Wearable assistive devices

Abstract

To provide a wearable auxiliary device that a user can put on and take off more easily.SOLUTION: A wearable auxiliary device, which supports an operator (12) to lift up and / or hold a package (14), comprises a first support body and a second support body. The first support body and the second support body respectively comprise: support structures (16) having a back part (24) and a boom part (26); at least one of body joining parts (18 and 20) for joining the support structures to a body part of the operator (12); and hand attachments (40) jointed to hands or front arm parts of the operator and power-coupled to the support structures through tensile cables (42) which is driven. A cable deflection device is provided in the boom part, and when the operator puts on the auxiliary device, a length of the boom part varies, so that a distance between the cable deflection device and the operator varies.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a wearable assistance device according to the preamble of claim 1 . [Background technology]

[0002] Such assistive devices are designed as fully mobile, user-worn devices used to support the user when lifting and / or holding loads. In particular, the assistive devices described above allow the user's joints and muscular system to be relieved from direct loads acting on the user through selected areas of the user's body when lifting an object.

[0003] Such an assistive device is known, for example, from WO 2014 / 195373 A1. The assistive device comprises a support structure that is worn on the body and a corresponding hand attachment for attachment to the operator's hand, which is connected to the support structure via a cable. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] WO 2014 / 195373 A1 Summary of the Invention Problem to be solved by the invention

[0005] The present invention aims to provide an assistive device that can be easily attached and detached by a user. Furthermore, it is desirable that the assistive device be simple and intuitive to operate. [Means for solving the problem]

[0006] This object is achieved by an auxiliary device having the features of claim 1. The auxiliary device is designed as a wearable auxiliary device for assisting a worker in lifting and / or holding loads, in the sense of a device that can be carried by a person ("portable auxiliary device") to assist the worker in lifting and / or holding objects. The auxiliary device is therefore designed in particular to be wearable by the operator and to enable the operator to move from one place to another wearing the auxiliary device. In particular, the auxiliary device is designed to be worn by the operator in the form of a backpack.

[0007] The assistive device includes a support structure designed to absorb the gravity and / or inertial forces of the load and redirect them to a specific body region of the operator. The support structure includes a first support (right side) and a second support (left side) separated from the first support. Each of the first and second supports has a back section and a boom section. The supports are designed so that when the assistive device is worn by the operator, the back section is positioned rearward, i.e., dorsally, and extends substantially or entirely along the operator's back from the waist to the head. This does not mean that the back section must run exactly parallel to the operator's back. The back section may be straight along its longitudinal extent or may have a curvature in cross section at least along its longitudinal extent. The boom section is designed to extend from rear to front, i.e., ventrally, or "from rear to front," when the assistive device is worn. When the operator is standing upright, the back section extends substantially vertically, and the boom section extends horizontally, at least in section. In this regard, the spine portion may provide vertical support and the boom portion may provide horizontal support.

[0008] In particular, the boom sections can be connected to the back section. Each boom section preferably extends over the shoulders of the operator when wearing the auxiliary device. The back section and the boom section can be fixedly or movably connected to each other, for example via a column connector. In order to be able to adapt the auxiliary device to different body sizes, in particular back lengths, it can be advantageous if the back section of each support itself is designed to be variable in length.

[0009] The assistive device also includes at least one body connector for connecting the support structure to the operator's body. The at least one body connector is particularly designed to transmit forces between the body and the support structure therethrough. In particular, the at least one body connector is designed to secure the support structure to a body region of the operator and thus hold the assistive device to the operator's body. In this regard, the at least one body connector is particularly designed to allow the operator to "wear" the assistive device by connecting the support structure to the body via the at least one body connector.

[0010] The auxiliary device also includes a first (right) hand attachment for coupling to the operator's right hand or forearm region, e.g., the operator's wrist and / or wrist. The first hand attachment is force-coupled to the support structure via a first drive tension cable. The first tension cable acts on a boom section of the first support structure, particularly in the region of the free end of the boom section, at a first cable deflection point via a first cable deflection device.

[0011] The auxiliary device also includes a second (left) hand attachment for attachment to the operator's left hand or forearm region, e.g., the operator's wrist and / or carpus. The second hand attachment is force-coupled to the support structure via a second drive tension cable. The second tension cable acts on the boom section of the second support, particularly the region of the free end of the boom section, at a second cable deflection point via a second cable deflection device.

