Wearable assistive device with adjustable lower body attachments

Abstract

To provide an auxiliary device that can be flexibly adapted to an anatomical state of a user.SOLUTION: The auxiliary device comprises support structures (16) having first support bodies (22-1) and second support bodies (22-2). The first support body and the second support body respectively have back parts (24-1 and 24-2) and boom parts (26-1 and 26-2) and have lower body connection parts (18) that join the support structures to the pelvis, the waist part and / or an area of the waist part of an operator, upper body connection parts (20) for joining the support structures to the upper body of the operator, and first connection parts (40-1) and second connection parts (40-2) that are respectively connected to the hands or the front arm areas of the operator. The device is configured so that the first support body is connected to the lower body connection part, at a first lower connection point (30-1), the second support body is connected to the second lower body connection part, and a lower connection point (30-2) can change a relative position between the first lower connection point and a second lower connection point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a wearable assistive device for assisting an operator to lift and / or hold a load.

Background Art

[0002] The assistive device can be used to transmit the load acting on the user when lifting an object in the direction of the ground, or at least to transmit it to the joints and muscle systems of the user through a selected body area, for example, the waist area of the operator.

[0003] The assistive device is known to be configured, for example, as a fixed or semi-mobile device installed at the user's workplace. For example, fixed lifting aids such as tube lifters, rope balancers or manipulators are described in the prior art, whereby individual goods can be picked up and moved from one position to another. However, such assistive devices have limited flexibility as they cannot be easily carried to a new location and used.

[0004] The assistive device is also known to be configured as a fully mobile device that the user can wear. Such a mobile assistive device usually has one or more body connectors that can couple the assistive device to the operator's body and transmit force between the assistive device and the body.

[0005] For example, there are known exoskeletons that can be used as lifting aids for hoisting loads. Exoskeletons are understood to essentially replicate the entire kinetic chain of the lifting process; that is, they replicate the degrees of freedom (the "joints" of the exoskeleton) of the load-bearing limbs and the wearer as accurately as possible. Such solutions are also known as human-shaped exoskeletons. However, such exoskeletons have the drawback that, due to their complexity, not all degrees of freedom of the human body are mapped, resulting in limitations in movement and thus reduced ease of use. Furthermore, such exoskeletons are often heavy and therefore difficult to handle.

[0006] A non-human-shaped lifting aid is known from WO 2014 / 195373 A1, which has a support element that is movable relative to one another and a number of body attachment points that are firmly connected to the support element.

[0007] In principle, known assistive devices can only be adapted to a limited range of the user's specific anatomical condition, and therefore may negatively affect the force transmission between the body and the assistive device. Furthermore, known assistive devices always restrict the operator's freedom of movement and, consequently, the user's comfort of wearing them. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] WO 2014 / 195373 A1 [Overview of the project] [Problems that the invention aims to solve]

[0009] The present invention aims to provide an assistive device that effectively relieves the user from burden when handling objects and can flexibly adapt to the user's anatomical state. Furthermore, the assistive device should allow the user a high degree of freedom of movement. [Means for solving the problem]

[0010] This objective is achieved by an assistive device having the features described in claim 1. The assistive device is configured as a wearable assistive device for assisting in lifting and / or holding a load, meaning a device that a person can wear on their body to assist an operator in lifting and / or holding an object ("wearable lifting assistive device"). In other words, the assistive device is configured to be wearable by a person, and the person can wear the assistive device and move to another location. The device is configured in particular so that an operator can wear it like a backpack.

[0011] The auxiliary device has a support structure configured to absorb the gravitational and / or inertial forces of the load and redirect these forces to a specific area of ​​the operator's body.

[0012] The support structure includes a first support (right side) and a second support (left side) separated from the first support. The first and second supports each have a back section and a boom section. When the auxiliary device is worn by an operator, the support is configured such that the back section is positioned posteriorly, i.e., on the back side of the body or "back side," and essentially starts from the waist and extends cephalically along the operator's back, or starts from the waist and extends cephalically along the operator's back. This does not mean that the back section must extend precisely parallel to the operator's back. The boom section is configured to extend posteriorly to front, i.e., ventrally, or "from the back to the front of the body" when the auxiliary device is worn. When the operator is upright, the back section extends substantially vertically, and the boom section extends horizontally, at least within a section. In this regard, the back section can form a vertical support, and the boom section can form a horizontal support. The back and / or boom sections may be formed in a straight line along their length, or may have curved sections within the section, at least along their longitudinal range. The boom sections may be connected in particular to the back. Preferably, each boom section extends over the operator's shoulders when the auxiliary device is worn. The back and boom sections may be formed integrally or separately. In particular, the back can be connected to the boom section so as to be rotatable, for example, around a first and / or second boom pivot axis (see below). The back and boom sections are configured to be inherently shape-stable. For example, the support may be formed from a tubular member and / or a profile material cut to a predetermined length. It is also advantageous if the back of each support is configured to be of variable length so that the auxiliary device can be adapted to different body sizes, particularly back length. The length of the boom section may also be variable.

