Devices for movably supporting, moving and / or detecting legs, a system comprising two such devices, and methods for operating them.

Abstract

The present 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 device (20,120) configured to control and / or monitor at least one function of the device (10,100) related to the spatial movement of the first support (14,114) and the second support (16,116). Here, the base (12) is rotatably connected to the first support (14) by a first arm (22), and the second support (16) is rotatably connected to the first support (14) or the first arm (22) by a second arm (24), or a support structure (102) comprising at least a pair of first deflection rollers (104) and at least a pair of second deflection rollers (106) is disposed on the base (112), the first support (114) is connected to a first traction cable (108) connected to the base (112) via a pair of first deflection rollers (104), and the second support (116) is connected to a second traction cable (109) connected to the base (112) via a pair of second deflection rollers (106). The present invention also relates to a system comprising two such devices, as well as to a method for operating the devices and the system.

Description

Technical Field

[0001] The present invention relates to an apparatus for movably supporting, moving and / or detecting a leg, a system including two of such apparatuses, and a method of operating the apparatus and the system.

Background Art

[0002] In modern society, people engaged in manual labor often continuously承受 heavy loads on their limbs such as legs, for example. There are occupations involving long hours of standing work or walking, for example. After finishing a long day of work, these people often want to rest in a sitting or lying position because a continuous and large load is applied to their legs. Although this way of thinking is understandable per se, in practice, people tend to spend most of their leisure time without exercising, which is not preferable from a health perspective. Instead, in leisure time, it is desirable to select simple, low-load exercise that does not place excessive burden on joints. Such exercise is also effective, for example, in rehabilitation situations after surgery or trauma, and it is desirable to have a function capable of recording exercise content for this purpose. The present invention may also include rehabilitation measures after stroke.

Summary of the Invention

Means for Solving the Problems

[0003] An object of the present invention is to provide an apparatus that can be used to solve or at least alleviate the above-described problems, a system including two of such apparatuses, and a method of operating the apparatus and the system.

[0004] This object is achieved by an apparatus having the features recited in independent claim 1, a system having the features recited in independent claim 11, and a method having the features recited in independent claims 12 and 13.

[0005] Advantageous embodiments are defined in the dependent claims.

[0006] This specification relates to 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 a device relating to the spatial movement of the two support parts. Here, the base is rotatably connected to the first support via a first arm, and the second support is rotatably connected to the first support or the first arm via a second arm, or a support structure comprising at least a pair of first deflection rollers and at least a pair of second deflection rollers is disposed on the base, the first support is connected to a first traction cable connected to the base via a pair of first deflection rollers, and the second support is connected to a second traction cable connected to the base via a pair of second deflection rollers.

[0007] In the context of this specification, “movably positioning the leg” should be understood to mean, for example, placing the leg in a suspended stationary position without the need for force. “Suspended” refers to a state in which the leg can be moved from its stationary position to any possible (spatial) direction without the need for force. The stationary position provided by the device corresponds to the zero position of the leg when positioned without force. A base provided on the device can define, for example, the lower part of the device that supports other parts of the device. The base functions as a stand that supports the entire device, allowing it to be freely positioned on the floor in a self-supporting state. In the context of this application, the term “support,” particularly the first support and the second support as used herein, should be understood to mean, for example, a padded surface on which each region of the leg that is supported without force can be placed. The first support can be designed, for example, as a support surface for the thigh, and the second support can be designed to support the lower leg. Alternatively, the first support could be designed to support the lower leg, and the second support could be designed as a footrest. Depending on the intended use, the dimensions of the support can be appropriately selected, and the support for the thigh can be, for example, larger and particularly wider than the support for the lower leg. In the context of this application, “rotatably connected” should be understood to mean a connection having, for example, at least two segments that are pivotable relative to each other at a common connection point. A rotatable connection may be rotatable in one or two planes. Rotation in one plane may be provided, for example, by a linear rotation in which one segment rotates relative to the other segment around a fixed axis of rotation. Rotation in two planes may be provided, for example, by a ball joint that allows one segment to rotate arbitrarily relative to the other segment. Such pivotability may be achieved, for example, by two mutually orthogonal axes of rotation that can be used simultaneously.Additional pivot points may be provided within the first and / or second arms to adapt the existing range of motion of the two support parts and the existing restoring force that holds them in a predetermined zero position to the external conditions determined by the supported leg. In the context of this application, “support structure” should be understood to mean an inherently rigid and inflexible structure that can be used as a fixed support point for any component that may be movable. The device described herein can be used to provide a joint-friendly option for moving a leg in an easy and load-free manner. The device functions like a footstool and can be used by the user in a seated or reclining position. Thus, the device can be freely placed in front of any chair or bedding and used in conjunction with them when the user sits or lies down.

[0008] When the base is rotatably connected to the first support via the first arm, and the second support is rotatably connected to the first support or the first arm via the second arm, it is preferable that the first arm supports the first support so as to be rotatable and tiltable relative to the base, and the second arm supports the second support so as to be rotatable relative to the first support or the first arm. By using a device configured in this way, it becomes possible to reproduce the natural range of motion of the supported leg. The degrees of freedom of the hip joint, which is configured as a ball joint, are reproduced by mounting the first support so as to be rotatable and tiltable relative to the base, and the degrees of freedom of the knee joint are reproduced by supporting the second support so as to be easily rotatable relative to the first support or the first arm. Therefore, the relative positional relationship of the two support parts of the device generally always corresponds to a position in which the supported leg can move without difficulty.