[0012] The hand attachment serves as a link between the person's hand and the assistive device. The weight and inertial forces of the load being lifted are transferred to the support structure via the hand attachment and the tension cable, and then to a selected body region of the operator via at least one body connection. In the case of the proposed assistive device, the support begins specifically at the operator's wrist. Preferably, the hand attachment is designed so that the person's hand itself is used to grasp the load being lifted, making this hand attachment superior to technical gripping systems in terms of its versatility. For this purpose, the hand connection can be designed in various ways. For example, it can be implemented as a cuff that encircles the wrist and possibly the wrist.

[0013] In the proposed auxiliary device, the boom section of the first support and the boom section of the second support are each designed to be able to change their lengths so that when an operator wears the auxiliary device, by changing the length of the boom sections, the distance between the cable deflection devices arranged on these boom sections can be adjusted in accordance with the operator in particular. The boom sections are each designed to be able to change their lengths so that by changing the length of the boom sections, the cable deflection devices arranged on these boom sections can be displaced.

[0014] This configuration allows the cable deflection point to follow each hand movement by the operator. In particular, with the proposed auxiliary device, by changing the length of the boom section, the cable deflection point can be positioned so that, when used as intended, the cable deflection device is always positioned above the hand attachment or the carried load, and thus the corresponding cable is perpendicular to the boom section. In this configuration, the cable is suspended vertically downward, minimizing the forces acting on the cable and thus reducing the force experienced by the operator. In contrast, with known auxiliary devices with a fixed support length, the cable deflection point cannot be followed. This means that when the carried load, for example, moves away from the operator, the force acting on the cable arises not only from the weight of the carried load but also from a force component resulting from the load movement. This increases the operator's burden. In the case of the proposed auxiliary device with a variable-length boom section, the installation space is reduced compared to a configuration with a movable but non-variable-length support, which positively affects the operator's handling flexibility.

[0015] Because the tensioning cables are driven, the operator is actively supported during the lifting process, reducing the proportion of force exerted by the operator. It is conceivable that a common cable drive is provided for driving the first and second tensioning cables. It is also conceivable that a first cable drive is provided for driving the first tensioning cable and a second cable drive is provided for driving the second tensioning cable. At least one cable drive may, in particular, be supported on the support structure.

[0016] For efficient power transmission between the support structure and the body, it is particularly advantageous if the auxiliary device has an upper body coupling, in particular an upper body coupling for coupling the support structure to the operator's upper body. For example, the lower body coupling may have a waist belt for securing the operator's waist region. Alternatively or additionally, the auxiliary device may include a lower body coupling, in particular a waist coupling, for coupling the support structure to the operator's pelvis, waist and / or waist region. For example, the upper body coupling may have a belt system, in particular designed to allow the driver to wear the auxiliary device like a backpack. In particular, each back of the support can be coupled to the lower body coupling at a first lower coupling point and to the upper body coupling at a first upper coupling point.

[0017] Within the framework of advantageous embodiments, each boom section may include at least two support segments, in particular one support segment arranged behind the other along the longitudinal axis of the boom section. In particular, at least two support segments may form a boom section. Preferably, the at least two support segments are translatable relative to one another along a displacement axis to change the length of the boom section. In this regard, the at least two support segments may be designed and arranged in such a way that the length of each boom section can be specifically adjusted by displacing the support segments relative to one another. In particular, the at least two support segments may be translatable between a retracted configuration, in which the length of the boom section is minimized, and an extended configuration, in which the length of the boom section is maximized. Such an embodiment allows for reliable displacement of the cable deflection point and, at the same time, a stable transmission of force from the cable deflection device to at least one body connection via the boom section. In particular, a first support segment may be coupled to the back of the respective support, and a second support segment may be equipped with a respective cable deflection device. Any further support segments may then be arranged between the first and second support segments. In particular, a space-saving design results if at least two support segments are designed to be elastic, i.e. can be pushed into each other at least in section.

[0018] In an advantageous development, the boom section and the cable deflection device can be designed such that the length of the boom section is changed by the action of a cable force of a tension cable connected to the boom section. In particular, the at least two support segments and the cable deflection device can be designed such that the displacement of at least one support segment along a displacement axis can be driven by the action of a cable force of a tension cable connected to the at least one support segment on the at least one support segment, respectively. Such an embodiment makes it possible to displace the cable deflection device simply by moving one's hand, and thus adjust the cable vertically (passive degree of freedom). In particular, the change in length can be driven by a cable force component of the cable acting along the longitudinal axis of the individual boom section, in particular along the displacement axis of at least one support segment.

