Finger exoskeleton

Abstract

The invention relates to a finger exoskeleton (1) with two exoskeleton parts (2, 3) which are connected to one another via pivot bearings. Stops are integrated into the pivot bearing, wherein one stop can be integrated into a bearing eye (16, 16b) of one exoskeleton part (2, 3), wherein the other stop can be formed by a pivot bearing insert (13). As an alternative or in addition, a fingertip part (5) can comprise a sensor element (42). The sensor element (42), if any, has outer contact elements which project on the outer side out of the fingertip part (5) and extend through recesses in the fingertip part (5). A contact force which acts on the outer contact elements can be transmitted via the outer contact elements through the recesses to the fingertip, in order to give haptic feedback in respect of the contact force to the wearer of the finger exoskeleton (1).

Description

[0001] FINGER EXOSKELETON

[0002] TECHNICAL FIELD OF THE INVENTION

[0003] The invention relates to a finger exoskeleton which can be used in the area of ​​at least two phalanges and for any finger, including the thumb.

[0004] A finger exoskeleton is a mechanical external support structure worn on a finger that can be applied and removed as needed. The finger exoskeleton can be an active finger exoskeleton with an actuator (particularly an electric one) or a passive finger exoskeleton without an actuator, but in some cases also with springs or integrally formed elastic elements. The finger exoskeleton can be designed as a finger orthosis, which can serve medical or therapeutic purposes. It is also possible for the finger exoskeleton to support, guide, and / or amplify finger movements, and / or relieve finger phalanges and / or joints, and / or protect against injury or irritation. One possible application of such a finger exoskeleton is to assist a technician during assembly. STATE OF THE ART

[0005] The company Ottobock SE & Co. KGaA markets a thumb exoskeleton under the brand name "paexo thumb," see https: / / ottobockexoskeletons.com / paexo-thumb /

[0006] (Date of inspection: September 4, 2023). The thumb exoskeleton has a first exoskeleton segment, which houses the distal phalanx of the thumb. The first thumb phalanx (proximal phalanx) is housed in a second exoskeleton segment. The two exoskeleton segments are connected to each other via offset coupling struts arranged on both sides of the thumb. The elasticity and shape of the coupling struts are intended to maintain full mobility of the thumb's distal phalanx, so that the coupling struts form a kind of hinge joint. To protect the tip of the thumb from mechanical influences, the first exoskeleton segment covers the front and underside of the thumb. The integration of the distal phalanx with the thumb's tip in the first exoskeleton segment is comparable to a thimble. Furthermore, the first exoskeleton segment has a support ring on the underside.The thumb exoskeleton is designed to relieve the thumb, particularly the thumb end joint and the thumb saddle joint, by dissipating forces throughout the hand. The thumb exoskeleton is used for clipping, inserting, or plugging during assembly. The thumb exoskeleton can also be worn under a glove. The thumb exoskeleton is available in various sizes and, thanks to the elasticity of the exoskeleton's openings for the thumb phalanges, allows for quick donning and doffing.

[0007] A fundamentally corresponding embodiment is known from US 2021 / 0267782 A1, which additionally addresses the possibility that the offset coupling struts on both sides of the thumb can also limit the pivot angle of the thumb's distal joint. Furthermore, US 2021 / 0267782 A1 proposes that a tool can be mounted or formed on the front side of the first exoskeleton member of the thumb exoskeleton, which tool can be a cable connection holder, a screwing tool, a wrench, a clamping aid, or similar. According to US 2021 / 0267782 A1, the components of the thumb exoskeleton can be manufactured using 3D printing, injection molding, or a lamination process.

[0008] US 2021 / 022899 A1 discloses a finger orthosis with two or three orthotic members connected by joints. The orthotic members have outwardly oriented pivot pins on both sides of the finger, defining a pivot axis. These pivot pins are received in correspondingly shaped bearing eyes of the adjacent orthotic member. The joints are assembled by elastically deforming the orthotic members, which then inserts the pivot pins into the bearing eyes. To prevent hyperextension, an orthotic member has a laterally outwardly oriented extension adjacent to the pivot pin. This extension, like a stop, comes into contact with a stop of the adjacent orthotic member to limit the pivot angle. The stop is formed by the outer contour of the adjacent orthotic member in the area surrounding its bearing eye.