[0009] When the base is rotatably connected to a first support via a first arm, and the second support is rotatably connected to the first support or the first arm via a second arm, it is preferable that the first arm comprises a plurality of first arm sections, which are connected so as to be rotatable relative to each other by an angle γ, and that the rotation based on the angle γ between the arm sections is restricted by the first arm sections being biased toward each other by an elastic tension element. In this way, the stationary position of the first support (relative to the base) can be precisely set in advance, and at the same time, the restoring force (or torque) that returns the first support to the set stationary position after displacement can be individually adjusted. By configuring the restoring force to be adjustable by an elastic tension element, it is possible to easily adapt to the weight of the supported leg by, for example, changing or adjusting the existing tension. The elastic tension element can be configured as, for example, an elastic rope or strap. Alternatively, a spring element in the form of a simple compression spring or tension spring may be used in combination with a non-elastic rope or strap.

[0010] If the base is rotatably connected to the first support via the first arm, and the second support is rotatably connected to the first support or the first arm via the second arm, the second arm may further comprise a plurality of second arm segments, which are connected so as to be rotatable relative to each other by an angle δ, and the second arm segments are biased toward each other by an additional elastic tension element so as to restrict rotation by the angle δ between the segments. In this way, the stationary position of the second support (relative to the first support) can be precisely set in advance, and at the same time, a restoring force can be provided to return the second support to the set stationary position after displacement. By making the restoring force or torque generated by the additional elastic tension element adjustable, it is also easy to adapt it to the weight of the supported leg, for example, by changing or adjusting the existing tension. The additional elastic tension element can also be configured, for example, as an elastic rope or strap. In this case as well, for example, a simple compression spring or tension spring can be used as a spring element in combination with an inelastic rope or strap. Instead of using an elastic tension element, a configuration can be adopted in which the position and restoring force are more directly adjusted by an electric motor, similar to known controllers that provide force feedback. Here, a steering wheel is given as an example.

[0011] In a support structure where the support structure is arranged on a base with at least a pair of first deflection rollers and at least a pair of second deflection rollers, and the first support is connected to a first traction cable connected to the base via a pair of first deflection rollers, and the second support is connected to a second traction cable connected to the base via a pair of second deflection rollers, it is preferable that the first traction cable is designed to be elastic, or that the first traction cable is connected to the base via a first spring element, and the second traction cable is designed to be elastic, or that the second traction cable is connected to the base via a second spring element. In this way, even in this case, it is possible to accurately set the stationary positions of the first support and the second support in advance, and at the same time, an adjustable restoring force can be realized to return the first support and the second support to their respective preset stationary positions after displacement. Since the force can be adjusted by the elastic element, it is also possible to easily adapt to the weight of the supported leg. It is preferable that the restoring force can be adjusted independently of each other by separate restoring elements.

[0012] Furthermore, the base may include fixing means that restrict the relative movement of the base on the support surface on which the base is placed. This allows the device to be easily fixed to the support surface, so to speak. These fixing means may be in the form of, for example, rubber buffers, and the movement of the base on the support surface can be restricted by the increased frictional force generated between the rubber buffer and the support surface during use. Other designs of fixing means for simple and easy fixing of the base to the support surface are also being considered. Possible options include spikes, suction cups, Velcro® surfaces, or similar elements that increase the frictional force generated between the support surface and the device, depending on the properties of the support surface. These elements may be designed to be interchangeable to allow adaptability to the substrate surface.

[0013] Furthermore, the sensor system may include means for detecting the spatial position and orientation of the first and second support parts and transmitting them as detectable signals to a control device. This makes it possible to use the device as an input device in which the spatial movement of the supported legs is recorded as an input signal and provided and / or stored for further use.

[0014] In this specification, the control device may be designed to receive and further process a detectable signal. This makes the input signal generated by the supported leg usable later, for example, by smoothing and / or processing it and / or storing it in such form and / or in the form of raw data. For example, a comparison with a known action pattern to be practiced / repeated can be considered, and the success or failure of the practice can be verified by a simple comparison of the currently acquired input signal with the stored reference signal. The stored reference signal may be, for example, one previously generated by the user or a signal set at the time of shipment from the factory.

[0015] Furthermore, the device may include drive means for actively controlling the movement of the first and / or second support parts in space. This makes it possible to use the device, for example, as a training device for optimizing existing motion sequences of supported legs. For example, it is possible to manipulate the movement of the legs according to the state of an avatar in a virtual space, for instance, by applying a load to the movement when the avatar is walking underwater.

[0016] Furthermore, the control device may be designed to enable control of the movement of the first and / or second support parts within space by generating and transmitting control signals for the drive means. This makes it possible to use the device as a therapeutic device, for example, as part of postoperative follow-up care for mobility. It can also be used to realize individualized exercise therapy for users who are unable to move the supported leg independently due to temporary or chronic paralysis, for example.

[0017] Furthermore, a system is described that includes two such devices connected to each other so as to be fixed to one another. This system can be used to support both of the user's legs simultaneously, thereby enabling simultaneous natural movements of both legs, such as walking, running, jumping, or squatting, and allowing information about those movements to be obtained. Any embodiment of the devices described above can be used as a coupled device to constitute such a system, and these devices are preferably identical.

[0018] Any one or more of the above devices or systems may be designed to be foldable and / or disassembled. For example, to achieve a particularly space-saving relative arrangement of the entire device and / or system, one, more, or all of the rotatable connection points may be configured to perform special rotational movements, such as particularly large rotational movements. In this context, it is also conceivable that they may be configured to be lockable at this particular relative position. Alternatively or additionally, the devices and / or systems may also be disassembled into separate elements that are separable from one another. Dedicated or additionally designed connection points may also be provided for space-saving storage.