[0019] For this purpose, the first and second cable deflection devices can be advantageously designed to transmit a cable force component of the cable to at least one support segment of the boom section connected to the cable deflection device, in particular along the longitudinal axis of this boom section, in particular along the displacement axis. For example, if the hand attachment is moved horizontally by the operator during a handling process, cable force components acting in a particularly horizontal direction are generated, which are then transmitted to the corresponding boom section via the cable deflection device connected to the hand attachment. The action of these force components causes the boom section to lengthen, and the cable deflection device follows the movement of the hand attachment until the horizontal force component corresponding to the configuration in which the cable is suspended vertically downwards is no longer acting.

[0020] It is particularly advantageous if the first and second cable deflection devices are designed to be able to transfer such components to the boom section acting in extension and retraction directions along its longitudinal or displacement axis, so that the boom section can be extended or retracted by the action of the cable forces. In this context, extension direction means the direction along the longitudinal or displacement axis of the boom section, in which the boom section extends, i.e., moves away from the operator when the auxiliary equipment is pulled. In the following context, retraction direction is understood to mean the direction along the longitudinal or displacement axis of the boom section, in which the boom section shortens, i.e., moves towards the operator when the auxiliary equipment is pulled.

[0021] The first and second cable deflection devices can each have at least two cable pulleys as part of a structurally simple and stable configuration. In particular, at least two cable pulleys of the cable deflection device can be arranged in this manner, and the cable of the cable pulley assigned to this cable deflection device can be guided around the cable pulley so that a component of the cable force of the cable is transmitted to at least one support segment acting along the longitudinal axis of the boom section connected to the cable deflection device, in particular along the displacement axis. The cable pulleys can be mounted in a housing or in a support frame of the cable deflection device. It is also considered that the cable pulleys are rotatably mounted on the boom section.

[0022] In an advantageous development, the boom section can be configured with at least two support segments biased toward a predetermined initial configuration in which it assumes a predetermined length. If the support segments are deflected from this initial configuration, for example, by the action of a cable force, the load ensures that, after the force action is removed, the support segments return to their initial configuration and the boom section returns to its predetermined length. Such a configuration makes it possible to define a length of the boom section that is advantageous for effectively releasing the operator. In particular, in the initial configuration, the length of the boom section is minimum or maximum. The at least two support segments are loaded in the extension or retraction direction of the support segments. For example, it is conceivable that the support segments are pulled in the retraction direction so that the boom section assumes a minimum length in the initial configuration. Advantageously, the cable deflection device is designed so that a force acting in the extension direction along the displacement axis of the support segments is transmitted to the boom section. In such an embodiment, it is conceivable, for example, that the operator can move the hand attachment in the extension direction to lengthen the boom section and, for example, grasp a load located far from the operator, such as a load on a shelf. After the load is applied, the load can be actively supported shifting onto the operator's body by loading the support segments in a retraction direction, i.e., toward the operator.

[0023] At least two support segments may be spring-loaded, in particular in the initial configuration. For this purpose, the auxiliary device, in particular each boom section, may comprise a spring device for applying a load to the at least two support segments in the initial configuration. In particular, at least one spring device may comprise a tension spring and / or at least one compression spring. The tension or compression spring may in particular mechanically couple the support segments to one another so that the support segments are biased to the initial configuration. Such a configuration allows the support segments to be biased to the initial configuration with relatively simple constructional means, which has a positive effect on the overall weight of the auxiliary device. The tension and / or compression spring may in particular be integrated into the respective boom section, for example, housed in the interior space of the support.

[0024] In order to be able to variably set the position of the support segment in the initial configuration and thus the position of the cable deflection point in the rest configuration of the auxiliary device, it may be advantageous if the auxiliary device comprises at least one tensioning mechanism designed to preload at least one tension spring and / or to vary and in particular adjust at least one compression spring. By varying the preload of at least one tension or compression spring, the rest position of the spring can be flexibly set and thus the length of the boom section can be individually adjusted in the initial configuration.

[0025] In the context of an advantageous embodiment, the auxiliary device can include an actuator designed to change the length of the boom section, particularly to displace at least two support segments of each boom section relative to one another along their respective displacement axes. This configuration allows the length of the boom section, and thus the distance of the cable deflection device, from the operator to be actively set, particularly to counteract the cable forces acting on the boom section. As a result, the operator is further relieved of strain, since the actuator provides the force required to change the length of the boom section or shift the cable deflection point. It is particularly conceivable that the actuator changes the length of the boom section so that the cable deflection device, and thus the cable deflection point, is always positioned above the hand attachment and thus above the held object. The actuator can, for example, include one or more linear actuators for each boom section. The actuators are preferably integrated into the support structure, particularly the boom sections.