[0009] Another thumb exoskeleton, whose degrees of freedom of movement are ensured by the elasticity of the material used, can be found on the website https: / / exo.iturri.com / de / prexer-de

[0010] (Date of inspection 04.09.2023) announced.

[0011] The website https: / / www.ruck-produkte.de / produkt-infos

[0012] (Date of inspection 04.09.2023) discloses the connection of two orthotic members of a finger orthosis by means of a metallic spiral spring, the spring base points of which are each firmly connected to an orthotic member of the finger orthosis.

[0013] The non-generic publication DE 10 2012 002 552 A1 discloses an orthosis for correcting joint misalignments, in which a shell part for a foot is connected to a splint on one side via a pivot bearing. Another shell part for a lower leg is attached to the splint. To form the pivot bearing, the splint has a bearing eye in one end region with a cylindrical inner surface into which an outer ring of a ball bearing is inserted. The axis of a joint piece, which is attached to the shell part for the foot, is supported on the inner surface of the inner ring of the ball bearing. The pivot angle of the pivot bearing and thus of the shell parts is limited by two stop discs, which are also arranged on the axis of the joint piece and are located between the joint piece and the splint.To limit the pivot angle of the pivot bearing and thus of the shell parts, extensions of the stops engage stops on the rail. Other non-generic publications DE 100 05 764 A1, DE 10 2018 105 480 A1, DE 102022 108 577 B3, and DE 10 2021 118 201 A1 concern orthoses designed as elbow splints or as orthopedic orthoses for a knee or elbow joint, a 3D orthotic joint for a 3D hip joint, and a walking orthosis.

[0014] OBJECT OF THE INVENTION

[0015] The present invention is based on the object of proposing a finger exoskeleton which is improved in particular with regard to the structural design and / or the strength and / or the force transmission between exoskeleton members and / or the provision of a pivot bearing and / or the limitation of the pivot angle of the pivot bearing and / or the assembly and disassembly and / or the geometry and the design and / or the interaction with the fingers of the wearer of the finger exoskeleton and / or the comfort of use and wear and / or the behavior in the event of a failure of the finger exoskeleton in the region of a pivot bearing.

[0016] SOLUTION

[0017] The object of the invention is achieved according to the invention with the features of the independent patent claims. Further preferred embodiments of the invention can be found in the dependent patent claims.

[0018] DESCRIPTION OF THE INVENTION

[0019] To achieve the object underlying the invention, the finger exoskeleton has two exoskeleton limbs. Each exoskeleton limb is designed to accommodate and support an associated finger limb. The finger exoskeleton can have only two exoskeleton limbs, whereby the finger exoskeleton is supported on only two finger limbs. However, it is also possible for the finger exoskeleton to have at least one additional exoskeleton limb, via which another finger limb can be supported, and / or for the finger exoskeleton to be additionally supported (for example, via a plate and / or loop) on a palm, the back of the hand, a wrist, or another part of the body.

[0020] The finger exoskeleton according to the invention has a pivot bearing that connects the two exoskeleton limbs so that they can pivot about a pivot axis. When the finger exoskeleton is in place, the pivot axis of the pivot bearing preferably extends coaxially with the pivot axis of the finger joint, via which the two finger limbs accommodated in the exoskeleton limbs are connected. The pivot bearing of the finger exoskeleton is designed with a bearing eye and a bearing body arranged in the bearing eye.

[0021] In the finger exoskeleton according to the invention, a minimum or maximum pivot angle of the exoskeleton limbs (and thus the finger limbs) relative to one another is specified. According to the invention, this is achieved by two stops coming into contact with one another when the minimum and maximum pivot angles are reached. The invention encompasses embodiments in which either the minimum pivot angle or the maximum pivot angle is specified by two stops. However, it is also possible for both the minimum pivot angle and the maximum pivot angle of the pivot bearing to be specified by at least three, preferably four, stops.