[0013] The auxiliary device also includes an upper body connection, particularly an upper body connection, for connecting a support structure to the operator's upper body. In particular, the upper body connection may be configured to connect the support structure to the operator's back, shoulder, and / or chest region.

[0014] The assistive device also includes a lower body connection, particularly a lumbar connection, for connecting a support structure to the operator's pelvis, lumbar region, and / or lumbar region. In particular, the lower body connection is not configured to connect the support structure to the operator's lower limbs, such as the thigh, knee, or lower limb.

[0015] The upper body connection and the lower body connection are configured such that forces are transmitted between the body and the support structure through them. In particular, the upper body connection is configured such that forces are transmitted between the body and the support structure. own weight , support necessary for static equilibrium reaction force The upper and / or lower body connections can be configured to introduce forces into the body due to the guidance of the support portion. The lower body connection can be configured in particular to introduce forces and / or moments into the body due to the handling of the load. In particular, the upper and / or lower body connections are configured to fix the support structure to the operator's body area and thus hold the auxiliary device on the operator's body. In this regard, the upper and / or lower body connections are particularly configured so that the operator can "wear" the auxiliary device by connecting the support structure to the body by the upper or lower body connection. The upper and / or lower body connections can be detachably connected to the support structure and, in particular, can be repeatedly put on and taken off. The upper and lower body connections are preferably positioned apart from each other and, in particular, force-coupled to the support structure. This has the advantage that vertical forces directly arising from the held load are not introduced to the user's upper body, or only a small portion is introduced to the user's upper body.

[0016] The auxiliary device also includes a first (right) hand connector for connection to the operator's right hand or forearm region, for example, the operator's wrist and / or carpal region. The first hand connector is connected to a first support, in particular to the free end of the boom portion of the first support, via a first connector of variable length.

[0017] The auxiliary device also includes a second (left) hand connector for attachment to the left hand or forearm region of the operator, for example, the operator's wrist and / or carpal region. The second hand connector is connected to a second support, in particular to the free end of the boom portion of the second support, via a second connector of variable length.

[0018] The hand connection acts as a link between the human hand and the assistive device. The weight and inertial forces of the held load are introduced to the support structure via the hand connection and connecting device, and then can be introduced to a selected area of ​​the operator's body via the body connection. In the case of the proposed assistive device, the support begins particularly from the operator's wrist. The hand connection is preferably configured so that the human hand is used to grasp the object being lifted, which is superior to a technical gripping system in terms of its versatility. For this purpose, the hand connection can be configured in various ways. For example, an embodiment as a cuff that wraps around the wrist and possibly the carpal is conceivable.

[0019] A connection device of variable length can be configured in particular as a tension cable. In this regard, a first hand connection can be connected to a first support via a first tension cable, and a second hand connection can be connected to a second support via a second tension cable. In particular, a common or individual drive device for driving the cables can be provided. In this way, active support for the operator can be achieved, for example, during lifting operations or when statically holding a load. At least one drive device can be mounted in particular on the support structure. In particular, the cables of the tension cables are each guided via cable guides, preferably running within their respective supports and exiting the supports, particularly the boom section, via cable deflection devices.

[0020] In the proposed auxiliary device, the first support, particularly the back of the first support, is connected to the lower body connection at a first lower connection point, and the second support, particularly the back of the second support, is connected to the lower body connection at a second lower connection point. Furthermore, the lower body connection is configured to allow the relative position between the first lower connection point and the second lower connection point to be changed.

[0021] Such a configuration allows the auxiliary device to flexibly adapt to the specific anatomical structure of the operator's body, particularly the lumbar region, and thus enables the efficient application of force to the body. Furthermore, such an auxiliary device improves wearing comfort, allowing the worker to perform work activities with as little hindrance as possible, even while wearing the auxiliary device. In particular, the lower body connection section includes at least one adjustment mechanism configured to change the relative positions of the first lower connection point and the second lower connection point.

[0022] Advantageously, the lower body connection can be configured to allow for changes in the distance between the first and second lower connection points. In particular, the lower body connection can be configured such that, when the auxiliary device is worn by the operator, the positions of the first and / or second lower connection points can be changed laterally and / or inward with respect to the midline, i.e., particularly perpendicular to the midline. This makes it possible to adapt the lower body connection to the width and / or corresponding curvature of the operator's waist. In this way, a high level of wearing comfort can be achieved on the one hand, and efficient force introduction into the operator's lumbar region can be achieved on the other hand. In this context, as is common in anatomical structures, the midline represents a particularly vertical body plane that extends from the anterior body wall to the posterior body wall and divides the body symmetrically.