[0026] The auxiliary device may also include an actuator control configured to control the actuator. In particular, the actuator control may be configured to control the actuator to vary the length of the boom section coupled to the cable, in particular depending on the cable force of the cable, thereby moving at least one support segment along the displacement axis, and reducing, in particular minimizing, the cable force of the cable. The auxiliary device may then have a sensor device interacting with the actuator control to detect the cable force of the cable. Alternatively or additionally, the actuator control may be configured to control the actuator to vary the length of the boom section coupled to the cable, in particular moving at least one support element in a relatively opposite direction along the displacement axis, thereby adjusting the cable vertically. The auxiliary device may then include a sensor device interacting with the actuator control to detect the angle of deflection of each cable from vertical. In this regard, the actuator system enables active tracking of each cable deflection device and thus adjustment of each cable to a configuration with minimal cable force and minimal operator strain.

[0027] In an advantageous development, the actuator can interact with the at least one cable drive of the first and / or second tensioning cable such that, when the length of the boom section is changed by the actuator, the at least one drive cable drives the tensioning cable coupled to the boom section such that the cable length between the cable deflection device and the manual coupling remains constant. In this regard, the actuator and the at least one cable drive can interact such that, when a held load is moved, the cable length between the cable deflection device and the manual coupling remains constant. This allows the object to be held and manipulated at a constant height, further relieving the operator. In particular, the at least one cable drive can interact with the actuator such that, when the boom section is shortened by the actuator, the at least one cable drive at least partially reel-ins the tensioning cable coupled to this boom section, and when the boom section is shortened and / or extended by the actuator of the at least one cable drive, the at least one cable drive at least partially reel-ins the cable, thus extending the cable.

[0028] In an advantageous embodiment, the first and second hand attachments are each connected to the support structure via a double cable. In this regard, the first and / or second tensioning cables may comprise a double cable. This configuration halves the cable force. In particular, the first cable end of each double cable can be held on the support structure, particularly the boom section, and the second end can be connected to the cable drive of the tensioning cable.

[0029] Furthermore, it is advantageous if the auxiliary device includes at least one locking device designed to lock each boom section at a predetermined or identifiable length. This simplifies static holding of the load at a predetermined distance from the operator. In particular, each boom section can be assigned its own locking device. The at least one locking device can be designed to lock at least two support segments of the boom section, in particular, so that displacement along the displacement axis is blocked. For example, the locking device can be designed so that the length of the boom section is minimized in the locked state.

[0030] It is also advantageous if the cables of the first tensioning cable and the cables of the second tensioning cable are at least partially guided in the respective cable guides. This minimizes interference contours caused by the cables and reduces the risk of the operator getting entangled in the cables during handling. The cable guides are advantageously integrated into the support structure, in particular the respective support, in particular the boom section of the respective support, in particular the boom section, and in particular the rear section of the respective support. The cable guides can be designed so that the cables of the respective tensioning cables exit the boom section via a cable deflection device, in particular in the region of the free end of the boom section, in particular the front side of the boom section. In this regard, the cable deflection device can be a cable exit device, and the cable deflection point can be a cable exit point.

[0031] To avoid uncontrolled movement of the hand attachment, the first and second cables may each be provided with a cable brake, in particular the cable brake may be integrated into the first or second support, in particular into the respective back.

[0032] In the context of an advantageous embodiment, the boom section of the first support can be pivotally coupled to the back of the first support, and the boom section of the second support can be pivotally coupled to the back of the second support. Each boom section is preferably arranged on its respective back so as to be pivotable about a first, particularly vertical, boom pivot axis parallel to the longitudinal axis of the back. This allows the extension arm section to be pivoted left or right when the auxiliary device is pulled, without the need to specifically pivot the back. Alternatively or additionally, each boom section can be arranged on its back so as to be pivotable about a second, particularly horizontal, boom pivot axis perpendicular to the longitudinal axis of the back and the longitudinal axis of the boom section. This allows the boom section to be pivoted "up" or "down," without the need to specifically pivot the back. In this way, a high degree of freedom of movement can be achieved, coupled with the ability to change the length of the boom section. [Brief explanation of the drawings]