[0019] Also described is a method for operating such a device for movably supporting a leg. The device comprises a base, a first support, a second support, a sensor system, and a control device designed to control and / or monitor at least one function of a device relating to the spatial movement of the two support parts, wherein the base is rotatably connected to the first support by a first arm, and the second support is rotatably connected to the first support or the first arm by a second arm, or a support structure having at least a pair of first deflection rollers and at least a pair of second deflection rollers is disposed on the base, the first support is connected to a first traction cable connected to the base via a pair of first deflection rollers, and the second support is connected to a second traction cable connected to the base via a pair of second deflection rollers. The method includes the steps of detecting an operating cycle of a movably mounted leg, storing the detected operating cycle, and reproducing the detected operating cycle by a drive means configured to actively control the movement of the first support and / or the second support in space. This makes it possible to realize the advantages of the apparatus with respect to the detection and subsequent reproduction of operating cycles as part of the method. Even if only one embodiment of the apparatus described above is explicitly referred to in connection with the implementation of the method, embodiments of all other apparatuses described above, equipped with the necessary driving means, are also explicitly suitable for the method described, and their use in the method described is also deemed to be disclosed herein.

[0020] Furthermore, a method for operating a system of the type described above is also described, the method comprising the steps of: detecting movement of a movably supported leg; and transmitting data representative of the detected movement to an external interface. This enables the system to be used as an input device, and the detected, particularly natural, movement of the supported leg can be used as an output signal for control purposes. For example, it becomes possible to control an avatar in virtual reality, wherein the detected leg movement is determined as walking or running movement, as well as jumping and crouching movement, and transmitted to the controlled avatar. This method allows a user to easily control walking or running movement of an avatar in a virtual environment from a relaxed sitting or reclined posture. Again, the system may comprise any of the devices described above.

[0021] The present invention described above is illustrated by way of example below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] [Figure 1] It is a side view of a first device. [Figure 2] It is a top view of a system including two first devices. [Figure 3] It is a three-dimensional isometric view of the first device shown in Figure 1. [Figure 4] It is an exploded view of the first device shown in Figure 3 divided into three parts. [Figure 5] It is an exploded view of the first part of the first device shown in Figure 4. [Figure 6] It is an exploded view of the second part of the first device shown in Figure 4. [Figure 7] It is an exploded view of the third part of the first device shown in Figure 4. [Figure 8] It is a side view of a second device. [Figure 9] It is a top view of a system including two second devices. [Figure 10] It is a three-dimensional isometric view of the system shown in Figure 9. [Figure 11] It is an exploded view of the second device shown in FIG. 8. [Figure 12] It is a schematic diagram of three different third portions for the device shown in FIG. 4. [Figure 13] It is a side view of a device with another design. [Figure 14] It is a flowchart of the first method. [Figure 15] It is a flowchart of the second method. [Figure 16] It is a first three-dimensional isometric view of still another embodiment of the first device. [Figure 17] It is a second three-dimensional isometric view of still another embodiment of the first device. MODE FOR CARRYING OUT THE INVENTION

[0023] In the following description of the drawings, identical reference signs are used to denote identical or similar components.

[0024] Figures 1 and 3 to 7 show the apparatus 10 from different viewpoints and in different assembly states. Since all of the above figures show the same apparatus 10, these figures will be referred to as needed in the following description of the apparatus 10. The exemplary side view of the first apparatus 10 shown in Figure 1 shows a base 12 to which an upwardly extending first arm 22 is connected. The first arm 22 is used to rotatably connect (link) the first support 14 to the base 12. Optionally, the first support 14 may be connected to the first arm 22 so as to be movable in a linear direction along the first arm 22. The first arm 22 extends upward and is connected to a second arm 24, which is provided with a second support 16. The second support 16 may optionally be connected to the second arm 24 so as to be movable in a linear direction along the second arm 24. The second arm 24 is connected to the first arm 22 via an extension arm 84, which coincides with a first pivot axis 44 that allows the second arm 24 to rotate relative to the first arm 22. Since the second arm 24 is rotatable like the first arm 22, the second support 16 is ultimately rotatably connected to the first support 14 via the two arms 22, 24, and also rotatably connected to the base 12. Figure 1 also shows an optional footrest 40 in the end region of the second arm 24 spaced apart from the first arm 22, which is rotatably connected to other components of the second arm 24 via a connecting arm 42. Since each of the two arms 22 and 24 is configured to be movable, when each support part 14 and 16 makes any linear movement along the respective arms 22 and 24 on which they are positioned, such movement does not necessarily occur in a direction parallel to the orientation of each arm 22 and 24, but always in a direction parallel to the direction in which each supported leg portion normally extends. For example, in Figure 3, these directions are shown as the first displacement direction 14' and the second displacement direction 16', respectively.

[0025] The device 10 can be used as a whole to movably support a leg, in which case the thigh of the supported leg rests on the first support part 14, the lower leg rests on the second support part 16, and the foot rests on the footrest 40. Optionally, the first support part 14 and / or the second support part 16 and / or the footrest 40 may be equipped with pads and / or additional fixing means, so that during use of the device 10, each part of the leg being supported is held comfortably in the appropriate support position on each support part 14, 16. When the device 10 is in use, the weight of the supported leg is supported by elastic tension elements corresponding to the first arm 22 and the second arm 24, respectively, so that the leg is supported without requiring any force. These elastic tension elements will be described in more detail below. The force applied by the elastic tension element causes each part of the supported leg to act on the two support parts 14 and 16, thereby holding the device 10 in a stationary position. As a result, the leg is ultimately supported without force in a stationary or zero position that can be preset by the device 10. For example, in its broadest sense, this stationary position can simulate a nearly straight leg, allowing a user seated or reclining on external furniture to move their leg from this stationary position with minimal effort while the device 10 supports it. In this case, the device 10 functions as a piece of furniture, such as a footstool, which the user can use accordingly. This furniture may generally be a seating chair or a reclining piece of furniture, such as a weight bench with a short backrest.