[0022] The invention is based on the finding that for the embodiments known from the prior art (cf. e.g. US 2021 / 022899 A1), the provision of stops via an outwardly oriented extension of an orthotic member and an outer contour of the adjacent orthotic member providing the stop is complex to manufacture, leads to a design having projections and edges which is obstructive in use, and contradicts a simple, slim, attractive and unobtrusive design of the exoskeleton.

[0023] In addition, with such a design there is a possibility that skin of a neighboring finger or objects in the vicinity of the finger exoskeleton can become trapped between the two stops.

[0024] According to the invention, a stop is formed directly from a bearing eye of one exoskeleton member, in which the bearing body of the other exoskeleton member is then received. In this case, the bearing eye can be designed multifunctionally, in that it serves, on the one hand, to guide the rotational movement, in particular, the rotational guidance of the bearing body, and, on the other hand, to provide the stop by which the pivot angle is limited. Preferably, the stop of the bearing eye then comes into contact with a corresponding stop of the bearing body to limit the pivot angle.

[0025] It is possible for the stops, which determine the minimum or maximum pivot angle of the pivot bearing and thus of the exoskeleton limbs, to be integrated into the pivot bearing. The stops are preferably located in an overlapping area of ​​material regions of the two exoskeleton limbs (particularly in the area of ​​overlapping bearing flanges of the exoskeleton limbs). The stops can then be located in the overlapping area inside these material regions, i.e., within the outer surface of the outer exoskeleton limb or the outer bearing flange and the inner surface of the inner exoskeleton limb or the inner bearing flange. The stops thus do not protrude beyond the outer and inner surfaces, resulting in an attractive design, a compact size, and / or preventing skin or surrounding objects from becoming trapped.It is possible that the stops are additionally covered outwards and / or inwards, which can be achieved by an additional protective element, for example a fixing screw, or a covering surface of a component forming the stop, in particular a stop flange of a pivot bearing insert.

[0026] In a special embodiment, it is possible for the stops to have a distance from the pivot axis that is less than 10 mm, less than 9 mm, less than 8 mm, less than 7 mm, less than 6 mm, less than 5 mm, less than 4 mm, less than 3 mm or even less than 2 mm. Alternatively or cumulatively, it is possible for an inner bearing surface of the bearing eye to have a radius that is less than 10 mm, less than 9 mm, less than 8 mm, less than 7 mm, less than 6 mm, less than 5 mm, less than 4 mm, less than 3 mm or even less than 2 mm.

[0027] There are a variety of design options for the pivot bearing within the scope of the invention. For example, the components of the pivot bearing can be formed integrally with the exoskeleton members, so that the bearing eye with a stop is formed integrally with one exoskeleton member, and the bearing body with a stop is formed integrally with the other exoskeleton member. However, it is also possible to use at least one additional component, which can then form, for example, the bearing body or the bearing eye and is firmly mounted on an exoskeleton member.

[0028] According to one embodiment of the invention, the pivot bearing is provided in that the bearing body has a pivot bearing section. The pivot bearing section has a vane oriented radially to the pivot axis. A vane surface of the vane then has a surface normal that has at least one component in the circumferential direction around the pivot axis. This vane surface of the vane then forms a first stop. Furthermore, the pivot bearing section of the bearing body has an outer bearing surface that corresponds to the lateral surface of a cylinder segment. It is possible for the vane and the outer bearing surface to be arranged with the same axial extent but in different circumferential regions of the pivot bearing section. It is also possible for the vane and the outer bearing surface to be arranged in different axial sections of the pivot bearing section.

[0029] For this embodiment of the finger exoskeleton, the bearing eye has an inner bearing surface that corresponds to the outer surface of a cylinder segment. The inner bearing surface of the bearing eye is designed to correspond to the outer bearing surface of the bearing body in order to form a sliding bearing for pivoting about the pivot axis. The bearing eye further has a wing receiving recess that is suitably designed to receive the wing of the bearing body. The wing receiving recess is delimited in at least one circumferential direction by a wing stop surface that forms a second stop. The wing receiving recess has an extension in the circumferential direction that enables pivoting of the wing of the bearing body in the wing receiving recess, limited by the first and second stops.In the bearing eye, the bearing inner surface on the one hand and the wing receiving recess can be arranged with the same axial extension or axially offset according to the design of the bearing body in the area of ​​the pivot bearing section.