[0033] The invention is explained in more detail below with reference to the drawings. [Figure 1] FIG. 1 is a schematic diagram of one embodiment of an auxiliary device. [Figure 2] FIG. 2 is a schematic diagram for explaining the use of the assist device. [Figure 3] FIG. 3 is a schematic diagram of a boom section of the auxiliary device. [Figure 4a] FIG. 4a is a schematic diagram illustrating different configurations of the cable deflection device of the auxiliary device in a side view. [Figure 4b] FIG. 4b is a schematic diagram illustrating different configurations of the cable deflection device of the auxiliary device in a side view. [Figure 4c] FIG. 4c is a schematic diagram illustrating a different configuration of the cable deflection device of the auxiliary device in a side view. [Figure 5a] FIG. 5a is a schematic diagram for explaining in perspective view different configurations of the cable deflection device of the auxiliary device. [Figure 5b]FIG. 5b is a schematic diagram for explaining in perspective view different configurations of the cable deflection device of the auxiliary device. DETAILED DESCRIPTION OF THE INVENTION

[0034] In the following description and drawings, the same reference symbols are used for the same or corresponding features.

[0035] 1 shows, in a simplified schematic view, a wearable assistive device, generally designated by the reference numeral 10. Assistive device 10 is designed to support an operator 12 while lifting and / or carrying a load 14 (see FIG. 2). As will be explained in more detail below, assistive device 10 is designed as a mobility device worn and carried by operator 12.

[0036] The assistive device 10 includes a support structure 16 designed to absorb load-bearing forces, particularly the weight and / or inertial forces of a load 14 carried by the operator 12, and transfer them to a particular body region of the operator 12. To this end, the assistive device 10 also includes at least one body coupling for coupling the support structure 16 to the body of the operator 12. In an exemplary embodiment, the assistive device 10 includes a lower body coupling 18 for coupling the support structure 16 to the pelvis, hips, and / or lumbar region of the operator 12, and an upper body coupling 20 for coupling the support structure 16 to the upper body of the operator 12 (see FIGS. 1 and 2 ).

[0037] The support structure 16 includes a first (right) support 22-1 and a second (left) support 22-2. As can be seen in Figure 1, the supports 22-1, 22-2 each include a back section 24-1, 24-2 and a boom section 26-1, 26-2. In the illustrated example, the back sections 24-1, 24-2 are coupled to the boom sections 26-1, 26-2 via support connectors 28, which are shown only diagrammatically. It is also contemplated that the boom sections 26-1, 26-2 may be pivotally coupled to the corresponding back sections 24-1, 24-2 via corresponding boom joints (not shown). For example, the boom joints can be designed so that each boom section 26-1, 26-2 can pivot about a first, particularly vertical, boom pivot axis parallel to the longitudinal axis 53 of the back section 24-1, 24-2, and / or about a second boom pivot axis that is particularly horizontal and parallel to the longitudinal axis 53 of the back section 24-1, 24-2 and the longitudinal axis 54 of the boom section 26-1, 26-2.

[0038] 1, the first support member 22-1 is connected to the lower body joint 18 at a first lower connection point 30-1 and connected to the upper body joint 20 at a first upper connection point 32-1. Accordingly, the second support member 22-2 is connected to the lower body joint 18 at a second lower connection point 30-2 and connected to the upper body joint 20 at a second upper connection point 32-2.

[0039] As can be seen in FIG. 2 , the assistive device 10 is designed so that, when the assistive device 10 is worn by the operator 12, the back sections 24-1, 24-2 are positioned rearward, i.e., on the rear 34 of the operator 12, and extend essentially cranially from the lower body joint 18 along the back of the operator 12 (e.g., vertically in FIG. 2 ) (see arrow 36 in FIG. 2 ). The boom sections 26-1, 26-2 are designed to extend rearward to forward, i.e., from the rear 34 to the front 38 of the operator 12, particularly over the operator's shoulders, when the assistive device 10 is fastened. In the illustrated embodiment, the back sections 24-1, 24-2 and the boom sections 26-1, 26-2 are perpendicular to one another. When the assistive device 10 is pulled, the back sections 24-1, 24-2 extend substantially vertically, and the boom sections 26-1, 26-2 extend substantially horizontally (see FIG. 2 ).

[0040] The support apparatus 10 also includes a first hand attachment 40-1 for attachment to the right hand or forearm region of the operator 12 and a second hand attachment 40-2 for attachment to the left hand or forearm region of the operator 12. As shown schematically in the figures, the first hand attachment 40-1 is coupled to the boom section 26-1 of the first support 22-1 via a first tensioning cable 42-1 having a cable 44-1. The second hand attachment 40-2 is coupled to the boom section 26-2 of the second support 22-2 via a second tensioning cable 42-2 having a cable 44-2. In the illustrated example, the first tensioning cable 42-1 is driven via a first cable drive 46-1, and the second tensioning cable 42-2 is driven via a second cable drive 46-2. For example, cable drives 46-1, 46-2 are located on support structure 16, specifically on back portions 24-1, 24-2 (see FIG. 1).