[0026] Figure 1 schematically shows a sensor system 18 along with corresponding signal lines 38, which are connected to various movable components of the device 10. A control device 20 is also shown. The sensor system 18 makes it possible to detect, in particular, the relative positions of relevant components of the device 10, thereby ultimately allowing the sensor system 18 to be used to obtain how the legs supported by the device 10 move over time. In Figure 1, the sensor system 18 is shown positioned at a distance from the movable components of the device 10, with only the signal lines 38 connected to them, but in the context of this application, this means that specific sensors detect the movement of the movable components of the device 10. In this regard, specific means 32, such as sensors, may be provided at the ends of all the signal lines 38 and shown accordingly. Thus, the sensor system 18 and the corresponding signal lines 38 are merely illustrative placeholders of a functional configuration designed for functions known to those skilled in the art. For example, three sensors can detect the position of the device 10 with sufficient accuracy, but more specific means 32 can be provided, for example, to ensure redundancy. Furthermore, depending on the quality of the position data provided by the sensors used, more or fewer sensors may be required. In some cases, a single position sensor may suffice. Moreover, the specific arrangement of existing sensors can be adjusted to suit the respective conditions and modified as needed.

[0027] Furthermore, Figure 1 shows the driving means 34 for each elastic tension element, which is connected to a control device 20 and controllable by the control device 20, thereby causing, or at least controlling, movement between the various components of the device 10. The control device 20 may also have an external interface 36, which the control device 20 uses to transmit positional information regarding the movement of the supported legs detected by the sensor system 18 to an external unit such as a PC. This data can be used, for example, as a control signal for an avatar in a virtual environment.

[0028] Figure 3 is a three-dimensional isometric view of the first apparatus 10 shown in Figure 1, and Figure 4 is a diagram showing the apparatus 10 divided into three segments, namely lower leg segment I, thigh segment II, and base segment III, for ease of explanation. These three segments can be assembled along the illustrated exploded lines, and to more clearly show the mechanical connections, some components of the first apparatus 10 are shown overlapping in the region where the three different segments I, II, and III intersect each other. Figures 5-7 are exploded views of each of these three segments, with Figure 5 showing lower leg segment I, Figure 6 showing thigh segment II, and Figure 7 showing base segment III.

[0029] Figure 3 also shows the first rotation axis 44 and the second rotation axis 46. The first rotation axis 44 is an example of an axis around which the components of the first support 14 and the second arm 24 are rotatable. By rotating around the first rotation axis 44, the spatial position of the second support 16 can be changed along an arc centered on the first rotation axis 44. On the other hand, the first support 14 remains substantially fixed in space, and only its spatial orientation changes as it rotates around the first rotation axis 44 (note that since the first rotation axis 44 is located directly below the first support 14, a small spatial movement will definitely occur during rotation due to the small distance that exists). Furthermore, by rotating the components of the second arm 24 around the second rotation axis 46, the spatial position of the second support 16 (and footrest 40) can be changed again independently. The first arm 22 further includes a lower pivot point 86 and an upper pivot point 88, at which the parts of the first arm are mounted to be movable relative to each other.

[0030] Figure 6 is an exploded view of the components of thigh segment II. Thigh segment II comprises a first support 14, which is movably attached to a first arm portion 48 corresponding to a first arm 22. Figure 6 also shows a second arm portion 50, which is part of a second arm 24 and is again referenced in Figure 5 in relation to lower leg segment I. Furthermore, elastic tension elements 52, 52' are shown, which are engaged with the first arm portion 48. The opposite ends of each elastic tension element 52, 52' engage with other first arm portions 48', 48'' of the first arm 22 shown in Figure 7. As illustrated, the elastic tension elements 52, 52' can be configured as cable elements and linear springs, defining a zero position as a stationary position for the movably interconnected components. When the movably connected first arm portions 48, 48' and strut 49 are displaced from each other, that is, when they rotate around the axis of rotation defined by their respective connections, the elastic tension elements 52, 52' positioned therein generate a restoring force.

[0031] Furthermore, Figure 6 shows numerous small parts that are not described in detail, and these essentially allow each arm section to be connected detachably and, as needed, adjustable or rotatable. These small parts, in particular the screw connections provided, can actually be replaced by other elements that are functionally identical, and are therefore merely examples; a more detailed description of these elements is not provided here.

