can be adjustably controlled to a desired length.

[0013] The adapter unit thereby advantageously allows efficient customization of the tendon-driven wearable orthosis to a user's specific needs or parameters, for example, separately for each user's finger. In particular, extensive measurements of the user prior to manufacturing the tendon-driven wearable orthosis are not required to achieve an individual fit. Furthermore, by providing such a tendon-driven wearable orthosis that includes an adapter unit, the tendon-driven wearable orthosis may be provided as a standardized product that can be efficiently and easily adapted to a user's individual needs. In particular, mass production of tendon-driven wearable orthosis may be achievable.

[0014] Furthermore, by providing a tendon-driven wearable orthosis that includes an adapter unit, the tendon-driven wearable orthosis can be dynamically adjusted to the user, thereby preventing user measurement errors from causing an improper fit and / or malfunction of the orthosis, and allowing the tendon-driven wearable orthosis to adapt to physiological changes in the user's body.

[0015] This also allows for efficient use of under-actuation in tendon-driven wearable orthoses. For example, the adapter unit and / or two or more tendons may be configured to be operable by a single actuator on the motor unit. This significantly reduces the requirements on the motor unit (e.g., power, cost, complexity, mass, and size requirements) while maintaining a large degree of freedom for any user. The ability to efficiently attach the adapter unit to the motor unit can further enhance the flexibility of the tendon-driven wearable orthosis.

[0016] Additionally, by providing such a tendon-driven wearable orthosis, the tendon-driven wearable orthosis can be worn by one or more users, and an individual fit can be achieved for each of said users, as desired and / or required by the current wearer of the tendon-driven wearable orthosis.

[0017] The tendon-driven wearable orthosis may be configured to be at least partially worn on a user's hand and / or arm. Specifically, the adapter unit may be connectable to at least one end effector via at least one tendon, and the at least one end effector may be configured to be worn and / or attached to the user's hand and / or at least one finger. The adapter unit may thereby be configured to apply a tensile force to at least one joint of the user's hand via the at least one tendon and the at least one end effector. In particular, the tendon-driven wearable orthosis may be configured to assist in movement of at least one finger joint of the user's hand. The movement of the at least one finger joint may be flexion and / or extension of the at least one finger joint.

[0018] Thus, the tendon-driven wearable orthosis can efficiently and easily assist a user in moving their hand, thereby assisting that movement for a user who suffers from hand movement problems due to, for example, a stroke.

[0019] In particular, the tendon-driven wearable prosthesis may be configured to support substantially simultaneous movement of at least two knuckles of the index finger, middle finger, ring finger, pinky finger, and / or thumb, which may provide highly efficient support for grasping movements of the user's hand.

[0020] "Substantially" should be understood in the context of this disclosure to include slight deviations caused, for example, by environmental and / or manufacturing / production reasons, unless a different definition is specifically provided.

[0021] The tendon-driven wearable orthosis may further include at least one tendon and at least one end effector. In particular, the tendon-driven wearable orthosis may include an adapter unit, at least one tendon, and at least one end effector, where the adapter unit is connected to the at least one end effector via the at least one tendon. Thus, it is possible to effectively provide the tendon-driven wearable orthosis as a unit that can be individually adjusted to the user's requirements via, for example, at least one tensioning device.

[0022] The tendon-driven wearable orthosis may further include a motor unit.

[0023] The at least one tensioning device may be configured to adjustably control the length of the at least one tendon between the adapter unit and the at least one end effector when the adapter unit is not connected to the motor unit. This allows the tendon-driven wearable orthosis to be individually adjusted for the user, particularly without requiring connection to a motor unit. This may achieve easier and simpler configuration of both the motor unit and the adapter unit. Additionally, because the adapter unit is separate from the motor unit, adjusting the length of the at least one tendon is further facilitated.

[0024] The adapter unit may further include at least one first spool, to which at least one tendon may be connectable. In particular, the adapter unit may include one first spool for each of the at least one tendon. Each tendon may be connectable to a respective one of the first spools. This enables efficient management of the at least one tendon in the tendon-driven wearable orthosis. The at least one first spool may be rotatable by the motor unit to exert a tension force on the at least one tendon. In particular, the at least one first spool may be configured to be operable to rotate around a corresponding rotation axis by the motor unit when the adapter unit is connected to the motor unit. Each first spool may have its own rotation axis, or one or more spools may share a common rotation axis. The at least one first spool may be configured such that rotation of the at least one first spool can at least partially wind the at least one tendon around the at least one first spool.

[0025] The at least one first spool may further comprise one or more spool bearings, such as, for example, one or more spool bearing washers. Although the provision of one or more spool bearings in the at least one first spool is described herein, it should be understood that any spool described herein may further include one or more spool bearings.

[0026] The at least one tensioning device may include at least one first tensioning tool releasably engageable with the adapter unit and the at least one first spool. "Releasably engageable" should be understood to encompass being configured to engage and disengage as needed, preferentially without causing substantial damage and / or deformation. Furthermore, the at least one first spool may be configured to be operable, preferentially rotatable, using the at least one first tensioning tool to control the length of the at least one tendon between the adapter unit and the at least one end effector. Preferably, the at least one first spool may be configured to be rotatable using the at least one first tensioning tool to reduce the length of the at least one tendon between the adapter unit and the at least one end effector. Thus, specifically, the length of the at least one tendon may be controlled very efficiently, allowing for better calibration of the tendon-driven wearable prosthesis to the individual requirements of the user.

[0027] The at least one first pulling tool may be at least one ratchet key. The at least one ratchet key may be configured to be operable to perform a ratcheting action. In particular, each ratchet key may include a plurality of first ratchet teeth, and the adapter unit may include a plurality of second ratchet teeth.

[0028] In the present disclosure, ratchet teeth may be understood to include a series of preferably alternating protrusions and recesses, each of which may extend radially outward or inward relative to a respective central axis of the element or structure that includes the series of protrusions and recesses, and the ratchet teeth may be configured to be at least partially elastically deformable as described herein.

[0029] Each ratchet key may be configured to be releasably engageable with the adapter unit and the at least one first spool such that the first ratchet teeth engage at least a portion of the second ratchet teeth. The first ratchet teeth and at least a portion of the second ratchet teeth may be configured to prevent rotation of the at least one first spool in a first rotational direction and allow rotation of the at least one first spool in a second rotational direction opposite the first rotational direction, with the first ratchet teeth engaging at least a portion of the second ratchet teeth. The first and second rotational directions may correspond, in particular, to opposite rotational directions of the at least one ratchet key and / or the at least one first spool about a central rotatable shaft. Thus, in particular, it may be possible to effectively reduce the length of the at least one tendon and maintain such reduced length of the at least one tendon using the at least one ratchet key. This allows for sequential length adjustment of multiple tendons without the user having to actively maintain any tendons at a shortened and / or desired length, such as by manually holding each ratchet key. Furthermore, if the tendons accidentally become too short and / or too tight, each ratchet key can simply be disengaged from its engagement with the adapter unit and the at least one first spool, allowing the at least one first spool to rotate and adjust the length.

[0030] The at least one tensioning device may further comprise a carriage movably mounted on the carriage track, and the carriage may be a spool carriage. The carriage or spool carriage may, for example, comprise a carriage body and at least one wheel element fixed to the carriage body and configured to enable the carriage or spool carriage to be movable along the carriage track. The carriage track may comprise one or more guide rails along which the carriage or spool carriage may be guided.

[0031] The at least one tensioning device may further include at least one connection device attached to the carriage, and the at least one tendon may be connectable to the at least one connection device, and the carriage may be configured to be movable along the carriage track by the motor unit to apply a tensioning force to the at least one tendon.

[0032] The at least one connection device may be provided as at least one second spool, as described further below. However, the at least one connection device is not limited to such a form and may be implemented as any at least one connection device configured to be connectable to at least one tendon. The at least one connection device may be provided, for example, as at least one adjustable clamp. Preferably, such a clamp may be configured to be operated with one hand, for example, without the use of a take-up pulley, thereby reducing the overall size of the connection. For example, a thumb screw may be tightened into a clamp plate that holds the tendon in place with the correct relative length. Such operation may be performed, for example, by a technician during initial fitting of the product.