[0030] In the finger exoskeleton, the pivot bearing section of the bearing body is then inserted into the bearing eye. To specify the minimum or maximum pivot angle of the exoskeleton limbs, the first stop formed by the wing engages with the second stop circumferentially delimiting the wing receiving recess of the bearing eye. During pivoting of the exoskeleton limbs around the pivot axis, the outer bearing surface of the bearing body is rotatably guided on the inner bearing surface of the bearing eye.

[0031] It is entirely possible for the bearing body and the bearing eye to have just one wing and one wing receiving recess. Preferably, the bearing body has two wings. In this case, the two wings can be connected to one another by two cylindrical segment-shaped outer bearing surfaces. Preferably, the two wings are then arranged offset from one another by 180° in the circumferential direction, and the two bearing outer surfaces and wings are located at the same axial extent of the bearing body. In this case, the bearing eye then has two corresponding inner bearing surfaces and two wing receiving recesses. By using two wings and two wing receiving recesses, the stop forces can be distributed when the stops come into contact when the minimum and / or maximum pivot angle is reached, which ideally halves the stop forces.It is also possible to use more than two wings and wing mounting recesses or even a type of toothing with a clearance in the circumferential direction if a further reduction of the impact forces is desired.

[0032] As previously explained, the component of the pivot bearing and in particular the bearing body can be formed integrally with the exoskeleton limbs. However, in one proposal of the invention, the pivot bearing has a pivot bearing insert that forms the bearing body. In this way, it is possible for the pivot bearing insert to be manufactured separately. The design and manufacture of the pivot bearing insert can then be used to individually adapt the pivot bearing and, under certain circumstances (e.g., by varying the circumferential extent of the wings), it is also possible to influence the minimum and / or maximum pivot angle. The same or different pivot bearing inserts can then be used for different exoskeleton limbs. Furthermore, it is possible for the pivot bearing insert to be made of a different material than the exoskeleton limbs.For example, the pivot bearing insert can be specifically manufactured from a material that has a high strength and also enables, for example, the reliable engagement of a screw, while the material of the exoskeleton limbs can be specifically equipped with an elasticity, a reduced strength or a material appearance and surface for a suitable contact on the one hand on the inside with the finger and on the other hand on the outside for the interaction of the finger exoskeleton with objects.

[0033] There are many possibilities for the design of the pivot bearing insert and its bearing body within the scope of the invention. The bearing body of the pivot bearing insert can have the previously explained pivot bearing section, on the one hand, with at least one wing, and on the other hand, with at least one outer bearing surface. In addition, according to one proposal of the invention, the bearing body can also have a fixing section. In the area of ​​the fixing section, the bearing body can then be fastened to the exoskeleton member that does not form the bearing eye. For example, the bearing body can have a non-circular cross-section in the fixing section, which can then be received in a fixing recess of the exoskeleton member that does not form the bearing eye, in a form-fitting manner in the circumferential direction around the pivot axis.It is possible that the interaction of the fixing section with the fixing recess merely provides rotational security, while an axial degree of freedom remains between the bearing body of the pivot bearing insert and the exoskeleton member that does not form the bearing eye. This degree of freedom can then be eliminated by other measures, in particular an additional fixing element or a screw. However, it is also possible that the fixing section of the bearing body of the pivot bearing insert is pressed into a fixing recess of the exoskeleton member that does not form the bearing eye, or is otherwise additionally fastened in the fixing recess, for example, with an adhesive, and secured in the axial direction.