[0023] Furthermore, when the auxiliary device is worn by the operator, the lower body connection portion is positioned in the forward and / or backward directions relative to the frontal surface of the first lower connection point and / or the second lower connection point, particularly in a position perpendicular to the frontal surface. Make it changeable, especially adjustableThis is advantageous when configured in this way. Thereby, the back distance between the first and / or second lower connection points and the front head surface, i.e., in particular, the distance between the first and / or second lower connection points and the operator's back, can be set, and in this way, the auxiliary device can be adapted and adjusted to the specific back shape of the operator. In the following context, the front head surface refers to the body plane, in particular, the vertical plane that divides the body into a front part and a back part, as is customary in anatomy.

[0024] In the framework of an advantageous development, the first and second supports can each be connected to the lower body connection via a joint. By connecting the support to the lower body connection in this way, relative movement between the support structure and the lower body connection becomes possible, and the degree of freedom of movement of the operator when wearing the auxiliary device increases. In particular, the first support, preferably the back of the first support, can be connected to the lower body connection at the first lower connection point via a first lower joint device, and preferably the back of the second support can be connected to the second lower connection point via a lower joint device connected to the second lower connection point. It is particularly advantageous when the first support and the second support are connected to the lower body connection via ball joints.

[0025] In the framework of an advantageous development, the lower body connection may comprise a lower force distribution device connected to the support, in particular the back of the support. The lower body connection can further include a body connection device connected to the lower force distribution device via one or more force application points or force application surfaces for connecting to the body region of the operator, in particular the operator's waist, pelvis and / or lumbar region. The lower force distribution device is particularly configured to absorb the force from the support and direct it towards the body connection device, and then introduce the force into the operator's body, in particular avoiding pressure peaks over a wide area.

[0026] The lower body connection device is configured to be flexible, and as a result, this has proven to be particularly advantageous when the body connection device can be variably adapted to the specific anatomical state of the operator. For this purpose, the lower body connection device comprises at least one textile part and can in particular consist of textile parts. The at least one textile part can be configured, for example, in the form of a flexible belt or cuff. For example, the lower body connection device is considered to comprise one or more belts that enclose the pelvis and / or the waist of the operator and have suitable closure elements. Such a configuration provides a high level of wearing comfort and at the same time promotes the secure attachment of the auxiliary device to the operator's body, thereby enabling the efficient introduction of forces in the lumbar region.

[0027] In the framework of an advantageous development, the lower force distribution device may have a lower base body on which the support is arranged, in particular via a lower joint device. The lower base body preferably extends between a first support and a second support, in particular between the back of the first support and the back of the second support. In this regard, the base body functions as a lower connection link between the first support and the second support. The base body can be composed of one or more parts.

[0028] The lower body connection, in particular the lower base body, preferably includes a first lower adjustment mechanism configured to specifically adjust, in particular to vary the distance between the lower connection points. In particular, the first lower adjustment mechanism can be configured to change the position of the lower connection points relative to the mid-plane in an outward and / or inward direction when the auxiliary device is tightened. For example, each support can be held on a rack held on the base body such that it can be displaced in an outward and inward direction via a rack and pinion mechanism.

[0029] Furthermore, the lower body connection is in a frontward direction (ventral) with respect to the frontal plane and in the frontal plane In contrastIt may be advantageous to include a second lower adjustment mechanism configured to change the position of the lower connection point in the posterior direction (backward direction). For example, the first and second supports, in particular the first and second lower joint devices, may be mounted on a base so as to be able to rotate about a pivot axis via a pivot device. In particular, when the auxiliary device is worn and the body is in an upright position, the pivot axis is oriented perpendicular to the transverse plane. In the following context, the transverse plane is what is usually called a plane in anatomy, and is a plane that extends transversely through the body in the lateral and medial directions, particularly horizontal directions, perpendicular to the longitudinal direction of the operator, and thus divides the operator's body into upper and lower parts. In this regard, the pivot device may be configured to change the position of the lower joint device in particular in the anterior direction relative to the frontal plane or in the posterior direction relative to the frontal plane. For example, each lower joint device may be mounted on a rotating wing member in a manner fixed to rotate, and the rotating wing member may be mounted on a lower base so as to be able to rotate about a pivot axis, particularly a housed pivot axis. The first and / or second lower adjustment mechanisms are preferably actuated via operating elements so that the operator can independently set the position of the connection points and change them as needed when the auxiliary device is being worn.