[0033] The at least one tensioning device may further include at least one second spool mounted on the spool carriage, with at least one tendon connectable to the at least one second spool. The at least one second spool may be mounted on the spool carriage to rotate about a central rotation axis of the at least one second spool. The at least one second spool may further be configured to allow rotation of the at least one second spool to at least partially wind the at least one tendon around the at least one second spool. The spool carriage may further be configured to be movable along the carriage track by the motor unit to apply a tension force to the at least one tendon.

[0034] Thus, in particular, the pulling force can be efficiently generated by using, for example, a linear actuator configured to move the carriage or spool carriage along the carriage track.

[0035] The spool carriage may further include a plurality of third ratchet teeth. In particular, the plurality of third ratchet teeth may be provided on a spool carriage body of the spool carriage. The at least one second spool may include a plurality of fourth ratchet teeth releasably engageable with at least a portion of the plurality of third ratchet teeth. The plurality of fourth ratchet teeth and at least a portion of the plurality of third ratchet teeth may be configured to prevent rotation of the at least one second spool in a third rotational direction and allow rotation of the at least one second spool in a fourth rotational direction opposite the third rotational direction when the plurality of fourth ratchet teeth engages with at least a portion of the plurality of third ratchet teeth. In particular, the third rotational direction and the fourth rotational direction may correspond to opposite rotational directions about a central rotational axis of the at least one second spool. Specifically, the at least one tendon may be efficiently reduced in length and maintained at such reduced length.

[0036] The at least one tensioning device may further include at least one second tensioning tool releasably engageable with the at least one second spool. In particular, the at least one second spool may be configured to be rotatable in a fourth rotational direction using the at least one second tensioning tool to control the length of the at least one tendon between the adapter unit and the at least one end effector. For example, the at least one second tensioning tool may further include a rotation handle configured to be engageable with the at least one second spool and to enable a user to rotate the at least one second tensioning tool to cause rotation of the at least one second spool.

[0037] The at least one second spool may be further configured to be operable using at least one second tensioning tool to move the plurality of fourth ratchet teeth out of engagement with at least a portion of the plurality of third ratchet teeth. In particular, the at least one second spool may include at least one spring element. For example, the at least one second spool may be at least one second spring-loaded spool. The at least one spring element may be fixed at a first spring end to the spool carriage and / or the carriage body and / or fixed at a second spring end to the at least one second spool. A compression direction of the at least one spring element may be substantially parallel to a central rotation axis of the at least one second spool. The at least one second tensioning tool may be operable to apply a pressing force to the at least one second spool to compress the at least one spring element, thereby moving the plurality of fourth ratchet teeth out of engagement with at least a portion of the plurality of third ratchet teeth.

[0038] This provides a particularly efficient and easy-to-use means for adjustably controlling the length of at least one tendon. The length of at least one tendon can be easily reduced by engaging at least one second tensioning tool with at least one second spool and rotating the at least one second tensioning tool. Additionally, if the tendon accidentally becomes too short and / or too tight, a user or other force may be applied to each second tensioning tool to disengage the plurality of fourth ratchet teeth from at least a portion of the third ratchet teeth. This causes the at least one second spool to rotate in a third rotational direction, thereby increasing the length of the respective at least one tendon.

[0039] The at least one tensioning device may further include a multi-spool unit. The multi-spool unit may include at least a central rotating shaft and multiple third spools. Each of the third spools may be substantially identical to one another. The multiple third spools may be attached to the central rotating shaft. For example, each third spool may include a central mounting hole extending therethrough, and the central rotating shaft may be inserted into the central mounting hole. At least one tendon may be connectable to the at least one third spool, and the at least one tendon may be configured to be wound around the at least one third spool during rotation of the at least one third spool. In particular, the use of such a multi-spool unit allows efficient and simultaneous application of tension to at least one tendon by rotation of the central rotating shaft.

[0040] Furthermore, the multi-spool unit may be configured to be switchable between a first state and a second state. In the first state, each of the plurality of third spools may be configured to be rotatable, preferentially freely rotatable, around the central rotating shaft. In the second state, the plurality of third spools may be configured to be fixed relative to the central rotating shaft. For example, in the second state, the plurality of third spools may be compressed between an upper plate and a lower plate of the multi-spool unit, and the upper plate and the lower plate may be engaged with and / or fixed relative to the central rotating shaft. Furthermore, in the second state, the multi-spool unit may be configured to be rotatable by a motor unit to exert a tension force on at least one tendon. This may enable a simple design and operation of the multi-spool unit.

[0041] The at least one tensioning device may further include at least one third tensioning tool. The at least one third tensioning tool may be configured to be releasably engageable with the plurality of third spools in the first state to fix the orientation of the plurality of third spools relative to one another. For example, each of the plurality of third spools may include at least one locking hole extending therethrough. The at least one third tensioning tool may be insertable into the at least one locking hole of each of the plurality of third spools in order to fix the orientation of the plurality of third spools relative to one another. Thus, in particular, each of the third spools in the first state may be rotated around the central rotating shaft to a desired orientation, and then the at least one third tensioning tool may be inserted into the respective at least one locking hole. Thus, in particular, the length of each tendon connected to each of the third spools may be individually selected. The at least one third tensioning tool may be, for example, at least one locking screw, which may be configured to be threaded into the upper plate and / or the lower plate. In the second state, the at least one third tensioning tool may be removable from the multi-spool unit, thereby providing a simple and efficient means of adapting the multi-spool unit, and thus the tendon-driven wearable orthosis, to the individual requirements of the user.

[0042] For example, each of the multiple third spools may have eight locking holes extending therethrough. However, the multiple third spools are not limited to this number of locking holes, and the number of locking holes may be freely selected depending on the requirements of the tendon-driven wearable orthosis and / or the user. Specifically, by increasing the number of locking holes, more desirable positioning and / or greater precision of the multiple-spool unit may be achieved. Furthermore, by reducing the number of locking holes, for example, in light of the materials used for the multiple-spool unit, the structural stability of the multiple-spool unit may be improved, thereby reducing the likelihood of failure of the multiple-spool unit. Therefore, the number of locking holes may be selected by, for example, weighing such factors and finding an acceptable compromise according to the requirements of the tendon-driven wearable orthosis and / or the user.

[0043] The adapter unit may further include a tensioning device for each of the at least one tendon, each tensioning device configured to adjustably control the length of the respective tendon between the adapter unit and the at least one end effector. Alternatively, the adapter unit may include tensioning devices for a plurality of tendons or all of the tendons, each tensioning device configured to adjustably control the length of the respective tendon between the adapter unit and the at least one end effector.

[0044] The motor unit may be configured to operate the adapter unit to apply a tension force to at least two tendons substantially simultaneously to assist movement of the at least one joint. Preferentially, the motor unit may be configured to operate the adapter unit to apply a tension force to all tendons substantially simultaneously to assist movement of the at least one joint, thereby efficiently enabling the tendon-driven wearable prosthetic to assist, for example, a user in a gripping motion.

[0045] The adapter unit may be configured to be connectable to the motor unit and the at least one first tensioning tool, and may be configured to be connectable simultaneously to each of the at least one second tensioning tool and / or the at least one third tensioning tool. This allows the at least one first tensioning tool, the at least one second tensioning tool, and / or the at least one third tensioning tool to be used, respectively, to maintain a desired length of the at least one tendon until the adapter unit is connected to the motor unit. Specifically, this may prevent undesirable and / or unintended changes in the length of the one or more tendons during connection between the adapter unit and the motor unit.

[0046] A further aspect of the present disclosure relates to a method of calibrating a tendon-driven wearable orthosis configured to be worn by a user, where the tendon-driven wearable orthosis is configured to assist movement of at least one joint of the user. The tendon-driven wearable orthosis includes an adapter unit connectable to at least one end effector via at least one tendon. The method includes attaching the tendon-driven wearable orthosis to the user and adjustably controlling a length of at least one tendon between the adapter unit and the at least one end effector using at least one tensioning device of the adapter unit.

[0047] The step of adjustably controlling the length of the at least one tendon may further include releasably connecting at least one tensioning tool to the adapter unit. The at least one tensioning tool may be, for example, at least one first tensioning tool, at least one second tensioning tool, and / or at least one third tensioning tool as described herein.