[0034] According to one embodiment of the invention, the bearing body of the pivot bearing insert has a fixing wing in the fixing section. In this case, the exoskeleton member that does not form the bearing eye has a fixing recess that has a fixing wing receiving recess. The fixing wing of the bearing body is then arranged in the fixing wing receiving recess, forming a rotationally fixed connection. For an inventive design of the finger exoskeleton, the pivot bearing insert has an insert support surface. The insert support surface can be designed, for example, as a flange, collar, or projection. The pivot bearing insert is then supported via the insert support surface in an axial direction (corresponding to the direction of the pivot axis, preferably outward) on an exoskeleton member, which is preferably the exoskeleton member that has the fixing recess and does not form the bearing eye.

[0035] In a further embodiment of this solution, the invention proposes that the pivot bearing insert be secured to at least one exoskeleton member via a fixing element. Preferably, the fixing element secures the pivot bearing insert in the other axial direction, i.e., opposite to the support of the pivot bearing insert via the insert support surface or inward. It is possible that a firm connection between the pivot bearing insert and the exoskeleton member forming the fixing recess is created via the insert support surface, the fixing element, and the receptacle of the fixing section in the fixing recess.

[0036] There are numerous possible configurations for the fixing element within the scope of the invention. For example, the fixing element can be a snap-in or locking connection, a clamp connection, a connection created by pressing, or a connection created by gluing. According to one proposal of the invention, the fixing element is a fixing screw. In this case, a head of the fixing screw preferably serves to secure the pivot bearing insert to the associated exoskeleton member in the axial direction in which no securing is provided by the insert support surface (particularly inward).

[0037] It is possible for the two exoskeleton limbs to be connected solely by means of a pivot bearing located on one side of the finger. However, according to a further proposal of the invention, pivot bearings are preferably located on both sides of the finger exoskeleton, with the two pivot bearings then having aligned pivot axes. This ensures greater reliability and improved guidance of the exoskeleton limbs during pivoting.

[0038] A further proposal of the invention is dedicated to the strength of the stops and their force transmission and absorption. If the stop surfaces formed by the wing on the one hand and the fixing wing receiving recess, which limit the pivot angle of the pivot bearing, have surface normals oriented tangentially to the circumferential direction, the stop forces are oriented in a plane vertical to the pivot axis, which, on the one hand, generates a radial load on the bearing body with respect to the pivot axis and, on the other hand, due to the radial offset of the wing stop surface and the wing surface relative to the pivot axis, a moment acts, which causes a torsional moment about the pivot axis.According to one proposal of the invention, a changed stress on the components of the pivot bearing can be brought about when contact between the stops is reached if the wing surfaces and the wing stop surfaces are inclined relative to a plane defined by the pivot axis and an axis oriented radially to the pivot axis and passing through the wing surfaces. An acute angle of inclination (for example, in the range of 2° to 45°, in the range of 4° to 30°, in the range of 5° to 80°, in the range of 10° to 20°, in the range of 10° to 30°, in the range of 15° to 30°, in the range of 25° to 40°, in the range of 30° to 50°, in the range of 40° to 60°, in the range of 45° to 70°, in the range of 50° to 80°, or in the range of 65° to 80°) is used.This angle of inclination arises in particular when the wing surface and the wing stop surface are projected onto a longitudinal plane of the bearing body containing the pivot axis, which is oriented vertically to the radial alignment of the wing surface. The inclination of the wing surface and the wing stop surface results in the stop forces being divided into a component running in the plane oriented perpendicular to the pivot axis, and a component running in the axial direction, i.e. parallel to the pivot axis. The former component is reduced by this division, which reduces the stress caused by this component. Instead, an axial force component is generated, which can be absorbed at other points, preferably in a contact area of ​​a head of a fixing screw and / or in the area of ​​a support of the insert support surface.Appropriate measures can then be taken to ensure suitable absorption and rigid and reliable support of this axial force component, for example by selecting the size of the contact surface of the head of the fixing screw and / or the size of the insert support surface.