[0030] In the framework of an advantageous developmental form, the lower force distribution device may include a first lumbar shell of a particularly anatomical shape for contact with the operator's right lumbar region and a second lumbar shell of a particularly anatomical shape for contact with the operator's left lumbar region. The lumbar shells are held on a flexible body connection device, particularly preferably on at least one fabric portion, through which they are force-coupled to one another. In particular, the first support is connected to the first lumbar shell, particularly via a first lower joint device, and the second support is connected to the second lumbar shell, particularly via a second lower joint device. In this regard, the lumbar shells are configured to absorb the forces associated with the operation from the support and introduce them to the operator's lumbar region, particularly over a wide area and while avoiding pressure peaks. Such a configuration of a lower force distribution device with lumbar shells allows for particularly effective introduction of force to the body and is characterized in particular by a high level of wearability.

[0031] Furthermore, for efficient force application, it may be advantageous if the lumbar shell is configured such that, when the auxiliary device is worn by the operator, force is introduced into the operator's body via the lumbar shell within the operator's groin region, i.e., in the direction of the back, particularly horizontally.

[0032] It is advantageous that the first and second lumbar shells are movably attached along the lumbar contour via a flexible body coupling device, particularly at least one fabric portion, so that the lower body coupling can be individually adapted to the specific body of the operator. In particular, the lumbar shells can be held on a flexible body coupling device so that the distance between the lower coupling points, and thus the distance between the supports relative to each other, can be adjusted by moving the first and / or second lumbar shells relative to the flexible body coupling device. In particular, the lumbar shells can be slidably attached to the lower body coupling device so that the position of the lower coupling points can be adjusted outward and inward relative to the midline and / or forward and backward relative to the frontal plane by moving the lumbar shells.

[0033] In the framework of an advantageous development, the lower force distribution device may also include at least one lumbar support. The at least one lumbar support may be held in particular on a lower body coupling device, in particular on at least one fabric portion, through which it may be force-coupled to first and second lumbar shells. As a result, the operating force may be distributed to different areas of the body. In addition to force transmission via the lower body coupling device, the at least one lumbar support may be connected to the lumbar shell via at least one elastic element, in particular an elastic band, extending between the lumbar support and the lumbar shell. Depending on the stiffness of the at least one elastic element, the amount of force introduced to the lumbar support can be adjusted.

[0034] The support structure may be connected to the upper body connection via only one of the two supports. However, it is found that for efficient force introduction, it is advantageous when the first support is connected to the upper body connection at a first upper connection point, and the second support is connected to the upper body connection at a second upper connection point. In the framework of the advantageous development, the first and second supports may each be articulated to the upper body connection. In particular, the first support is connected to the upper body connection at a first upper connection point via a first upper joint mechanism, and the second support is connected to the upper body connection at a second upper connection point via a second upper joint mechanism. Such a configuration further increases the degree of freedom of movement for the operator. Furthermore, by connecting the supports to the upper body connection, the distance between the lower connection points can be set independently of the distance between the upper connection points, especially when both supports are connected to the upper body connection. For example, the supports can be tilted with respect to the median and frontal planes. It has been proven particularly advantageous that each of the first upper joint device and the second upper joint device has at least two, preferably at least three, joint degrees of freedom.

[0035] In order to flexibly adapt the upper body connection to the shape of the operator's back, the upper body connection, in particular, the relative position between the first upper connection point and the second upper connection point Make it changeable, especially adjustableIt is also advantageous if the device is configured in such a way. In particular, the upper body connection can be configured such that, when the auxiliary device is worn by the operator, the positions of the first upper connection point and / or the second upper connection point can be adjusted, in particular, outward and / or inward with respect to the midline. This makes it possible to adapt the upper body connection to the width of the back, and thus to optimally adapt the auxiliary device to the operator. The upper body connection can also be configured such that, when the auxiliary device is worn by the operator, the positions of the first upper half connection point and / or the second upper half connection point can be adjusted, in particular, forward and / or backward with respect to the frontal plane. This makes it possible to adjust the distance of the support to the operator's back.

[0036] This is particularly advantageous when the upper and lower body connection points are configured to allow for independent adjustment of the relative positions of the upper and lower connection points. Such a configuration makes it possible to depict various anatomical combinations, such as a broad shoulder and a narrow waist. This can be facilitated in particular by combining the adjustability of the upper and / or lower body connection points with the joint connections of the support.

[0037] It is also advantageous if the auxiliary device has locking devices for determining the relative positions of the first and second lower connection points and / or the relative positions of the first and second upper joints, in order to prevent undesirable adjustments, for example, during the work process, after the auxiliary device has been well adapted to the anatomical structure of the operator. In particular, the first and / or second lower adjustment mechanisms can be configured to be lockable, for example, via a latching mechanism.