[0048] The step of adjustably controlling the length of the at least one tendon may include using the at least one tensioning tool to control the length of the at least one tendon between the adapter unit and the at least one end effector, for example by manipulating, e.g., rotating and / or pivoting, the at least one tensioning device.

[0049] In particular, the method for calibrating a tendon-driven wearable prosthesis may include any combination of the features described herein for a tendon-driven wearable prosthesis.

[0050] A further aspect of the present disclosure relates to a method for assisting movement of at least one joint of a user, the method including calibrating a tendon-driven wearable orthosis configured to be worn by a user. In particular, calibrating the tendon-driven wearable orthosis may include performing a method for calibrating a tendon-driven wearable orthosis described herein. The method for assisting movement of at least one joint of a user further includes releasably connecting an adapter unit to a motor unit configured to operate the adapter unit to exert a tension force on at least one tendon to assist movement of the at least one joint of the user, and operating the adapter unit using the motor unit.

[0051] The step of releasably coupling the adapter unit may further include releasably coupling the adapter unit to the motor unit while at least one pulling tool is coupled to the adapter unit, and decoupling the at least one pulling tool from the adapter unit. The at least one pulling tool may be, for example, at least one first pulling tool, at least one second pulling tool, and / or at least one third pulling tool, as described herein.

[0052] In particular, the method for assisting movement of at least one joint of a user may include any combination of the features described herein for the tendon-driven wearable prosthetic device.

[0053] The present invention will now be further described with reference to exemplary embodiments illustrated in the accompanying drawings, it being understood that the present invention is not limited to said exemplary embodiments, but may instead comprise any combination of the features described herein and / or illustrated in the accompanying drawings. [Brief explanation of the drawings]

[0054] [Figure 1] FIG. 10 is a top view of an exemplary adapter top plate of an exemplary adapter unit. [Figure 2] FIG. 10 is a bottom view of the exemplary adapter top plate of the exemplary adapter unit. [Figure 3] FIG. 10 is a top view of an exemplary adapter bottom plate of an exemplary adapter unit. [Figure 4A] 1A and 1B are front and rear perspective views of an exemplary first spool. [Figure 4B] 1A and 1B are front and rear perspective views of an exemplary first spool. [Figure 5A] 1A-1C are front and rear perspective views of an exemplary first tensioning tool. [Figure 5B] 1A-1C are front and rear perspective views of an exemplary first tensioning tool. [Figure 6A] 1 is an exploded front and rear perspective view of an exemplary adapter unit. FIG. [Figure 6B] 1 is an exploded front and rear perspective view of an exemplary adapter unit. FIG. [Figure 7A] 10A-10D illustrate combinations of an exemplary motor unit and an exemplary adapter unit in different configurations while adjustably controlling the length of at least one tendon. [Figure 7B] 10A-10D illustrate combinations of an exemplary motor unit and an exemplary adapter unit in different configurations while adjustably controlling the length of at least one tendon. [Figure 7C]10A-10D illustrate combinations of an exemplary motor unit and an exemplary adapter unit in different configurations while adjustably controlling the length of at least one tendon. [Figure 7D] 10A-10D illustrate combinations of an exemplary motor unit and an exemplary adapter unit in different configurations while adjustably controlling the length of at least one tendon. [Figure 8] FIG. 1 is a simplified schematic diagram of a tendon-driven wearable orthosis. [Figure 9A] 1A-1C are two perspective views of an exemplary third spool of an exemplary multi-spool unit. [Figure 9B] 1A-1C are two perspective views of an exemplary third spool of an exemplary multi-spool unit. [Figure 10] 1A-1C are two perspective views of an exemplary multi-spool unit. [Figure 11] 1A-1C are two perspective views of an exemplary multi-spool unit. [Figure 12] 10A-10C are perspective views of a multi-spool unit in different configurations. [Figure 13] 10A-10C are perspective views of a multi-spool unit in different configurations. [Figure 14] 10A-10C are perspective views of a multi-spool unit in different configurations. [Figure 15] 10A-10C are perspective views of a multi-spool unit in different configurations. [Figure 16] FIG. 10 is an exploded perspective view of a further exemplary adapter unit having a further multi-spool unit. [Figure 17] FIG. 2 is a partially exploded perspective view of the multi-spool unit and the adapter unit. [Figure 18] FIG. 1 is a perspective view of an exemplary adapter unit. [Figure 19A] 3A and 3B are perspective top and bottom views of the adapter unit. [Figure 19B] 3A and 3B are perspective top and bottom views of the adapter unit. [Figure 20] 10 is a schematic side view of a further exemplary adapter unit and an exemplary motor unit. [Figure 21] FIG. 2 is a schematic top view of an exemplary adapter unit. [Figure 22] FIG. 1 is a flow diagram of an example method for calibrating a tendon-driven wearable prosthesis configured to be worn by a user. [Figure 23] FIG. 1 is a flow diagram of an exemplary method for assisting movement of at least one joint of a user. DETAILED DESCRIPTION OF THE INVENTION

[0055] It should be noted that in some of the following figures, at least one tendon and / or at least one end effector has been omitted from the illustration. This should not be understood as limiting the scope of the present disclosure. Instead, the omission of at least one tendon and / or at least one end effector is made for illustrative purposes only.

[0056] 1 illustrates a top view of an exemplary adapter top plate 10 of an exemplary adapter unit 1. In particular, adapter unit 1 may include an adapter top plate 10 and an adapter bottom plate 20 (e.g., shown in FIG. 3), which may be secured together to form a housing for adapter unit 1.

[0057] The adapter top plate 10 may be substantially planar and may include an upper surface 11 and a plurality of upper spool holes 12. In this exemplary adapter top plate 10, only four upper spool holes 12 are shown. However, it should be understood that more or fewer upper spool holes 12 may be provided. Each of the plurality of upper spool holes 12 may be configured to receive at least a portion of a correspondingly shaped first spool 30 (e.g., as shown in FIG. 4A ). Each of the plurality of upper spool holes 12 may be configured to extend substantially through the adapter top plate 10 in a direction substantially perpendicular to the upper surface 11. Each of the upper spool holes 12 may further include a plurality of second ratchet teeth 13 disposed along an edge of the respective upper spool hole 12 on the upper surface 11. Each of the plurality of second ratchet teeth 13 may extend at least partially along a radial direction of the respective upper spool hole 12 toward the center of the respective upper spool hole 12. Each second ratchet tooth 13 may further include a blocking contact surface that is substantially parallel to the radial direction and an angled contact surface that is at a substantially non-zero angle relative to the radial direction. While exemplary shapes for each of the plurality of second ratchet teeth are described above, it should be noted that each of the plurality of first, third, and fourth ratchet teeth may be similarly and / or correspondingly engagable. However, such exemplary shapes should not be understood as limiting. Instead, different exemplary shapes may be provided, and may depend on the first, second, third, and / or fourth rotational directions.

[0058] The adapter top plate 10 may further include a plurality of tendon holes 14 configured to guide at least one tendon from one or more upper spool holes 12 toward at least one end effector. The tendon holes 14 may extend substantially parallel to one another and / or substantially perpendicular to the plurality of upper spool holes 12. However, the present disclosure is not limited to such a configuration, and different arrangements of the tendon holes 14 may be provided depending on individual requirements, etc. Also, the tendon holes 14 may be provided in a portion of the adapter top plate 10 that is thicker than the average thickness of the adapter top plate 10.

[0059] The adapter top plate 10 may further include at least one top handling recess 15. The at least one top handling recess 15 may extend in a substantially perpendicular direction from a side of the adapter top plate 10. The at least one top handling recess 15 may be configured to facilitate handling of the adapter top plate 10 and / or adapter unit 1 by a user and / or to improve usability.

[0060] FIG. 2 shows a bottom view of the exemplary adapter top plate 10 of the exemplary adapter unit 1.

[0061] As shown in Figure 2, the plurality of upper spool holes 12 may extend through the adapter top plate 10 from the upper surface 11 to the lower surface 16 of the adapter top plate 10. The upper surface 11 and the lower surface 16 may be substantially parallel to each other. Also, as shown in Figure 2, the plurality of second ratchet teeth 13 may be provided only on a portion of each upper spool hole 12 substantially adjacent to the upper surface 11.