[0039] For a special embodiment of the finger exoskeleton according to the invention, the bearing body of the pivot bearing insert with the rotary bearing section is inserted from the inside, i.e., from the side of a bearing cheek facing the finger, into the bearing eye of a first exoskeleton member formed by the bearing cheek. The bearing body of the pivot bearing insert is then supported from the inside outward via the insert support surface on the bearing cheek of the first exoskeleton member. The bearing body of the pivot bearing insert extends with the fixing section (on the side facing away from the insert support surface) out of the bearing cheek of the first exoskeleton member. On the outside of the bearing cheek of the first exoskeleton member, this fixing section is then connected to the fixing section in the fixing recess of the bearing cheek of the second exoskeleton member. By means of this connection, as explained, preferably exclusively or also a rotary fixing can be achieved.The fixing screw is then screwed into the outer face of the bearing body. The fixing screw then has a head that secures the pivot bearing insert against inward disassembly. It is possible that the fixing section merges into the pivot bearing section via a shoulder, and the bearing cheek of the exoskeleton limb containing the fixing section is caught between this shoulder and the head of the fixing screw. With appropriate tightening or sufficient pressing in of the fixing screw, the pivot bearing insert is fixed to this exoskeleton limb. The pivot bearing section then projects inward from this exoskeleton limb, possibly with the insert support surface. The other exoskeleton limb is then rotatably mounted on this projecting part of the pivot bearing insert.

[0040] According to a further proposal of the invention, at least one of the exoskeleton members has a cover. The cover covers the fixation element (partially or completely). The cover can serve, for example (alternatively or cumulatively), the following purposes:

[0041] It is possible that the cover prevents the fixation element from emerging from the exoskeleton limb if, for example, the connection between the fixation element and the pivot bearing insert accidentally breaks. If such an unintentional release occurs when the finger exoskeleton is subjected to potentially considerable forces, without the cover the fixation element could even emerge from the exoskeleton limb at a speed that could lead to the loss of the fixation element or even injury. It is also possible that the cover provides an outer surface (particularly smooth) of the exoskeleton limb in the area of ​​the fixation element that is optimized for contact with an adjacent finger, an adjacent exoskeleton limb, or the surrounding area.

[0042] There are many different design options for the cover, and the cover can also be formed separately from a base body of the exoskeleton member and mounted to the base body in any desired manner. In a particular proposal of the invention, the cover is formed integrally with the exoskeleton member. To name just one embodiment for the integral design of the cover, the cover can be designed as a type of pocket that forms an insertion opening. The fixing element can then be inserted into an interior of the pocket via the insertion opening in an assembly direction. For this embodiment, it is also possible for an insertion slot to open into the interior of the pocket and into the insertion opening. The insertion slot preferably has a partial section that is formed outside the pocket and the insertion opening, as well as a further partial section arranged inside the pocket.This section then also provides the final position of the fixing element, in which the fixing element can then be mounted with the pivot bearing insert, whereby in this final position the fixing element can be arranged coaxially to the pivot axis of the pivot bearing.

[0043] The following further solution to the problems underlying the invention can be used alternatively or cumulatively to the previously mentioned embodiments of the finger exoskeleton.

[0044] For this alternative or cumulative solution to the problem underlying the invention, the exoskeleton designed as a finger exoskeleton has a fingertip segment. The fingertip segment at least partially covers the front side of the fingertip and / or the underside of the finger. According to the state of the art, the design of finger exoskeletons with such a fingertip segment may involve a conflict of objectives as follows:

[0045] In order to ensure support of the terminal phalanx located in the fingertip phalanx, the fingertip phalanx must be designed to be as stiff as possible.

[0046] The rigid design of the fingertip phalanx results in the phalanx being in full contact with the sensitive skin of the fingertips, meaning that the sensitive, tactile, or haptic feedback of the contact force between the fingertip phalanx and a contacted object is rigidly supported and not transmitted to the fingertip, or only to a limited extent. For good feedback of the contact force to the fingertip, it would therefore be advantageous if the stiffness of the fingertip phalanx was as low as possible.