[0038] Favorable embodiment So,The boom section of the first support may be swivelably connected to the back of the first support, and the boom section of the second support may be swivelably connected to the back of the second support. Each boom section is preferably positioned on the respective back, and a first, particularly vertical, boom pivot axis is rotatable parallel to the longitudinal axis of the back. This allows the extended boom section to be swung left or right without having to swivel the rear section in particular when an auxiliary device is attached. Alternatively or additionally, each boom section may be positioned on the back so as to be pivotable around a second boom pivot axis, particularly horizontal, perpendicular to the longitudinal axis of the back and the longitudinal axis of the boom section. This allows the boom section to be rotated "up" or "down" without having to rotate the back section in particular. [Brief explanation of the drawing]

[0039] The present invention will be described in more detail below with reference to the figures. [Figure 1] Figure 1 is a simplified schematic diagram illustrating the arrangement of the auxiliary equipment. [Figure 2] Figure 2 is a simplified schematic diagram illustrating the usage of the auxiliary device. [Figure 3] Figure 3 is a simplified schematic front view of the lower body connection of the auxiliary device. [Figure 4] Figure 4 is a simplified schematic rear perspective view of the lower body connection assembly shown in Figure 3. [Figure 5] Figure 5 is a simplified schematic side view of the auxiliary device. [Figure 6] Figure 6 is a schematic rear perspective view of an embodiment of the lower body connection. [Figure 7a] Figure 7a is a sketch of various diagrams of further embodiments of the lower body connection. [Figure 7b] Figure 7b is a sketch of various diagrams of further embodiments of the lower body connection. [Figure 7c] Figure 7c is a sketch of various diagrams of further embodiments of the lower body connection. [Figure 8] Figure 8 is a sketched representation of the lower body connection in the plan view shown in Figures 7a to 7c. [Figure 9] Figure 9 is a simplified schematic diagram of an auxiliary device used to illustrate adjustability. [Modes for carrying out the invention]

[0040] In the following description and drawings, the same reference symbol is used for the same or corresponding features.

[0041] Figure 1 shows a wearable assistive device, generally indicated by reference numeral 10, in a simplified schematic diagram. The assistive device 10 is configured to support the operator 12 when lifting and / or transporting the load 14 (see Figure 2). As will be described in detail below, the assistive device 10 is configured in the sense of a mobile device worn and transported by the operator 12.

[0042] The auxiliary device 10 includes a support structure 16 configured to absorb load-bearing forces, particularly the weight and / or inertial forces of a load 14 held by the operator 12, and to transmit them to a specific area of ​​the operator 12's body. For this purpose, the auxiliary device 10 also includes a lower body connection 18 for connecting the support structure 16 to the operator 12's pelvis, lumbar region, and / or lumbar region, and an upper body connection 20 for connecting the support structure 16 to the operator 12's upper body (see Figures 1 and 2).

[0043] The support structure 16 includes a first (right) support 22-1 and a second (left) support 22-2. As can be seen from Figure 1, supports 22-1 and 22-2 each include a back section 24-1 and 24-2 and a boom section 26-1 and 26-2, respectively. In the illustrated example, the back sections 24-1 and 24-2 are connected to the boom sections 26-1 and 26-2 via a support connector 28, but this is shown only schematically. It is also conceivable that the back sections 24-1 and 24-2 are formed integrally with the corresponding boom sections 26-1 and 26-2. It is also conceivable that the boom sections 26-1 and 26-2 are rotatably connected to the corresponding back sections 24-1 and 24-2 via corresponding boom joints (not shown). For example, the boom joint can be configured so that each boom section 26-1, 26-2 can pivot about a first, particularly vertical, boom pivot axis parallel to the longitudinal axis 54 of the back sections 24-1, 24-2, and / or about a second, particularly horizontal, boom pivot axis with respect to the longitudinal axis 54 of the back sections 24-1, 24-2, and with respect to the longitudinal axis 55 of the boom sections 26-1, 26-2.

[0044] As schematically shown in Figure 1, the first support 22-1 is connected to the lower body connection 18 at the first lower connection point 30-1 and to the upper body connection 20 at the first upper connection point 32-1. Accordingly, the second support 22-2 is connected to the lower body connection 18 at the second lower connection point 30-2 and to the upper body connection 20 at the second upper connection point 32-2 (described later).

[0045] As can be seen in Figure 2, when the auxiliary device 10 is worn by the operator 12, the back sections 24-1, 24-2 are positioned rearward, i.e., on the back side 34 of the operator 12, and are configured to extend along the back of the operator 12 (for example, vertically in Figure 2) from the lower body connection section 18 to essentially the skull side (see arrow 36 in Figure 2). When the auxiliary device 10 is worn, the boom sections 26-1, 26-2 are configured to extend from rearward to front, i.e., from the back side 34 of the operator 12 to the front side 38, in particular over the operator's shoulders.