[0062] Additionally, a plurality of upper tendon grooves 17 may be provided in the lower surface 16. Each upper tendon groove 17 may be configured to extend from one of the upper spool holes 12 to one of the tendon holes 14 and to guide a respective tendon from the upper spool hole 12 to said one of the tendon holes 14.

[0063] The adapter top plate 10 may also include alignment protrusions 18 extending from the lower surface 16. The alignment protrusions 18 shown in Figure 2 are substantially rectangular, although alignment protrusions 18 of different shapes may be provided. The alignment protrusions 18 may be configured to engage corresponding alignment recesses 26 (see, e.g., Figure 3) in the adapter bottom plate 20, among other things, to align the adapter top plate 10 and the adapter bottom plate 20 relative to one another.

[0064] FIG. 3 illustrates a top view of the exemplary adapter bottom plate 20 of the exemplary adapter unit 1.

[0065] The adapter bottom plate 20 has an upper surface 21 and a plurality of lower spool holes 22. In this exemplary adapter bottom plate 20, only four lower spool holes 22 are shown. However, it should be understood that more or fewer lower spool holes 22 may be provided. Each of the plurality of lower spool holes 22 may be configured to receive at least a portion of a correspondingly shaped first spool 30 (e.g., shown in FIG. 4A ). Each of the plurality of lower spool holes 22 may be configured to extend substantially through the adapter bottom plate 20 in a direction substantially perpendicular to the upper surface 21.

[0066] Furthermore, multiple upper spool holes 12 and multiple lower spool holes 22 may be provided such that each upper spool hole 12 is aligned with one lower spool hole 22 to form a receiving space into which the first spool 30 can be accommodated and / or inserted.

[0067] The upper surface 21 may be provided with a plurality of lower tendon grooves 23. Each lower tendon groove 23 may be configured to extend from one of the lower spool holes 22 toward one of the tendon holes 14 and to guide a respective tendon from the lower spool hole 22 to one of the tendon holes 14. In particular, the plurality of upper tendon grooves 17 and the plurality of lower tendon grooves 23 may be provided such that each upper tendon groove 17 is aligned with a lower tendon groove 23 to define a guide passage for a respective tendon, and each guide passage may extend from one of the receiving spaces to one of the tendon holes 14.

[0068] Each lower tendon groove 23 may further include one or more groove protrusions 24, preferentially one or more semicircular groove protrusions 24, located at one or more positions along the respective lower tendon groove 23. The provision of such groove protrusions 24 may reduce the contact area between the tendon and the respective lower tendon groove 23, thereby facilitating tendon movement within the lower tendon groove 23 and reducing wear and tear therein. It should also be noted that any number of groove protrusions 24 may be provided. Furthermore, multiple groove protrusions 24 may be provided in one or more of the multiple lower tendon grooves 23 and / or one or more of the upper tendon grooves 17.

[0069] The adapter bottom plate 20 may further include at least one lower handling recess 15. The at least one lower handling recess 25 may extend in a substantially perpendicular direction from a side of the adapter bottom plate 20. The at least one lower handling recess 25 may be configured to facilitate handling of the adapter bottom plate 20 and / or the adapter unit 1 by a user and / or to improve usability. Furthermore, the at least one upper handling recess 15 may be provided to be substantially aligned with the at least one lower handling recess 25 to form a common handling recess when the adapter top plate 10 and the adapter bottom plate 20 are connected to one another.

[0070] The adapter bottom plate 20 may further include alignment recesses 26 extending from the upper surface 21. The alignment recesses 26 may be configured to engage with corresponding alignment protrusions 18 (see, for example, FIG. 2 ) on the adapter top plate 10, in particular, to align the adapter top plate 10 and the adapter bottom plate 20 relative to one another. However, the present invention is not limited to the exemplary alignment recesses 26 and alignment protrusions 18. Instead, each of the adapter top plate 10 and the adapter bottom plate 20 may include one or more alignment recesses 26 and / or one or more alignment protrusions 18 to align the adapter top plate 10 and the adapter bottom plate 20. Furthermore, the shape of each of the alignment recesses 26 and / or each of the alignment protrusions 18 may be freely selected, and at least one alignment recess 26 may be configured to engage with at least one alignment protrusion 18 to align the adapter top plate 10 and the adapter bottom plate 20 relative to one another.

[0071] 4A and 4B show perspective views of an exemplary first spool 30 from the front and rear, respectively.

[0072] The first spool 30 includes a substantially cylindrical central rotating shaft 31 and a tendon winding portion 32. The tendon winding portion 32 is disposed substantially at the center of the central rotating shaft 31, and at least one tendon can be connected to the first spool 30 at the tendon winding portion 32. In particular, the tendon winding portion 32 may be configured such that the first spool 30 rotates about the central rotating shaft 31 and / or a central rotation axis, thereby winding the connected tendon onto at least the central rotating shaft 31. The central rotation axis corresponds to the central axis of the central rotating shaft 31. The tendon winding portion 32 may further include a first circumferential boundary wall and a second circumferential boundary wall, and the tendon can be connected to the first spool 30 between the first circumferential boundary wall and the second circumferential boundary wall.

[0073] The first spool 30 may further include a first pulling tool engagement portion 33. The first pulling tool engagement portion 33 may be configured to be engageable with a first pulling tool, such as a ratchet key 40 (e.g., shown in FIGS. 5A and 5B ). The first pulling tool engagement portion 33 may be disposed at a first end of the central rotating shaft 31 and may be configured to be engageable with the first pulling tool such that rotation of the first pulling tool engaged with the first pulling tool engagement portion 33 causes rotation of the central rotating shaft 31 and / or the first spool 30 about the central rotation axis.

[0074] In the illustrated exemplary embodiment of the first spool 30, the first pulling tool engagement portion 33 is shown as a substantially cubic recess. However, the first pulling tool engagement portion 33 is not limited to such an embodiment. In particular, the first pulling tool engagement portion 33 may comprise one or more engagement recesses and / or one or more engagement protrusions. Furthermore, the respective shapes of the one or more engagement recesses and / or one or more engagement protrusions can be freely selected, for example according to specific requirements of a user.

[0075] The first spool 30 may further include a first motor unit engaging portion 34. The first motor unit engaging portion 34 may be configured to be engageable with a motor unit 100 and / or a motor unit spool engaging portion 102, for example, as shown in FIG. 7A. The first motor unit engaging portion 34 may be disposed at a second end of the central rotating shaft 31 and may be further configured to be engageable with the motor unit 100 and / or the motor unit spool engaging portion 102, such that rotation of the motor unit 100 and / or the motor unit spool engaging portion 102 engaged with the first motor unit engaging portion 34 causes rotation of the central rotating shaft 31 and / or the first spool 30 about the central rotation axis.

[0076] The first motor unit engaging portion 34 is shown as a substantially cubic recess in the illustrated exemplary embodiment of the first spool 30. However, the first motor unit engaging portion 34 is not limited to such a form. In particular, the first motor unit engaging portion 34 may comprise one or more engaging recesses and / or one or more engaging protrusions. Furthermore, the respective shapes of the one or more engaging recesses and / or one or more engaging protrusions can be freely selected, for example, according to the specific requirements of the user.

[0077] 5A and 5B show front and back perspective views, respectively, of an exemplary first pulling tool configured as an exemplary ratchet key 40. FIG.

[0078] The ratchet key 40 may include a handle 41 provided at a first end of the ratchet key 40, the handle 41 being configured to facilitate rotation of the ratchet key 40 about its axis of rotation. The handle 41 is not limited to the configuration and shape shown in Figures 5A and 5B, and can be freely selected according to the specific requirements of a user, etc.

[0079] The ratchet key 40 may further include one or more rotational direction indicators 42 that indicate the possible rotational directions of the ratchet key 40 when the ratchet key 40 is engaged with at least the adapter unit 1.

[0080] The ratchet key 40 may further include a plurality of first ratchet teeth 43. The first ratchet teeth 43 may be configured as a series of first ratchet teeth 43 arranged circumferentially around the rotation axis of the ratchet key 40, and each may include at least one protrusion extending radially outward relative to the rotation axis. Each ratchet tooth 43 may be configured to be elastically deformable, and each ratchet tooth 43 may be configured to be elastically displaceable along the radial direction relative to the rotation axis, for example, to be elastically displaceable inward along the radial direction.