[0032] The lower leg segment I shown in Figure 5 includes, in particular, a second support 16 and a footrest 40, the footrest 40 being connected via a connecting arm 42, the connecting arm 42 being movably connected to a second arm 50'. Furthermore, the second arm 50' is rotatably connected to another second arm 50 already shown in Figure 6, and an additional elastic tension element 54, including a cable element and a linear spring, defines a zero position as a stationary position between the second arm 50, 50'. When the two second arm 50, 50' are displaced from each other, i.e., rotated about the axis of rotation defined by the connection, the additional elastic tension element 54 generates a restoring force. As is clear from the figure, the lower leg segment I also includes a number of small parts, in particular detachable elements (not explicitly referenced), such as screw elements, which can be used to variably adjust the relative distance between different components. For example, the relative distance between the footrest 40 and the second support 16 can be set and adjusted individually. Furthermore, the restoring force provided by the additional elastic tension element 54 can also be set individually by adjusting the spring preload. This can be achieved, for example, by fixing the contact point of the linear spring used so that it can move along a groove provided in the second arm 50. The adjustability of each elastic tension element 52, 52' and the additional elastic tension element 54 can be provided at one or both ends of each tension element. The elastic tension element 54 can be adjusted, for example, using a combination of a rotary knob 92, a screw bolt 94, and a roller 96. For example, by rotating a rotary knob provided on the screw bolt 94, which has an internal thread into which the screw is threaded, the roller 96 is supported and the crossbar of the screw bolt guided into the slot hole 98 of the second arm 50' can be moved to adjust the force or transmitted torque of the tension element. Similarly, at other locations on the device 10, adjustment means are provided by a second rotary knob 92' and a second screw bolt 94'. Furthermore, another adjustment means is provided by a third rotary knob 92'' and a third screw bolt 94''. Furthermore, another adjustment means is provided by a fourth rotary knob 92'''' and a fourth screw bolt 94''''.The lock knob 92''' is additionally used to set a "zero position" on the extension arm 84. Other adjustment means are also readily apparent to those skilled in the art by referring to the drawings, but are not necessarily explicitly referenced to avoid cluttering the drawings with reference numerals. For example, the second support may be guided along a slotted hole or fixed in position. Other minor parts not described in detail are similar to the minor parts shown in Figure 6. They can be easily replaced by elements having the same function and are therefore merely examples, so a more detailed description of these elements is not provided here. Some of the illustrated elements clearly constitute adjustment elements and can be used, for example, to adjust the relative dimensions of the device 10 to fit furniture used with the device 10.

[0033] Figure 7 shows the base segment III, an exploded view of the other components of the first arm 22, particularly the first arm sections 48, 48', 48'' and the strut 49, and their corresponding elastic tension elements 52'. The first arm sections 48, 48' and the strut 49 are connected so as to be rotatable relative to each other and coupled to each other by the elastic tension elements 52', so as to be at least indirectly displacementable around their respective resting positions. On the other hand, the first arm section 48'' is positioned in a "nearly fixed" state (at least with respect to its inclination relative to the base plate) and is equipped with an operating link having a slotted hole. This operating link, along with another rotary knob 93 and corresponding screw bolt 95, and rollers fixed thereto, can be used to set a preload on the elastic tension elements 52'. The movably connected strut 49 plays a role in stabilizing the first arm 22 by increasing the torsional rigidity of the arm, for example by providing multiple struts, and by providing additional constraints on the degrees of freedom of motion of the interconnected arm sections 48, 48'. The first arm 22 terminates at the base 12 and is mounted on the base plate 60 of the base 12 so as to be displaceable along a linear direction 66 by a linear spring 62. The linear spring 62 can be adjusted by an adjustment knob 28 and an additional adjustment knob 28'. This allows setting both the "zero position" and the restoring force generated in the linear direction 66. For safety reasons, the linear spring 62 may be housed within the base 12, covered by a bellows 26. Thus, the structure provided within the base 12 can be considered similar to, for example, a drawer system. Furthermore, the first arm 22 is rotatably supported about a pivot axis 68 by a torsion spring 64, thereby rotatably and movably positioned on the base plate 60 of the base 12. Furthermore, the base plate 60 is provided with a retaining means 30, which, for example, takes the form of a simple rubber buffer, to prevent the base plate 60, i.e., the base 12, and by extension the entire device 10 from moving relative to the support surface on which the base 12 is placed.The base plate 60 may be completely detached from the rest of the device 10 by, for example, a tension lever shown in the figure but not described in detail. A ball bearing 90 is also provided at the end of the first arm 22 on the side away from the base 12, so that the second arm 24 can rotate (relative to the first arm 22) about another axis of rotation 68' in the connection region with the second arm 24. Of course, other slewing joints that provide similar rotatability based on a different mechanical operating principle could be provided instead of the ball bearing 90. Figure 7 also shows a number of other unreferenced small parts, which are similar to the unreferenced small parts shown in Figures 5 and 6.

[0034] As described above, all the small parts shown in Figures 5 to 7, which are not explicitly reference numerals and are used to secure the individual components of the apparatus 10 to each other in a detachable or non-detachable manner, can be freely selected in their specific configuration, and a person skilled in the art could come up with various other examples. Therefore, the exact design details of the first apparatus 10 shown in the exploded views of Figures 5 to 7 should not be interpreted restrictively, but rather as examples of possible options, and individual elements can be easily replaced with functionally identical elements.

[0035] The top view of Figure 2 shows a system 200 including two first devices 10. This system 200 can be used to movably support the user's legs. In particular, the system 200 can be configured to be foldable and / or easily disassembled, thereby enabling easy storage and / or transport.