[0041] As shown schematically in FIG. 1, cables 44-1, 44-2 are respectively positioned on boom sections 26-1, 26-2 at their assigned cable deflection points 50-1, 50-2 on boom section 26 via cable deflection devices 48-1, 48-2, which will be described in more detail below.

[0042] In the illustrated example, the cables 44-1, 44-2 are guided in cable guides (not shown) within the respective supports 22-1, 22-2 and pass through cable deflection devices 48-1, 48-2 at the free ends of the boom sections 26-1, 26-2.

[0043] An exemplary embodiment of the boom sections 26-1, 26-2 will be described below with reference to FIG. 3 using the boom section 26-1 of the right support 22-1. The boom section 26-2 of the second support 22-2 is designed to be functionally corresponding or identical. As can be seen from FIG. 3, the boom section 26-1 in the illustrated example includes three support segments 52-1, 52-2, and 52-3 arranged rearwardly of one another along the longitudinal axis 54 of the boom section 26-1. In configurations not shown, the boom sections 26-1, 26-2 may also include only two or more support segments 52. As shown in FIG. 1, the first support segment 52-1 is coupled to the back 24-1 of the support 22-1, and the second support segment 52-2 includes the cable deflection device 48-1. An optional third support segment 52-3 is arranged between the first and second support segments 52-1, 52-2. The support segments 52 are displaceable relative to one another along a displacement axis 56, which in the illustrated example corresponds to the longitudinal axis 54. By displacing the support segments 52 along the displacement axis 56, the length of the boom section 26-1 can be changed, and in particular the distance between the cable deflection device 48-1 and the operator 12 when wearing the auxiliary apparatus 10 can be adjusted.

[0044] The support segments 52 are designed to be telescopic in the illustrated example, and in this regard, the support segments 52 can be pushed together in a retraction direction 58 to shorten the length of the boom section 26-1 and pushed out in an extension direction 60 to lengthen the boom section 26-1.

[0045] In order to drive the displacement movement of the support segments 52 and thus the boom sections 26-1, 26-2 to change their length, actuators (not shown) may be provided which are designed to move the support segments 52 relative to one another along the displacement axis 56. To this end, the actuators may comprise, for example, one or more linear actuators (not shown) which are preferably integrated into the boom sections 26-1, 26-2.

[0046] The auxiliary device 10 may also include an actuator control (not shown) configured to control the actuators as described above. The actuator control may be configured, in particular, to change the length of the boom section 26-1 coupled to the cable 44-1 so that the cable 44-1 is vertically corrected, and to control the actuator depending on the deflection angle α of the cable 44-1 from the vertical so that the cable 44-1 is again positioned vertically. To this end, the auxiliary device 10 may include a sensor device (not shown) for detecting the deflection angle α of the cables 44-1, 44-2 from the vertical. When the cable 44-1 is deflected as shown by the line 44-1' in FIG. 3, the actuator extends the support segment 52 in the extension direction 60, which also extends the boom section 26-1, so that the cable 44-1' is perpendicular to the longitudinal axis 54 of the boom section 26-1.

[0047] In embodiments with actuators, the cable deflection devices 48-1, 48-2 may each include, for example, a single roller 62 along which the cables 44-1, 44-2 are guided (see FIG. 4a).

[0048] Additionally, or as an alternative to an arrangement with an actuator, the support segment 52 may be designed so that the displacement of the support segment 52 along the displacement axis 56 can be driven by the action of the cable force of the cable 44. The cable deflection device 48 is then designed so that, in particular, the component of the cable force of the cable 44 acting along the longitudinal axis 54 or the displacement axis 56 is transmitted to the support segment 52-2 coupled to the cable deflection device 48. For example, the cable deflection device 48 may be designed to transmit both the component of the cable force acting in the extension direction 60 along the displacement axis 56 and the component of the cable force acting in the retraction direction 58 along the displacement axis 60 to the boom section 26.

[0049] 4b and 4c show two exemplary configurations of the cable deflection device 48 designed to transmit the cable forces acting on the boom sections 26-1, 26-2 along the displacement axis 56, particularly in both the retraction direction 58 and the extension direction 60, to the support segment 52-2 to which the cable deflection device 48 is connected. In each case, the cable deflection device 48 comprises two cable pulleys 64-1, 64-2 through which the cable 44 is guided. As can be seen in FIGS. 4a and 4b, the cable pulleys 64-1, 64-2 are spaced apart from one another both horizontally (in the example shown parallel to the retraction direction 58 and the extension direction 60) and vertically (as indicated by the double arrow 66 in FIG. 4b). The cable pulleys 64-1, 64-2 can be attached, for example, to the housing or support structure of the cable deflection device 48. It is also conceivable to rotatably attach the cable pulleys 64-1, 64-2 directly to the boom section 26 or to the support segment 52-2.