[0081] The ratchet key 40 may further include a first spool engagement portion 44. The first spool engagement portion 44 may be configured to be engageable with the first spool 30 and / or the first pulling tool engagement portion 33 of the first spool 30, as shown in FIG. 4A , for example. The first spool engagement portion 44 may be located at a second end of the ratchet key 40. The first spool engagement portion 44 may be configured to be engageable with the first spool 30 and / or the first pulling tool engagement portion 33 of the first spool 30 such that, when the ratchet key 40 engages and rotates with the first spool 30 and / or the first pulling tool engagement portion 33, the first spool 30 rotates about the central rotation shaft 31 and / or its central rotation axis.

[0082] In the illustrated exemplary embodiment of the ratchet key 40, the first spool engagement portion 44 is shown as a substantially cubic protrusion. However, the first spool engagement portion 44 is not limited to such a form. In particular, the first spool engagement portion 44 may comprise one or more engagement recesses and / or one or more engagement protrusions. Furthermore, the respective shapes of the one or more engagement recesses and / or one or more engagement protrusions can be freely selected, for example, according to the specific requirements of the user.

[0083] The exemplary ratchet key 40 may be configured to releasably engage the adapter unit 1 and the at least one first spool 30 to engage the plurality of first ratchet teeth 43 with at least a portion of the plurality of second ratchet teeth 13. The plurality of first ratchet teeth 43 and at least a portion of the plurality of second ratchet teeth 13 may be configured to prevent rotation of the at least one first spool 30 and ratchet key 40 in a first rotational direction and to allow rotation of the at least one first spool 30 and ratchet key 40 in a second rotational direction opposite the first rotational direction. The plurality of first ratchet teeth 43 engage with at least a portion of the plurality of second ratchet teeth 13.

[0084] However, it should be noted that the first ratchet teeth 43 according to the present disclosure should not be understood as being limited to the number, shape, and configuration of ratchet teeth 43 shown, for example, in FIGS. 5A and 5B.

[0085] 6A and 6B show exploded front and rear perspective views, respectively, of an exemplary adapter unit 1.

[0086] 3, an adapter lower plate 20 may be provided. The adapter lower plate 20 may include at least one lower spool hole 22.

[0087] For example, as shown in FIGS. 4A and 4B, at least one first spool 30 may be provided, the first spool 30 being at least partially receivable within each lower spool bore 22 of the adapter lower plate 20.

[0088] Each first spool 30 may further include a spool bearing 50, which may be implemented, for example, as a spool bearing washer. The spool bearing 50 may be releasably attachable to the first spool 30, such as the central rotating shaft 31 of the first spool 30, and the spool bearing 50 may be located substantially between the first spool 30 and the adapter lower plate 20 and / or the adapter upper plate 10. Although not shown in FIGS. 6A and 6B, multiple spool bearings 50 may be provided for each first spool 30.

[0089] 1 and 2, an adapter top plate 10 may be provided. The adapter top plate 10 may include at least one upper spool bore 12. Each first spool 30 and spool bearing 50 may be at least partially received within a corresponding upper spool bore 12.

[0090] The adapter upper plate 10 and the adapter lower plate 20 may be secured together to form a housing for the adapter unit 1. Additionally, a ratchet key 40 may be provided, as shown in Figures 5A and 5B, for example. In particular, a ratchet key 40 may be provided on each first spool 30.

[0091] 7A, 7B, 7C, and 7D show the combination of the adapter unit 1 with an example motor unit 100 in different configurations while adjustably controlling the length of at least one tendon.

[0092] The motor unit 100 may include a housing configured to accommodate an actuator, such as a rotary actuator, and a drive shaft 101. The drive shaft 101 may be configured to be movable (e.g., rotatable) by the actuator. The drive shaft 101 may further be configured to move and / or rotate one or more motor unit spool engagement portions 102. Each motor unit spool engagement portion 102 may be configured to be engageable with the first motor unit engagement portion 34 of a corresponding first spool 30.

[0093] The motor unit 100 may further include an adapter mounting surface 103, and the adapter unit 1 and / or the adapter lower plate 20 may be mountable to this adapter mounting surface 103 so that each motor unit spool engaging portion 102 engages with a corresponding first motor unit engaging portion 34.

[0094] As shown in Fig. 7A, in an initial state, the adapter unit 1 is provided separately from the motor unit 100, and the ratchet key 40 is provided in a state where it is not engaged with the adapter unit 1. It should be noted that the tendon-driven wearable orthosis may be worn by a user in a first step. For the sake of explanation, such a step is not shown in Fig. 7A.

[0095] In a second step, shown in FIG. 7B , a ratchet key 40 may be attached to the adapter unit 1 and engage with the adapter unit 1 and / or at least one first spool 30. Specifically, the ratchet key 40 may be attached to the upper surface 11 of the adapter top plate 10. By turning the ratchet key 40, the length of each tendon connected to the first spool 30 may be individually controlled and / or adjusted. For example, in the second step, the ratchet key 40 may be turned to adjust, preferably decrease, the length of each tendon connected to the first spool 30 to a respective desired length.

[0096] 7C, the adapter unit 1 may be attached to the motor unit 100 while the ratchet key 40 remains attached to the adapter unit 1. This makes it possible, in particular, to maintain the adjusted desired length of at least one tendon at least until the adapter unit 1 is attached to the motor unit 100. In the third step, for example, each motor unit spool engagement portion 102 may be engageable with a corresponding first motor unit engagement portion 34, and the ratchet key 40 may be rotated to adjust (preferably reduce) the length of each tendon connected to the first spool 30.

[0097] 7D, the ratchet key 40 may be removed and / or detached from the adapter unit 1. Removing the ratchet key 40 allows the motor unit 100 to freely operate the adapter unit 1 to apply tension to at least one tendon and assist the user in moving.

[0098] 8 shows an abstract schematic diagram of a tendon-driven wearable orthosis. The tendon-driven wearable orthosis may include an adapter unit 1 and a motor unit 100, as described herein, where the adapter unit 1 is releasably connectable to the motor unit 100. Furthermore, the adapter unit 1 may be connectable to at least one end effector 70 via at least one tendon 60. The adapter unit 1 may include at least one tendon 60 and / or at least one end effector 70.

[0099] 9A and 9B show two perspective views of an exemplary third spool 210 of an exemplary multi-spool unit 200. FIG.

[0100] The third spool 210 may include a cylindrical central portion 211, which may include a central mounting hole 212. The cylindrical central portion 211 may further include one or more locking holes 213, which may be disposed adjacent to the central mounting hole 212.

[0101] The one or more locking holes 213 may be configured as a single locking hole 213 (not shown in FIGS. 9A and 9B) or as multiple locking holes 213, which may be arranged, preferably evenly spaced apart, in a circular fashion around the central mounting hole 212. The central mounting hole 212 and the one or more locking holes 213 may also extend substantially parallel to one another through the cylindrical central portion 211.

[0102] The third spool 210 may further include a preferably circular mounting plate 214 extending outward from the cylindrical central portion 211. The mounting plate 214 may be substantially planar and perpendicular to the central axis of the central mounting hole 212. The mounting plate 214 may further include a circumferential wall 215 extending perpendicularly from the mounting plate 214 and configured to at least partially surround the cylindrical central portion 211. The circumferential wall 215 may include at least one opening 216 configured to allow at least one tendon secured to the cylindrical central portion 211 to pass through the circumferential wall 215. Each third spool 210 may be configured such that a tendon attached to the respective cylindrical central portion 211 can be wound around the circumferential wall 215 during rotation of the third spool 210 about the central rotating shaft 240 (see, for example, FIG. 10 ).

[0103] The mounting plate 214, the circumferential wall 215, and at least one of the following: the adjacent mounting plate 214, the upper plate 220, and the lower plate 230 of a further third spool 210 mounted adjacent to the example third spool 210, may be configured to form a tendon passage for at least one tendon secured to the cylindrical central portion 211. The tendon passage may be specifically configured such that, during rotation of the example third spool 210, the tendons secured to the respective cylindrical central portions 211 may be wound around the circumferential wall 215 within the tendon passage.