[0036] Figure 8 is a side view showing a second embodiment of the apparatus 100, which should be considered as another embodiment of the apparatus 10 described above. The second apparatus 100 includes a first support 114 and a second support 116 connected to the base 112 via a support structure 102 designed to be rigid, instead of the first arm 22 and the second arm 24. Because the support structure 102 is rigid, the first support 114 and the second support 116 are movably fixed by a cable structure. In this case, the first support 114 is connected to the base 112 via a first traction cable 108 and a first spring element 122. This is done using a pair of first deflection rollers 104, as a result it is possible to position the lower leg of the supported leg on the first support 114, and the lower leg is supported in a suspended state, not subjected to force above the base 112. Similarly, the second support 116 is also movably supported above the base 112 by the second traction cable 109 and its corresponding second spring element 124 (which is completely covered by the first spring element 122 in Figure 8), and is suspended above the base 112 via a pair of second deflection rollers 106. If the first support 114 is used to support the lower leg, the foot of the leg to be supported may be placed on the second support 116. The entire device 100 is placed on a support surface not shown in Figure 8, but to prevent, or at least minimize, relative movement of the base 112 with respect to the support surface, fixing means 130, for example in the form of a rubber buffer, can be provided below the base 112, thereby increasing friction between the device 100 and the support surface. Furthermore, the second device 100 may include a sensor system 118 that receives sensor data via a signal line 38 and at least indirectly acquires the spatial positions of the first support 114 and the second support 116. The position data acquired by the sensor system 118 may be transmitted to, for example, a control device 120. The control device 120 may also be configured to control a drive means 134 that controls the spatial positions of the first support 114 and the second support 116. The drive means 134 may be, for example, a motor that can control the lengths of the first traction cable 108 and the second traction cable 109.Furthermore, the drive means 134 can also control the restoring force provided by the first spring element 122 and the second spring element 124.

[0037] Figures 9 to 11 show a system 200 comprising two devices 100. Specifically, Figure 9 is a top view of system 200, Figure 10 is an isometric three-dimensional view of system 200, and Figure 11 is an exploded view of device 100. For simplicity, the sensor system 118, control device 120, drive means 134 and corresponding signal lines 38 are not shown here. The mechanical structure of device 100 is obvious to those skilled in the art and should be understood as merely illustrative. In particular, individual components can be replaced with functionally similar components. This is especially true for small parts that are not explicitly referenced. Furthermore, an external interface 136 is provided and used to output various detected operating cycle signals. The spatial positions of the first support 114 and the second support 116 are not clearly defined by the manner in which they are "suspended" by the first traction cable 108 and the second traction cable 109. Therefore, the spatial positions of the first support portion 114 and the second support portion 116 can be clearly obtained by directly attaching them to both support portions using common means 132, such as position sensors. Direct optical detection is just one option. Embodiments of this system 200 can also be configured to be foldable and / or easily disassembled to allow for easy storage and / or transport.

[0038] Figure 12 is a schematic diagram showing three other base segments for the device shown in Figure 4. The three other base segments IIIa, IIIb, and IIIc shown in Figure 12 have substantially the same function as base segment III of Figure 4, which comprises base 12 and first arm 22. In the other base segment IIIa, the first arm 22 is replaced by three shock absorbers 72 rotatably connected to base 12, which are joined at a common connection point 70 at the ends away from base 12. This connection point 70 may function, for example, as a connection point to thigh segment II. The three shock absorbers 72 allow for three-dimensional spatial movement of the connection point 70 relative to base 12, and its range of motion is limited by the displacement capacity of the three shock absorbers 72. The force to be applied for movement is determined by the shock absorbers 72 themselves.

[0039] Similarly, in other base segment IIIb, the connection point 70 is connected to the base 12 via a single shock absorber 72. Furthermore, a connection point is provided between the shock absorber 72 and the base 12 via a linear bearing 74 and an additional linear bearing 76. This ensures that, in other base segment IIIb as well, the spatial mobility of the connection point 70 relative to the base 12 is maintained within the range of motion of the two linear bearings 74, 76 and the shock absorber 72.

[0040] Functionally similar, in other base segment IIIc, the connection point 70 is realized by support from a gimbal in the form of a locking mechanism 78, which further includes a linear spring that provides a restoring force. The range of motion of the connection point 70 in other base segment IIIc is relatively small, but sufficient for the desired purpose.

[0041] Figure 13 is a side view of another configuration of the device 10. The other configuration of the device 10 shown in the side view of Figure 13 comprises a plurality of first arm sections 48, 48', 48'', each of which is rotatably connected to one another via a pivot point 80. The first arm sections 48, 48', 48'' can be considered as arm sections forming a first arm 22. At the end of the first arm 22 is a first support section 14 for supporting the thigh. In the other embodiment shown in Figure 13, the first support section 14 is linearly displaceable by a first bearing 82, thereby providing additional or alternative degrees of freedom for the movement of the first support section 14 compared to the device 10 shown in Figure 1. The first arm 22 is connected to a second arm 24, which consists of individual second arm sections 50, 50', 50'', which are also rotatably connected to one another at the pivot point 80. The second support portion 16 and the footrest 40 are positioned on the second arm portions 50', 50'', and the second support portion 16 or the footrest 40 is movable relative to the second arm portions 50', 50'' by a second bearing 82' or a third bearing 82''. Other configurations of the device 10 shown in Figure 13 can, of course, be equipped with additional components necessary for its function, such as biasing means, driving means, sensors and control devices. These have already been suggested or illustrated in relation to the device 10 in Figure 1. Furthermore, linear mobility of the two support portions can also be added in the first embodiment shown in Figures 1 and 3 to 7.

[0042] Each pivot point 80 defines a rotation axis to which adjacent arm sections are rotatably mounted. The connection between the base 12 and the first arm section 48 can be configured to be displaceable and rotatable in the linear direction, similar to the corresponding connection in the device 10 shown in Figure 7.

[0043] Figure 14 is a flowchart of the first method. Method 1000 shown in Figure 14 begins, for example, with step 1010 of detecting a motion cycle of a movable-supported leg. The detected motion cycle is then stored in step 1020. Next, step 1030 of reproducing the detected and stored motion cycle is performed by a drive means configured to actively control the movement of the first support 14 and / or second support 16 in space. Step 1010 of detecting the motion cycle of a movable-supported leg can be based on the actual movement of the leg, or alternatively, by "uploading" a motion cycle from an external source. Method 1000 can then be used to perform repetitive movements of the movable-supported leg. This can be performed, for example, as part of rehabilitation measures after surgery, injury, or in cases of paralysis. Therefore, method 1000 allows the supported leg to be moved passively, thereby enabling the user of the apparatus 10, 100 performing method 1000 to maintain a seated or reclined position.