[0046] In the illustrated embodiment, the back sections 24-1 and 24-2 and the boom sections 26-1 and 26-2 are orthogonal to each other. However, other configurations are possible in configurations not shown. For example, when the auxiliary device 10 is worn front to back, each boom section 26-1 and 26-2 is thought to be connected to the back sections 24-1 and 24-2 and to have curvature.

[0047] The auxiliary device 10 also includes a first hand connector 40-1 for attachment to the right hand or forearm area of ​​the operator 12, and a second hand connector 40-2 for attachment to the left hand or forearm area of ​​the operator 12. As schematically shown in Figure 1, the first hand connector 40-1 is connected to the boom section 26-1 of the first support 22-1 via a first connector 42-1, in particular a first connector 42-1 of variable length. The second hand connector 40-2 is connected to the boom section 26-2 of the second support 22-2 via a second connector 42-2, in particular a second connector 42-2 of variable length. As an example, preferably, the connectors 42-1, 42-2 can be drive tension cables 44-1, 44-2. The auxiliary device 10 also includes, The system may have a common drive unit 46, or one provided for each of the tension cables 44-1, 44-2, which is preferably attached to a support structure 16 (see Figure 2). The auxiliary device 10 may then have an integrated cable guide (not shown) adapted to guide each tension cable 44-1, 44-2, particularly the support 22, from the drive means 46 to the hand connection sections 40-1, 40-2. In particular, the cables can be brought out to the free ends of the boom sections 26-1, 26-2 via a cable deflection device (not shown).

[0048] As schematically shown in Figure 1, the first support 22-1 is connected to the lower body connection 18 at the first lower connection point 30-1 via, for example, an optional first lower joint device 48-1, and the second support 22-2 is connected to the lower body connection 18 at the second lower connection point 30-2 via an optional second lower joint device 48-2. When the auxiliary device 10 is attached, the lower joint devices 48-1 and 48-2 The inclination angle α of each support 22-1 and 22-2 with respect to the median plane 50 (Figure) 9(See reference) and each is configured to allow for changes in the inclination angle β (see Figure 5) of each support 22-1, 22-2 relative to the frontal surface 52. Furthermore, the lower joint devices 48-1, 48-2 can be configured such that the respective dorsal portions 24-1, 24-2 of each support 22-1, 22-2 are held on the lower body connection 18 and rotate around their longitudinal axis 54. In the illustrated embodiment, the lower joint devices 48-1, 48-2 are configured as ball joints 56-1, 56-2.

[0049] Figure 3 shows a simplified schematic diagram of one embodiment of the lower body connection section 18. As can be seen from Figure 3, the lower body connection section 18 comprises a base 60 positioned between the back sections 24-1 and 24-2. As shown in Figure 4, the supports 22-1 and 22-2 are held on the base 60 via lower joint devices 48-1 and 48-2, for example, via a pivot device 62, which is detailed below. The base 60 is a lower force distribution device 58 configured to absorb forces from the supports 22-1 and 22-2 and distribute them over a wide area to the body connection section 18.

[0050] The base 60 includes a first lower adjustment mechanism 64 configured to change the distance between the lower joint devices 48-1, 48-2 and the base 60, and therefore the distance between the base 60 and the supports 22-1, 22-2. When the auxiliary device 10 is fitted, the positions of the first lower connection point 30-1 and the second lower connection point 30-2 can be adjusted in the intermediate portion, in particular outward and inward with respect to the midline plane 50 (indicated by the double arrows 66 in Figure 3). For example, the first adjustment mechanism 64 may include left and right toothed rack devices 76-1, 76-2, through which the supports 22-1, 22-2 can be held on the base 60, in particular via pivot devices 62-1, 62-2 (see Figure 6). The first lower adjustment mechanism 64 can be actuated, for example, via a lower operating unit 78.

[0051] In the illustrated example, supports 22-1 and 22-2 are held on the lower base 60, particularly via lower joint devices 48-1 and 48-2, and via the aforementioned pivot devices 62-1 and 62-2, respectively. As illustrated in Figure 4, the lower joint devices 48-1 and 48-2 are mounted on rotatable wing-shaped members 68-1 and 68-2, respectively, which are rotatable around pivot axes 70-1 and 70-2 on the lower base 60. When the auxiliary device 10 is fitted, the pivot axes 70-1 and 70-2 are oriented, in particular, perpendicular to the cross-section (in an upright position). The pivot device 62 allows the lower connection points 30-1 and 30-2 to be positioned and changed anteriorly (ventrally, see arrow 72 in Figure 5) or posteriorly (dorsally, see arrow 74 in Figure 5) relative to the frontal surface 52. In this regard, the pivot devices 62-1 and 62-2 form a second lower adjustment mechanism 75.