[0104] 10 and 11 show two perspective views of an exemplary multi-spool unit 200, respectively.

[0105] The multi-spool unit 200 may include at least a central rotating shaft 240 and a plurality of third spools 210 mountable to the central rotating shaft 240. Each third spool 210 may be mountable to the central rotating shaft 240 substantially adjacent to at least one other third spool 210. The central rotating shaft 240 may be implemented as a central shaft thread. Each third spool 210 may include a central mounting hole 212 extending therethrough, through which the central rotating shaft 240 is insertable. Each third spool 210 may be configured as the third spool 210 shown in FIGS. 9A and 9B. The plurality of third spools 210 may be substantially identical or may include two or more third spools 210 that are different from one another.

[0106] The multiple-spool unit 200 may further include a top plate 220 attachable to the central rotating shaft 240. The top plate 220 may include a central top plate attachment hole 222 extending therethrough, into which the central rotating shaft 240 is insertable. The top plate 220 may further include one or more top plate locking holes configured for releasable engagement with the third pulling tool 250. Additionally, the top plate 220 may further include a top plate motor engagement portion 221 configured for engagement with a motor unit to enable the motor unit to operate and preferentially rotate the multiple-spool unit 200. The shape of the top plate motor engagement portion 221 may be selected according to, for example, the particular requirements of a user and / or a motor unit.

[0107] The multi-spool unit 200 may further include a lower plate 230 that is attachable to the central rotatable shaft 240. The lower plate 230 may have a central lower plate attachment hole 231 extending therethrough, and the central rotatable shaft 240 is insertable into the central lower plate attachment hole 231. The central rotatable shaft 240 may be engageable with the central lower plate attachment hole 231, such as by threading the central rotatable shaft 240 into the central lower plate attachment hole 231. Additionally, the plurality of third spools 210 may be attachable to the central rotatable shaft 240 between the upper plate 220 and the lower plate 230. Specifically, the central rotatable shaft 240 is engageable with the central lower plate attachment hole 231 and presses the upper plate 220 and the lower plate 230 together, thereby generating a compressive and / or clamping force on the plurality of third spools 210.

[0108] In particular, the multi-spool unit 200 may be configured to be switchable between a first state and a second state. In the first state, each of the plurality of third spools 210 may be configured to be rotatable, preferably freely rotatable, about the central rotating shaft 240. In the second state, the plurality of third spools 210 may be configured to be fixed relative to the central rotating shaft 240 by the plurality of third spools 210 being compressed between the upper plate 220 and the lower plate 230. In the second state, the multi-spool unit 200 may be configured to be rotatable by the motor unit to exert a tension force on at least one tendon.

[0109] The lower plate 230 may further include one or more lower plate locking holes 232 configured to be releasably engageable with the at least one third tensioning tool 250. The at least one third tensioning tool 250 may be implemented as at least one locking screw, each locking screw being engageable with the at least one lower plate locking hole 232. Additionally, the lower plate 230 may further include a recess configured to at least partially receive the at least one third tensioning tool 250, such as the head of the at least one locking screw.

[0110] At least one third pulling tool 250 may be configured to be releasably engageable with the plurality of third spools 210 to fix the orientation of the plurality of third spools 210 relative to one another, at least in a first state. The third pulling tool 250 may be configured, for example, to be inserted into the lower plate locking hole 232 of the lower plate 230 and the locking hole 213 of each of the plurality of third spools 210 to fix the orientation of the plurality of third spools 210 relative to one another. Such a configuration is shown, for example, in FIG. 13 , where the upper plate 220 and the central rotating shaft 240 are illustratively moved for clarity.

[0111] The at least one third tensioning tool 250 may be removable from the multiple-spool unit 200 in the second state, where the compressive force created by the upper plate 220 and the lower plate 230 being pressed together, as described above, may be sufficient to prevent the plurality of third spools 210 from rotating relative to one another in the second state. Alternatively, the at least one third tensioning tool 250 may be retained within the multiple-spool unit 200 in the second state such that relative rotation between the plurality of third spools 210 does not occur.

[0112] 12 shows a partial assembly view of the multi-spool unit 200. In this view, the upper plate 220, the plurality of third spools 210, and the lower plate 230 are arranged adjacent to one another in a stacked structure, with the central rotating shaft 240 and at least one third pulling tool 250 shown separately from the stacked structure.

[0113] 14 and 15 show two perspective views of a multi-spool unit 200 according to one of FIGS. 10-13 in a fully assembled configuration.

[0114] FIG. 16 illustrates a perspective exploded view of a further exemplary adapter unit 1A further including a multi-spool unit 200A.

[0115] The adapter unit 1A may include a top plate 10A, which may be substantially planar. The top plate 10A may include a multiple-spool unit recess 12A, which may be configured to at least partially receive and / or accommodate the multiple-spool unit 200A.

[0116] The adapter unit 1A may further include a lower plate 20A. The lower plate 20A may include a multi-spool accommodating space 22A configured to at least partially accommodate the multiple-spool unit 200A. The multiple-spool unit recess 12A and the multi-spool accommodating space 22A may be configured to form a substantially closed accommodating space in which the multiple-spool unit 200A can be accommodated. Furthermore, the upper plate 10A and the lower plate 20A may be configured to form a housing for the multiple-spool unit 200A. The lower plate 20A may further include one or more alignment posts 26A configured to at least partially engage with the upper plate 10A to align the upper plate 10A to the lower plate 20A.

[0117] Lower plate 20A may further include tendon outlet 28, which may be configured to guide one or more tendons connected to multi-spool unit 200A from within multi-spool accommodating space 22A through lower plate 20A toward at least one end effector. Tendon outlet 28 may be provided, for example, as one or more outlet holes in lower plate 20A.

[0118] The multiple-spool unit 200A may further include a central rotating shaft 240, an upper plate 220, and a lower plate 230 that are substantially similar to the central rotating shaft 240, the upper plate 220, and the lower plate 230, respectively, as described above for the multiple-spool unit 200. Therefore, redundant description will be omitted. The multiple-spool unit 200A may be switchable between a first state and a second state, similar to the multiple-spool unit 200.

[0119] The multiple-spool unit 200A may further include a plurality of third spools 210A, which may be configured similarly to the plurality of third spools 210 described above with respect to the multiple-spool unit 200. However, each third spool 210A may differ from the third spool 210 described above in that it includes additional engagement protrusions 217. Each third spool 210A may include a plurality of such engagement protrusions 217 disposed around the mounting plate 214 and / or the periphery of the third spool 210A.

[0120] The engagement protrusions 217 may be configured to facilitate rotation of each third spool 210A, for example, by a user. Furthermore, the lower plate 20A may include a plurality of access slits 27 extending through the lower plate 20A and positioned adjacent to the multiple-spool accommodating space 22A. Each access slit 27 may be configured and arranged to at least partially accommodate the engagement protrusions 217 of the third spool 210A when the multiple-spool unit 200A is accommodated within the multiple-spool accommodating space 22A. In particular, the engagement protrusions 217 may therefore extend at least partially from the multiple-spool accommodating space 22A through the access slits 27 when the multiple-spool unit 200A is accommodated within the multiple-spool accommodating space 22A. This allows each third spool 210A to be easily rotated, for example, by hand, without removing the upper plate 10A and the lower plate 20A.

[0121] Multiple-spool unit 200A may further differ from multiple-spool unit 200 in that a different third pulling tool 250A is provided. Third pulling tool 250A may be integrally formed. Specifically, third pulling tool 250A may include a plurality of locking protrusions 251, each of which may be configured to be engageable with lower plate locking hole 232 of lower plate 230 and locking hole 213 of each of the plurality of third spools 210A to fix the orientation of the plurality of third spools 210A relative to one another.

[0122] FIG. 17 is a partially exploded perspective view of the multi-spool unit 200A and the adapter unit 1A.

[0123] In particular, as shown in FIG. 17, the upper plate 220, the plurality of third spools 210A, and the lower plate 230 are arranged adjacent to one another in a stacked structure, while the central rotating shaft 240 and at least one third pulling tool 250A are shown separate from the stacked structure.