[0044] Figure 15 shows a method 1100 for operating one of the systems 200 described above, which includes, for example, the following steps: First, step 1110 is performed to detect the motion cycle of a movable supported leg. This makes it possible to detect, for example, a simulated walking motion in the system 200. Method 1100 then includes the step of transmitting data representing the detected motion to an external interface. This external interface can be used to connect, for example, a data processing device such as a PC, which makes it possible to use the data as a control signal. For example, it can be used as a signal to control an avatar in a virtual reality environment.

[0045] Figures 16 and 17 are three-dimensional isometric views showing yet another embodiment of the first device 10. In this yet another embodiment of the first device 10, the base 12, the first arm 22, and the second arm 24 are again clearly visible. Furthermore, the first support 14, the second support 16, and the footrest 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 in Figure 3, for example. In particular, in the embodiments shown in Figures 16 and 17, the mobility of the individual elements is largely the same. However, for simplification, the existing rotation axes shown in Figure 3, particularly the first rotation axis 44 and the second rotation axis 46, are not shown individually in Figures 16 and 17.

[0046] Further embodiments of the first apparatus 10 shown in Figures 16 and 17 illustrate, in particular, an example of components provided to achieve active or passive mobility of the first apparatus 10. Specifically, in the region of the first arm 22, a first belt configuration 202 and a second belt configuration 204 are visible, and these are integrated with or attached to the first arm 22. The two belt configurations 202 and 204 each comprise a belt that transmits power between a drive wheel (not shown) and an output wheel coupled to a corresponding electric motor 34. The electric motor 34 provided may be, for example, a servo motor or a stepping motor, and can generate active motion of the first arm 22. The electric motor 34 enables active or passive position detection so that the electronic components controlling the electric motor 34 can reliably grasp or determine the precise spatial position of the first arm 22. Of course, additional or alternative means for determining the position / orientation of the apparatus 10, implemented independently of the provided electric motor 34, are also possible. The operating force generated by the electric motor 34 is always counteracted by the restoring force of a spring that biases it toward the zero position. These springs are shown in Figures 16 and 17. In this embodiment, the electric motor 34 is powered by a power supply 208 located in the lower region of the first arm 22. If necessary, the operating force generated by the electric motor 34 can be temporarily brought close to zero by appropriately controlling the electric motor 34 with a control electronic circuit. This makes it possible to passively move the device 10 or change the orientation of the device 10 by the legs held by the support parts 14, 16, and 40. Meanwhile, the orientation of the device 10 can continue to be detected by the electric motor 34 or other means provided for this purpose. Furthermore, the provided electric motor 34 can measure the force required for position change at each position and can therefore also be used as a kind of force sensor. It should also be noted herein that fixing means (not shown) for fixing the supported limbs, in particular the legs, can be provided in some or all areas of the support parts 14, 16, and 40. Such immobilization methods are particularly advantageous in rehabilitation procedures.The fastening means can be configured, for example, as a simple (retaining) strap that can be adjusted and opened or closed by hook-and-loop fasteners or other fasteners, and can be added as needed to any of the embodiments described herein.

[0047] An electric motor 34 is also provided in the region of the second arm 24, and the electric motor 34 is associated with the third belt configuration 206 or the fourth belt configuration 206'. The third belt configuration 206 and the fourth belt configuration 206' are connected to each other via shafts (not shown in detail) and, if necessary, via gearboxes, so that the entire second arm 24 can be moved by the electric motor 34 or its position can be detected via the electric motor 34.

[0048] However, it should be noted that, viewed as a whole, the "motorization" of the first device 10 shown in Figures 16 and 17 is merely an example (and an arbitrary configuration). That is, other alternative motorizations, including other arrangements of the various active elements that produce the operation of the first device 10, and / or other configurations for detecting its position for electronic control, can be realized by using alternative elements known to those skilled in the art. In particular, the arrangement of the components shown in Figures 16 and 17 is considered particularly advantageous, but it can also be implemented in different forms. Furthermore, all of the support parts 14, 16, and 40 described above can be configured to perform a tilting motion at their respective lifting points in a direction perpendicular to the longitudinal axis of the arm on which they are located, in any embodiment described herein. Such tilting motion can, for example, improve the perceived comfort when moving the supported leg. These tilting motions can be limited to a small angular range of about ±5° around an untilted central position.

[0049] The features of the present invention disclosed in the above description, drawings, and claims may be essential to carrying out the invention, either individually or in any combination. [Explanation of Symbols]