[0052] Figure 6 shows an exemplary configuration of the lower base 60 having first and second lower adjustment mechanisms 64 and 75.

[0053] As partially shown in Figure 3, the lower body connection 18 also includes a flexible lower body connection device 80 for connecting to the waist, pelvis, and / or lumbar region of the operator 12. The lower body connection device 80 includes, in particular, a fabric portion 82 to which the auxiliary device 10 is connected to the body. For example, the fabric portion 82 may be in the form of a hip belt (not shown) encompassing the lumbar region of the operator 12.

[0054] Figures 7a-78 show further exemplary embodiments of the lower body connection 18. As can be seen from Figure 7c, the lower force distribution device 58 in this embodiment is formed by two anatomically shaped lumbar shells 84-1, 84-2. Supports 22-1, 22-2 are held on the lumbar shells 84-1, 84-2, particularly via optional lower joint devices 48-1, 48-2. For example, the lumbar shells 84-1, 84-2 are thought to hold the respective ball receptacles 86 of ball joints 56-1, 56-2. The lumbar shells 84-1, 84-2 are positioned on a fabric portion 82 configured, for example, as a waistband 88.

[0055] As can be seen from Figures 7c and 8, the lumbar shells 84-1 and 84-2 are, for example, preferably positioned ventrally when the auxiliary device 10 is placed over the groin area 92 of the operator 12 (see arrow 72 in Figure 8), and the force directed towards the back (Figure 8 8 The lower connection points 30-1, 30-2 are attached to the fabric portion 82 so that they can be introduced into the body of the operator 12 via the waist shells 84-1, 84-2 (see arrow 74 in Figure 8). Preferably, the waist shells 84-1, 84-2 are attached to the fabric portion 82 so that the position of the lower connection points 30-1, 30-2 is movable both outward or inward relative to the midline plane 50 and forward or backward relative to the frontal plane 52 (indicated by the double arrow 96 in Figure 8) by shifting the waist shells 84-1, 84-2 relative to the fabric portion 82.

[0056] In the illustrated embodiment, the lower body connection 18 also includes an optional lumbar support 100 which is part of the lower force distribution device 58. The lumbar support 100 is held on a fabric portion 82 and force-coupled thereto to the lumbar shells 84-1, 84-2. Optionally, the lumbar support 100 may also be connected to the lumbar shells 84-1, 84-2 via one or more elastic straps 102 (see Figure 7a). The lumbar support 100 is slidably mounted on the fabric portion 82, for example, preferably so that the position of the lumbar support 100 can be adjusted in particular toward the cranial side (see arrow 36 in Figure 7a) or the caudal side (see arrow 104 in Figure 7a).

[0057] As shown in Figure 1, the first support 22-1 can be optionally connected to the upper body connection device 20 via the first upper joint device 106-1 at the first upper connection point 32-1, and the second support 22-2 can be optionally connected to the upper body connection part 20 via the second upper joint device 106-2 at the second upper connection point 32-1. In particular, the upper joint devices 106-1 and 106-2 each have three degrees of freedom in the joint.

[0058] Furthermore, the upper body connection may be equipped with a first adjustment mechanism (not shown) configured to change the distance between the first upper joint device 106-1 and the second upper joint device 106-2. For example, the upper body connection 20 may have a rack and pinion mechanism similar to that of the lower body connection 18 (see Figure 6 and above). The upper body connection 20 may also be equipped with a second upper adjustment mechanism (not shown) configured to adjust the position of the upper joint devices 106-1 and 106-2 forward (see arrow 72 in Figure 5) or backward (see changing arrow 74 in Figure 5) relative to the frontal surface 52.

[0059] The particularly advantageous effects of the auxiliary device 10 arise when the lower body connection 18 and the upper body connection 20 interact. As schematically shown in Figure 9, it is possible to model, for example, the anatomical features of a body having a narrow waist and a broad back.