[0124] 18 is a perspective view of adapter unit 1A, in which upper plate 10A and lower plate 20A are secured together to accommodate multiple-spool unit 200A. In the illustrated adapter unit 1A, multiple-spool unit 200A is in a first state, and third pulling tool 250A is shown separately.

[0125] 18 further illustrates a plurality of engagement protrusions 217 of at least one third spool 210A extending through a plurality of access slits 27. In particular, the plurality of engagement protrusions 217 may extend through a plurality of access slits 27 and at least partially protrude from the bottom plate 20A so as to be accessible from outside the adapter unit 1A.

[0126] 19A and 19B show perspective top and bottom views, respectively, of adapter unit 1A. In particular, adapter unit 1A is shown fully assembled, with third pulling tool 250A engaged with multi-spool unit 200A to secure the orientation of multiple third spools 210A relative to one another.

[0127] Third pulling tool 250A may be configured to be flush with the bottom surface of bottom plate 20A when engaged with multiple-spool unit 200A. Third pulling tool 250A may further include access hole 252. An access key (not shown) may be provided and configured to engage access hole 252 to enable removal of third pulling tool 250A from multiple-spool unit 200A. Alternatively, third pulling tool 250A may include a handle (not shown) to enable removal of third pulling tool 250A from multiple-spool unit 200A.

[0128] FIG. 20 shows a schematic side view of a further exemplary adapter unit 1B and exemplary motor unit 100A, and FIG. 21 shows a schematic top view of exemplary adapter unit 1B.

[0129] The adapter unit 1B and / or at least one tensioning device may include a spool carriage 302 movably mounted on a carriage track 301. The spool carriage 302 and the carriage track 301 may be provided within a housing 300 of the adapter unit 1B. The spool carriage 302 may include a carriage body and at least one wheel element 303, which may be fixed to the carriage body and configured to allow the spool carriage 302 to be movable along the carriage track 301. The carriage track 301 may include two guide rails (e.g., as seen in FIG. 21 ) along which the spool carriage 302 can be guided. In an exemplary embodiment, the spool carriage 302 may include at least two wheel elements 303 for each guide rail.

[0130] The at least one tensioning device may further include at least one second spool 309 (e.g., four second spools 309 as shown in FIG. 21 ) attached to the spool carriage 302, and the at least one tendon 60 may be connectable to the at least one second spool 309. The at least one second spool 309 may be attached to the spool carriage 302 so as to be rotatable in a rotational direction R (e.g., see FIG. 21 ) about a central rotation axis of the at least one second spool 309. One tendon 60 may be at least partially wound around each second spool 309 by rotation of the respective second spool 309.

[0131] Spool carriage 302 may further include a plurality of third ratchet teeth 306 provided on a spool carriage body of spool carriage 302. Each second spool 309 may include a plurality of fourth ratchet teeth 305 releasably engageable with at least a portion of the plurality of third ratchet teeth 306. The plurality of fourth ratchet teeth 305 and at least a portion of the plurality of third ratchet teeth 306 may be configured to prevent rotation of each second spool 309 in a third rotational direction and to allow rotation of each second spool 309 in a fourth rotational direction (e.g., rotational direction R) opposite the third rotational direction while the plurality of fourth ratchet teeth 305 engages with at least a portion of the plurality of third ratchet teeth 306.

[0132] The at least one tensioning device may further include at least one second tensioning tool 304, and each second tensioning tool 304 may be releasably engageable with one second spool 309. In particular, the at least one second spool 309 may be configured to be rotatable in a rotational direction R using the at least one second tensioning tool 304, thereby enabling control of the length of the at least one tendon 60 between the adapter unit 1B and the at least one end effector.

[0133] The at least one second spool 309 may be further configured to be operable using the at least one second pulling tool 304 to move the plurality of fourth ratchet teeth 305 out of engagement with at least a portion of the plurality of third ratchet teeth 306. In particular, the at least one second spool 309 may include a spring element 308. Thereby, each second spool 309 may be specifically configured as a two-spring-loaded spool. The at least one spring element 308 may be secured at a first spring end to the spool carriage 302 and / or the carriage body and / or secured at a second spring end to the at least one second spool 309. A pressing force is applied to the second pulling tool 304, which engages with the at least one second spool 309, thereby compressing the at least one spring element 308, thereby allowing the plurality of fourth ratchet teeth 305 to move out of engagement with at least a portion of the plurality of third ratchet teeth 306.

[0134] The spool carriage 302 may further be configured to be movable along the carriage track 301 by the motor unit 100A to exert a tension force on the at least one tendon 60.

[0135] The motor unit 100A may include a motor element 106A and a spindle 103A. The spindle 103A may be connected at a first end to the motor element 106A and at a second end to the bearing element 101A. The spindle 103A may be provided with a thread 104A, and the motor unit 106A may be configured to actuate, e.g., rotate, the spindle 103A to linearly move the thread 104A along the spindle 103A. The motor unit 106A, spindle 103A, thread 104A, and bearing element 101A may be disposed within a motor unit housing 102A.

[0136] The adapter unit 1B and / or spool carriage 302 may further include a keyed motor engagement portion 307, and the motor unit 100A and / or sled 104A may include a keyed connection post 105A. The keyed connection post 105A may be configured to be engageable with the keyed motor engagement portion 307 when the adapter unit 1B is connected to the motor unit 100A, thereby enabling the motor unit 100A to move the spool carriage 302 along the carriage track 301.

[0137] FIG. 22 shows a flow diagram of an example method 400 for calibrating a tendon-driven wearable orthosis configured to be worn by a user.

[0138] In a first step 401, the method 400 may include providing a tendon-driven wearable orthosis. The tendon-driven wearable orthosis may be configured to assist movement of at least one joint of a user and may include an adapter unit connectable to at least one end effector via at least one tendon. The tendon-driven wearable orthosis may include any combination of features disclosed for tendon-driven wearable orthoses herein.

[0139] In a second step 402, the method 400 may further include fitting the tendon-driven wearable orthosis to the user. Fitting the tendon-driven wearable orthosis to the user may include, for example, at least partially fitting the tendon-driven wearable orthosis to the user.

[0140] In a third step 403, the method 400 may further include adjustably controlling a length of at least one tendon between the adapter unit and the at least one end effector, for example using at least one tensioning device of the adapter unit.

[0141] The third step 403 may further include a fourth step 404 of releasably coupling at least one pulling tool to the adapter unit.

[0142] The third step 403 may include a fifth step 405 of manipulating the at least one tensioning tool, for example by rotating and / or pivoting, to control the length of the at least one tendon between the adapter unit and the at least one end effector.

[0143] 23 shows a flow diagram of an example method 500 for assisting movement of at least one joint of a user. Method 500 may include, as a first step 501, calibrating a tendon-driven wearable prosthesis configured to be worn by a user. In particular, first step 501 may include performing method 400 for calibrating a tendon-driven wearable prosthesis described herein.

[0144] In a second step 502, the method 500 may include releasably connecting the adapter unit to a motor unit configured to apply tension to at least one tendon to assist movement of at least one joint of the user. In a third step 503, the method 500 may include operating the adapter unit using the motor unit.

[0145] The second step 502 may further include, as a fourth step 504, releasably connecting the adapter unit to the motor unit while at least one pulling tool is connected to the adapter unit.

[0146] The second step 502 may further include, as a fifth step 505, removing the at least one pulling tool from the adapter unit.