[0050] 10: Equipment 12: Bass 14: 1st support part 14': First displacement direction 16:Second support part 16': Second displacement direction 18: Sensor System 20: Control device 22: First Arm 24: Second Arm 26: Bellows 28: Adjustment knob 28': Additional adjustment knob 30: Fixing means 32: Means 34: Driving means 36: External Interface 38: Signal line 40: Footrest 42: Connecting Arm 44: First axis of rotation 46: Second rotation axis 48: First arm section 48': First arm section 48'': First arm section 49: Strut 50: Second arm section 50': Second arm section 52: Elastic tension element 52': Elastic tension element 54: Additional elastic tension element 60: Base plate 62: Linear spring 64: Torsion spring 66 :Linear direction 68: Rotation axis 68': Additional rotation axis 70: Connection point 72: Shock absorber 74: Linear bearings 76: Additional linear bearings 78: Locking mechanism 80: Pivot Point 82: First bearing 82': Second bearing 82'': Third bearing 84: Extension Arm 86: Lower pivot point 88: Upper pivot point 90: Ball bearing 92: Rotary knob 92': Second rotation knob 92'': 3rd rotation knob 92''': Lock knob 92'''' 4th turn knob 93: Additional rotary knob 94: Screw bolt 94': Second threaded bolt 94'': Third threaded bolt 94'''': Fourth threaded bolt 95: Additional screw bolts 96: Laura 98: Slot holes 100: Equipment 102:Support structure 104: A pair of first deflection rollers 106: A pair of second deflection rollers 108: First towing cable 109: Second towing cable 112: Bass 114: 1st support part 116:Second support part 118: Sensor System 120: Control device 122: First spring element 124: Second spring element 130: Fixing means 132: Means 134: Driving means 136: External Interface 200: System 202: First Belt Configuration 204: Second Belt Configuration 206: Third Belt Configuration 206': Third Belt Configuration' 208: Power supply unit 1000: method 1010: Detection 1020 :Memory 1030: Reproduction 1100 :Method 1110: Detected 1120: Send I: Lower leg segment II: Thigh segment III: Base Segment IIIa: Other base segments IIIb: Other base segments IIIc: Other base segments

Claims

1. A device (10, 100) for movably supporting the leg portion, Base (12,112) and, First support section (14, 114), The second support section (16, 116), Sensor system (18,118) and The device comprises a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 100) related to the spatial movement of the first support parts (14, 114) and the second support parts (16, 116), The base (12) is rotatably connected to the first support portion (14) by the first arm (22), and the second support portion (16) is rotatably connected to the first support portion (14) or the first arm (22) by the second arm (24), or Apparatus (10, 100) wherein a support structure (102) comprising at least a pair of first deflection rollers (104) and at least a pair of second deflection rollers (106) is disposed on the base (112), the first support portion (114) is connected to a first traction cable (108) connected to the base (112) via the pair of first deflection rollers (104), and the second support portion (116) is connected to a second traction cable (109) connected to the base (112) via the pair of second deflection rollers (106).

2. The first arm (22) supports the first support portion (14) so ​​that it can rotate and tilt relative to the base (12), The apparatus (10) according to claim 1, wherein the second arm (24) rotatably supports the second support portion (16) with respect to the first support portion (14).

3. The first arm (22) includes a plurality of first arm portions (48, 48') connected to each other so that they can rotate relative to each other by a predetermined angle γ, The apparatus (10) according to claim 1 or 2, wherein the first arm portions (48, 48') are biased toward each other by elastic tension elements (52, 52'), thereby restricting rotation between the first arm portions (48, 48') to the angle γ.

4. The second arm (24) includes a plurality of second arm portions (50, 50') connected so as to be able to rotate relative to each other by a predetermined angle δ, The apparatus (10) according to any one of claims 1 to 3, wherein the second arm portions (50, 50') are biased toward each other by an additional elastic tension element (54), thereby restricting rotation between the second arm portions (50, 50') to the angle δ.

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

6. The apparatus (10, 110) according to any one of claims 1 to 5, wherein the base (12, 112) is provided with fixing means (30, 130) for restricting the relative movement of the base (12, 112) on a support surface on which the base (12, 112) is placed.

7. The apparatus (10, 110) according to any one of claims 1 to 6, wherein the sensor system (18, 118) includes means (32, 132) for detecting the spatial position and orientation of the first support portion (14, 114) and the second support portion (16, 116), and for transmitting these as detectable signals to the control device (20, 120).

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

9. The apparatus (10, 110) according to any one of claims 1 to 8, further comprising a drive means (34, 134) for actively controlling the movement of the first support portion (14, 114) and / or the second support portion (16, 116) within space.

10. The apparatus (10, 110) according to claim 9, wherein the control device (20, 120) is configured to generate a control signal for the drive means (34, 134) and transmit the control signal to the drive means (34, 134) to control the movement of the first support (14, 114) and / or the second support (16, 116) in space.

11. A system (200) comprising two devices (10, 110) according to any one of claims 1 to 10, which are firmly connected.

12. A method (1000) for operating a device (10, 110) for movably supporting a leg, Base (12,112) and, First support section (14, 114), The second support section (16, 116), Sensor system (18,118) and The device comprises a control device (20, 120) configured to control and / or monitor at least one function of the device (10, 110) related to the spatial movement of the first support parts (14, 114) and the second support parts (16, 116), The base (12, 112) is rotatably connected to the first support (14) by the first arm (22), and the second support (16, 116) is rotatably connected to the first support (14) by the second arm (24), or A support structure (102) comprising at least a pair of first deflection rollers (104) and at least a pair of second deflection rollers (106) is disposed on the base (112), the first support portion (114) is connected to a first traction cable (108) connected to the base (112) via the pair of first deflection rollers (104), and the second support portion (116) is connected to a second traction cable (109) connected to the base (112) via the pair of second deflection rollers (106). The aforementioned method, Step (1010) of detecting the motion cycle of the movably mounted leg, Step (1020) to store the detected operation cycle, A method comprising the step (1030) of reproducing a detected operating cycle by drive means (34, 134) configured to actively control the movement of the first support portion (14, 114) and / or the second support portion (16, 116) in space.

13. The above method (1100) is, Step (1110) of detecting the movement of a movably mounted leg, A method (1100) for operating the system (200) according to claim 11, comprising the step (1120) of transmitting data representing detected motion to an external interface (36, 136).

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