[0050] In the embodiment shown in FIG. 4b, the cable 44 from the cable drive 46 to the hand attachment 40 is directed counterclockwise in the extension direction 60 behind and vertically below the cable pulley 64-1 and then clockwise around the second pulley 64-2.

[0051] In the embodiment shown in FIG. 4c, the cable 44 is routed from the cable drive 46 along its course toward the hand attachment 40 clockwise in the direction of extension 60 around a second cable pulley 64-2 forward and vertically above, and then counterclockwise in the direction of extension 60 toward a lower pulley 64-1.

[0052] 5a and 5b show a further configuration of the cable deflection device 48 in which the hand attachments 40-1, 40-2 act on the boom sections 26-1, 26-2 via a double cable 68. In particular, the double cable 68 is connected at one end to the support structure 16 and at the other end to the cable drive 46. In both configurations, the cable deflection device 48 comprises two rollers 70-1, 70-2 arranged in a common plane (corresponding to the plane of the drawings in FIGS. 5a and 5b) and spaced apart from one another in the horizontal and vertical directions. In a configuration not shown, the rollers 70-1, 70-2 are rotatable about a common axis of rotation and, in particular, can be spaced apart from one another along the axis of rotation.

[0053] In the configuration of cable deflection device 48 shown in Figure 5a, the cable 68 is guided around rollers 70-1, 70-2 so that cable forces acting in at least the retraction direction 58 can be introduced to the boom sections 26-1, 26-2 or to the support segment 52-2 coupled to the cable deflection device 48. In the embodiment of cable deflection device 48 shown in Figure 5b, the cable 68 is also guided around rollers 70-1, 70-2 so that the cable 68 is introduced to the boom sections 26-1, 26-2 or to the support segment 52-2 coupled to the cable deflection device 48 in both the retraction direction 58 and the extension direction 60. [Explanation of symbols]

[0054] 10 Auxiliary equipment 12 Operators 14 Luggage 16 Support structure 18 Lower body joint 20 Upper body junction 22 Support 24 Back 26 Boom section 28 Support Connector 30 Lower connection point 32 Upper connection point 40 Hand Attachment 42 Tensile Cable 44 Cable 46 Cable Drive 48 Cable deflector 50 cable deflection points 52 support segments 53 Longitudinal axis 54 Longitudinal axis 56 Displacement axis 58 Shrinkage Direction 60 Extension direction 62 Laura 64 Cable pulley 68 double cable

Claims

1. A wearable assistive device (10) for assisting an operator (12) in lifting and / or holding a load (14), comprising: a support structure (16) having a first support (22-1) and a second support (22-2), the first support (22-1) and the second support (22-2) having back sections (24-1, 24-2) and boom sections (26-1, 26-2), respectively, configured so that, when the operator (12) wears the auxiliary device (10), the back sections (24-1, 24-2) are disposed rearward and extend substantially along the back of the operator (12), and the boom sections (26-1, 26-2) extend from rearward to forward; at least one body connection (18, 20) for connecting the support structure (16) to a body portion of the operator (12); a first hand attachment (40-1) coupled to the right hand or forearm of the operator (12), the first hand attachment (40-1) being force-coupled to the support structure (16) via a driven first tension cable (42-1), the first tension cable (42-1) being force-coupled to the first support (22-1) via a first cable deflection device (48-1); a second hand attachment (40-2) coupled to the left hand or forearm of the operator (12), the second hand attachment (40-2) being force-coupled to the support structure (16) via a driven second tensioning cable (42-2), the second tensioning cable (42-2) being force-coupled to the second support (22-2) via a second cable deflection device (48-2); Equipped with the boom sections (26-1, 26-2) are configured to be able to change their lengths, so that when the operator (12) wears the auxiliary device (10), the change in length of the boom sections (26-1, 26-2) changes the distance from the operator (12) to the cable deflection devices (48-1, 48-1) arranged on the boom sections (26-1, 26-2); The boom sections (26-1, 26-2) each have at least two support segments (52-1, 52-2, 52-3) that are translationally displaceable relative to one another along a displacement axis (60), in particular nested, the at least two support segments (52-1, 52-2, 52-3) are biased to an initial configuration to minimize or maximize the length of the boom sections (26-1, 26-2); a spring device is provided for biasing the at least two support segments (52-1, 52-2, 52-3) to the initial configuration; A wearable assistive device (10) characterized in that:

2. 2. The wearable assistive device (10) according to claim 1, wherein changes in the length of the boom sections (26-1, 26-2) and movements of at least one support segment (52-1, 52-2, 52-3) are driven by the action of a cable force acting on the boom sections (26-1, 26-1) from a tension cable (42-1, 42-1) coupled onto the boom sections (26-1, 26-2) and at least one support segment (52-2).