Claims

1. A wearable auxiliary device (10) for assisting an operator (12) in lifting and / or holding a load (14), A support structure (16) having a first support (22-1) and a second support (22-2), wherein the first support (22-1) and the second support (22-2) each have a back portion (24-1, 24-2) and a boom portion (26-1, 26-2), and as a result, when the auxiliary device (10) is worn by an operator (12), the back portion (24-1, 24-2) is positioned substantially along the back of the operator (12), and the boom portion (26-1, 26-2) is connected to the support structure (16) extending from rear to front. The support structure (16) is connected to the pelvis, lumbar region and / or lumbar region of the operator (12) by a lower body connection portion (18), The support structure (16) is connected to the upper body of the operator (12) by an upper body connection part (20), A first hand connector (40-1) for connecting to the right hand or forearm region of the operator (12), the first hand connector (40-1) being connected to the first support (22-1) via a first variable-length connector (42-1), A second hand connector (40-2) for connecting to the left hand or forearm region of the operator (12), the second hand connector (40-2) being connected to the second support (22-2) via a second variable-length connector (42-2), Equipped with, The first support (22-1) is connected to the lower body connection portion (18) at a first lower connection point (30-1), and the second support (22-2) is connected to the lower body connection portion (18) at a second lower connection point (30-2). When worn, the lower body connection portion (18) is configured to allow the relative position between the first lower connection point (30-1) and the second lower connection point (30-2) to be changed. A wearable assistive device (10).

2. The lower body connection portion (18) is configured to allow adjustment of the distance between the first lower connection point (30-1) and the second lower connection point (30-2) as described in claim 1. A type of auxiliary device (10).

3. The wearable auxiliary device (10) according to claim 1 or 2, wherein the lower body connection portion (18) is configured such that the relative position between the first lower connection point (30-1) and the second lower connection point (30-2) can be changed.

4. The wearable auxiliary device (10) according to claim 1 or 2, wherein the first support (22-1) is connected to the lower body connection part (18) via a first lower joint device (48-1) at a first lower connection point (30-1), and the second support (22-2) is connected to the lower body connection part (18) via a second lower joint device (48-2) at a second lower connection point (30-2).

5. The wearable auxiliary device (10) according to claim 1, wherein the lower body connection portion (18) comprises a lower force distribution device (58) connected to the first support (22-1) and the second support (22-2), and the lower body connection portion (18) comprises a flexible lower body connection device (80) connected to the lower force distribution device (58) for attachment to the body area of ​​the operator (12).

6. The wearable auxiliary device (10) according to claim 5, wherein the lower body connecting device (80) includes at least one fabric portion in the form of a belt, a belt system, or a cuff.

7. The lower force distribution device (58) includes a lower base (60) extending between the first support (22-1) and the second support (22-2), on which the first support (22-1) and the second support (22-2) are disposed, the wearable auxiliary device (10) according to claim 5 or 6.

8. The wearable auxiliary device (10) according to claim 7, wherein the lower base (60) comprises a first lower adjustment mechanism (64) configured to change the distance between the first lower connection point (30-1) and the second lower connection point (30-2).

9. The first support (22-1) and the second support (22-2) are each held to the lower body connection (18) via pivot devices (62-1, 62-2), and the pivot devices (62-1, 62-2) are configured to position the first lower connection point (30-1) and the second lower connection point (30-2) so as to change anterior-posterior relative to the frontal surface (52). A wearable auxiliary device (10) according to any one of claims 1, 2, 5, and 6.

10. The lower force distribution device (58) includes a first waist shell (84-1) that engages with the right waist of the operator (12) and a second waist shell (84-2) that engages with the left waist of the operator (12), wherein the first support (22-1) is connected to the first waist shell (84-1) via a first lower joint device (48-1), and the second support (22-2) is connected to the second waist shell (84-2) via a second lower joint device (48-2), as described in claim 5.

11. The wearable auxiliary device (10) according to claim 10, wherein the first waist shell (84-1) and the second waist shell (84-2) are movably mounted on the lower body connecting device (18) so that the distance between the first lower connection point (30-1) and the second lower connection point (30-2) can be changed relative to the lower body connecting device (18) by moving the first waist shell (84-1) and / or the second waist shell (84-2) relative to the lower body connecting device (18).

12. The wearable auxiliary device (10) according to claim 10, wherein the lower force distribution device (58) further includes at least one lumbar support (100) connected to the first lumbar shell (84-1) and / or the second lumbar shell (84-2) via the lower body connecting device (80).

13. The wearable auxiliary device (10) according to claim 1, wherein the first support (22-1) is coupled to the upper body connection part (20) at a first upper connection point (32-1), and the second support (22-2) is connected to the upper body connection part (20) at a second upper connection point (32-2).

14. The wearable auxiliary device (10) according to claim 13, wherein the upper body connection portion (20) is capable of changing the relative position between the first upper connection point (32-1) and the second upper connection point (32-2).

15. The wearable auxiliary device according to claim 13, wherein the upper body connection portion (20) and the lower body connection portion (18) are configured such that the relative positions of the first upper connection point (32-1) and the second upper connection point (32-2), and the relative positions of the first lower connection point (30-1) and the second lower connection point (30-2) can be adjusted independently of each other.

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