[0147] As will be readily understood from this disclosure, while the present invention has been described using exemplary embodiments illustrated in the accompanying drawings, the present invention is not limited thereto, and may instead be implemented by any combination of the features described herein and / or shown in the accompanying drawings. [Explanation of symbols]

[0148] 1, 1A, 1B adapter unit 10, 10A adapter top plate 20, 20A adapter bottom plate 11 Top side 12 Upper spool hole 13 Second ratchet tooth 14 Tendon foramina 15 Upper handling recess 16 Bottom side 17 Upper tendon groove 18 Alignment protrusion 21 Top side 22 Lower spool hole 23 Lower tendon groove 24 groove protrusion 25 Lower handling recess 26 Alignment recess 30 1st spool 31 Central rotating shaft 32 Tendon winding section 33 first pulling tool engagement portion 34 first motor unit engagement portion 40 Ratchet Key 41 Handle 42 Rotation direction indicator 43 First ratchet tooth 44 First spool engagement portion 50 spool bearing 60 Tendon 70 End Effector 100, 100A motor unit 101 Drive shaft 102 Motor unit spool engagement portion 103 Adapter mounting surface 101A Bearing element 102A Motor Unit Housing 103A Spindle 104A thread 105A Keyed Connection Post 106A Motor Element 200, 200A multi-spool unit 210, 210A 3rd spool 211 Cylindrical central part 212 Central mounting hole 213 Locking hole 214 Mounting Plate 215 Circumferential Wall 216 Opening 240 Central rotating shaft 220 Upper Plate 230 Lower Plate 221 Upper plate motor engagement part 222 Center upper plate mounting hole 231 Center plate mounting hole 232 Lower plate locking hole 250, 250A 3rd pulling tool 12A Multi-spool unit recess 22A multi-spool storage space 26A Alignment Post 27 Access slit 28 Tendon outlet 217 Engagement protrusion 251 Locking protrusion 252 Access hole 300 Housing 301 Carriage Truck 302 Spool carriage 303 Wheel Elements 304 Second tension tool 305 4th ratchet tooth 306 3rd ratchet tooth 307 Keyed motor engagement part 308 Spring Elements 309 Second spool R Rotation direction 400 Method (Calibration Method for Tendon-Driven Wearable Orthosis) Steps 401-405 500 Method (Method for assisting movement of at least one joint of a user) Steps 501 to 505

Claims

1. 1. A tendon-driven wearable orthosis configured to be worn by a user and to assist movement of at least one joint of the user, comprising: an adapter unit (1, 1A, 1B) connectable to at least one end effector (70) via at least one tendon (60); the adapter unit (1, 1A, 1B) is releasably connectable to a motor unit (100, 100A), the motor unit (100, 100A) being configured to operate the adapter unit (1, 1A, 1B) to apply a tension force to the at least one tendon (60) to assist movement of the at least one joint; the adapter unit (1, 1A, 1B) having at least one tensioning device configured to adjustably control a length of the at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70); Tendon-driven wearable orthosis.

2. the tendon-driven wearable orthosis is configured to assist movement of at least one knuckle of the user's hand; Optionally, the movement of the at least one finger joint is flexion and / or extension of the at least one finger joint. The tendon driven wearable orthosis of claim 1 .

3. The tendon-driven wearable orthosis includes: and / or further comprising at least one tendon (60) and at least one end effector (70); The at least one tensioning device configured to adjustably control a length of the at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70) while the adapter unit (1, 1A, 1B) is not connected to a motor unit (100, 100A); 10. The tendon driven wearable orthosis of any one of the preceding claims.

4. The adapter unit (1, 1A, 1B) further comprises at least one first spool (30); the at least one tendon (60) is connectable to the at least one first spool (30); the at least one first spool (30) is configured to be rotatable by the motor unit (100, 100A) to apply tension to the at least one tendon (60); 10. The tendon driven wearable orthosis of any one of the preceding claims.

5. the at least one tensioning device has at least one first tensioning tool releasably engageable with the adapter unit (1, 1A, 1B) and the at least one first spool (30); the at least one first spool (30) is configured to be operable using the at least one first tensioning tool to control the length of the at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70). The tendon driven wearable orthosis of claim 4.

6. the at least one first pulling tool is at least one ratchet key (40); Each ratchet key (40) includes a plurality of first ratchet teeth (43); The adapter unit (1, 1A, 1B) includes a plurality of second ratchet teeth (13); each ratchet key (40) is releasably engageable with the adapter unit (1, 1A, 1B) and at least one first spool (30) and configured to engage the plurality of first ratchet teeth (43) with at least a portion of the plurality of second ratchet teeth (13); At least a portion of the plurality of first ratchet teeth (43) and the plurality of second ratchet teeth (13) are configured to prevent rotation of the at least one first spool (30) in a first rotational direction while the plurality of first ratchet teeth (43) are engaged with at least a portion of the plurality of second ratchet teeth (13), and to allow rotation of the at least one first spool (30) in a second rotational direction opposite to the first rotational direction. The tendon driven wearable orthosis of claim 5 .

7. The at least one tensioning device a carriage movably mounted on a carriage track (301); at least one connecting device attached to the carriage, wherein the at least one tendon (60) is connectable to the at least one connecting device; and The carriage is movable along the carriage track (301) by the motor unit (100, 100A) and is configured to apply a tension force to the at least one tendon (60). The tendon-driven wearable orthosis according to any one of claims 1 to 3.

8. The carriage is a spool carriage (302), the at least one connection device is at least one second spool (309); The tendon driven wearable orthosis of claim 7.

9. The spool carriage (302) has a plurality of third ratchet teeth (306); the at least one second spool (309) includes a plurality of fourth ratchet teeth (305) releasably engageable with at least a portion of the plurality of third ratchet teeth (306); the plurality of fourth ratchet teeth (305) and at least a portion of the plurality of third ratchet teeth (306) are configured to prevent rotation of the at least one second spool (309) in a third rotational direction while the plurality of fourth ratchet teeth (305) are engaged with at least a portion of the plurality of third ratchet teeth (306), and to allow rotation of the at least one second spool (309) in a fourth rotational direction opposite the third rotational direction; The tendon driven wearable orthosis of claim 8.

10. the at least one tensioning device has at least one second tensioning tool (304) releasably engageable with the at least one second spool (309); the at least one second spool (309) is configured to be rotatable in a fourth direction using the at least one second tensioning tool (304) to control a length of the at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70); The at least one second spool (309) is configured to be operable using the at least one second pulling tool (304) to move the plurality of fourth ratchet teeth (305) out of engagement with at least a portion of the plurality of third ratchet teeth (306). The tendon driven wearable orthosis of claim 9.

11. The at least one tensioning device further comprises a multi-spool unit (200, 200A); The multi-spool unit (200, 200A) a central rotating shaft (240); a plurality of third spools (210, 210A) provided on the central rotating shaft (240) and to which the at least one tendon (60) can be connected; and The multi-spool unit (200, 200A) is configured to be switchable between a first state and a second state, In the first state, each of the plurality of third spools (210, 210A) is configured to be rotatable around the central rotating shaft (240), In the second state, the plurality of third spools (210, 210A) are configured to be fixed relative to the central rotating shaft (240); In the second state, the multi-spool unit (200, 200A) is configured to be rotatable by the motor unit (100, 100A) to apply a tension force to the at least one tendon (60). The tendon-driven wearable orthosis according to any one of claims 1 to 3.

12. the at least one tensioning device has at least one third tensioning tool (250, 250A); the at least one third pulling tool (250, 250A) is configured to be releasably engageable with the plurality of third spools (210, 210A) in the first state to fix the orientation of the plurality of third spools (210, 210A) relative to one another; The tendon driven wearable orthosis of claim 11.

13. The adapter unit (1, 1A, 1B) The motor unit (100, 100A) is configured to be simultaneously connectable to the at least one first pulling tool, the at least one second pulling tool (304), or the at least one third pulling tool (250, 250A), respectively.

13. The tendon-driven wearable orthosis of claim 5, 6, 10 or 12.

14. 1. A method (400) for calibrating a tendon-driven wearable orthosis configured to be worn by a user, comprising: the tendon-driven wearable orthosis is configured to assist movement of at least one joint of a user; The tendon-driven wearable orthosis has an adapter unit (1, 1A, 1B) connectable to at least one end effector (70) via at least one tendon (60); attaching a tendon-driven wearable orthosis to a user; adjustably controlling a length of the at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70) using at least one tensioning device of the adapter unit (1, 1A, 1B); A method (400) for calibrating a tendon-driven wearable orthosis, comprising:

15. The step of adjustably controlling the length of the at least one tendon (60) comprises: releasably connecting said at least one pulling tool to said adapter unit (1, 1A, 1B); operating the at least one tensioning device using the at least one tensioning tool to control the length of at least one tendon (60) between the adapter unit (1, 1A, 1B) and the at least one end effector (70); 15. The method (400) for calibrating a tendon-driven wearable robot of claim 14, comprising:

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