3. 2. The wearable assistive device (10) of claim 1, wherein the first and second cable deflection devices (48-1, 48-2) are designed such that a component of a cable force on at least one support segment (52-2) on the boom sections (26-1, 26-2) acts along a longitudinal axis (54), a displacement axis (60) of the boom sections (26-1, 26-2).

4. 2. The wearable assistive device (10) according to claim 1, wherein the first and second cable deflection devices (48-1, 48-2) each have at least two cable pulleys (64-1, 64-2), and the cables (44) around the cable pulleys (64-1, 64-2) are guided such that a cable force component of the cables (44) is transmitted to the boom sections (26-1, 26-2), in particular to at least one support segment (52-2), and acts along a longitudinal axis (54), a displacement axis (60) of the boom sections (26-1, 26-2).

5. 2. The wearable assistive device (10) of claim 1, wherein the spring device comprises an integrated tension spring and / or at least one compression spring integrated into the boom section.

6. 6. The wearable assistive device (10) according to claim 5, wherein a tensioning mechanism is provided that is designed to adjust the initial tension of the at least one tension spring and / or the at least one compression spring to vary it.

7. 2. The wearable assistive device (10) according to claim 1, wherein the actuators are designed to change the length of each boom section (26-1, 26-2) and move the at least two support segments (52-1, 52-2, 52-3) relative to one another, and the actuators comprise at least one linear actuator.

8. an actuator control device; The actuator control device includes: and / or controlling the actuators depending on the cable forces of the cables (44-1, 44-2) so as to vary the length of the boom sections (26-1, 26-2) to which the cables (44-1, 44-2) are coupled and to move at least one support segment (52-1, 52-2, 52-3) along a displacement axis (60) to reduce and minimize the cable forces of the cables (44-1, 44-2); and / or the actuators change the lengths of the boom sections (26-1, 26-2) to which the cables (44-1, 44-2) are connected, and at least one support segment (52-1, 52-2, 52-3) is moved relative to one another along the displacement axis (60) to control the actuators depending on the deflection angle α of the cables (44-1, 44-2) from a vertical direction so that the cables (44-1, 44-2) become vertical. A wearable assistive device (10) according to claim 7.

9. at least one cable drive (46-1, 46-2) is provided for driving the first and / or second cables (42-1, 42-2); the at least one cable drive device (46-1, 46-2) interacts with the actuator to drive a tension cable (42-1, 42-2) coupled to the boom section (26-1, 26-2) so that a cable length between the cable deflection device (48-1, 48-2) and the hand attachment (40-1, 40-2) remains constant when the length of the boom section (26-1, 26-2) is changed by the actuator; A wearable assistive device (10) according to claim 7 or claim 8.

10. The first and second hand attachments (40-1, 40-2) are respectively connected to the support structure (16) via a double cable (68), a first cable end of the double cable (68) on the support structure (16) being connected to the boom sections (26-1, 26-2), and a second cable end being connected to the cable drive devices (46-1, 46-2). A wearable assistive device (10) according to any one of claims 1 to 8.

11. The wearable assist device (10) according to any one of claims 1 to 8, further comprising a locking device configured to lock the boom sections (26-1, 26-2) at a predetermined length.

12. 9. The wearable assistive device (10) according to any one of claims 1 to 8, wherein the first and second tension cables (42-1, 42-2) of the cables (44-1, 44-2) are guided at least in sections in cable guides, said cable guides being integrated into the support structure (16), in particular into the respective supports (22-1, 22-2), and in particular such that the cables (44-1, 44-2) in the areas of the free ends of the boom sections (26-1, 26-2) exit from the boom sections (26-1, 26-2) via cable deflection devices (48-1, 48-2).

13. The wearable assistive device (10) according to any one of claims 1 to 8, wherein the first and second cables (42-1, 42-2) each comprise a cable brake arranged on the support (22-1, 22-2).

Images