[0047] Against this background, the invention proposes that the fingertip member comprise a sensor element. The sensor element comprises an external contact element arranged on the outer side of the fingertip member and an internal contact element arranged on the inner side of the fingertip member. The external contact element serves to bring the sensor element into contact with an object that is contacted, grasped, or subjected to force by the finger with the finger exoskeleton. In contrast, the internal contact element serves to bring the sensor element into contact with the fingertip. The external contact element is coupled or connected to the internal contact element in such a way that a contact force exerted by the object on the external contact element is transmitted to the internal contact element, whereby this contact force is in turn transmitted from the internal contact element to the fingertip.To ensure this, the outer contact element and inner contact element of the sensor element are jointly displaceable relative to the fingertip segment, so that a contact force acting on the outer contact element causes the sensor element to be displaced inwards relative to the fingertip segment.

[0048] The inventive design enables a resolution of the aforementioned conflict of objectives: The sensor element enables the transmission of the contact force in the area of ​​the external contact element to the fingertip, thus ensuring sensitive feedback when an object comes into contact with the finger exoskeleton. On the other hand, the fingertip segment can be equipped with any desired stiffness, optimized for the mechanical support of the finger in the finger exoskeleton, without compromising the sensitive feedback due to the degree of freedom of movement between the sensor element and the fingertip segment.

[0049] Within the scope of the invention, the sensor element can, for example, surround a material web of the fingertip segment in a U-shape, with the base leg of the U then forming the inner contact element, while the end regions of the side legs of the U facing away from the base leg form two outer contact elements of the sensor element. In a particular embodiment of the invention, the fingertip segment has at least one recess through which the sensor element extends. The boundary of the recess of the fingertip segment can then ensure guidance of the sensor element.

[0050] It is possible for the sensor element to be rigid under the forces typically generated by the finger, which specifically means that the sensor element does not experience any expansion under these forces that is greater than, for example, 1%, 0.5%, or 0.1%. In this case, the sensor element can be displaced inwardly against the action of a spring supporting the sensor element on the fingertip.

[0051] Alternatively or cumulatively, it is also possible for the sensor element to be elastic. In this case, the elasticity of the sensor element can be used to displace the outer contact element and / or the inner contact element of the sensor element relative to the fingertip. It is entirely possible for the sensor element to have sub-regions of varying stiffness.

[0052] It is possible for an internal contact element, for example a surface element, which can be curved according to the curvature of the fingertip, to be connected to several external contact elements. In this case, the internal contact element can be connected to the several external contact elements through a common recess or several recesses in the fingertip segment. The several external contact elements can then specifically absorb contact forces at the respective locations of the external contact elements. The contact forces acting on the external contact elements are then transferred as a resultant from the internal contact element to the fingertip.By selecting the number of external contact elements as well as their spacing and arrangement and the size of the contact surface of the internal contact element with the fingertip, a type of force transmission can be achieved, whereby the sensitivity of the sensing by the fingertip can be specifically specified in the design.

[0053] It is also possible for multiple internal contact elements to be connected to a common external contact element (through one or more recesses in the fingertip segment). If multiple external contact elements and internal contact elements are present, these can be displaceable in parallel directions relative to the fingertip segment. However, it is also entirely possible for external contact elements and associated internal contact elements to be displaceable in any desired different directions relative to the fingertip segment. For one embodiment, first groups of external contact elements and associated internal contact elements can be oriented vertically to the underside of the fingertip, while second groups of external contact elements and associated internal contact elements can be oriented laterally. Due to the different orientations, forces in different directions can then be sensed.

[0054] If several internal contact elements are mentioned here, these can be individual, non-connected internal contact elements or partial internal contact elements that are formed by a common internal contact body, in particular a surface element.

[0055] In a particular embodiment of the invention, external contact elements can be used multifunctionally in that these external contact elements also serve to secure the sensor element to the fingertip segment. In this case, two pairs of external contact elements and associated internal contact elements extend on opposite sides through (e.g., lateral) recesses in the fingertip segment. To mount the sensor element on the fingertip segment, the external contact elements must then be moved inward and / or the fingertip segment must be widened in the opposite direction to allow the sensor element with the external contact elements to be threaded into the recesses in the fingertip segment. The sensor element is then held captively on the fingertip segment due to the elastic restoring forces.

[0056] According to a further proposal of the invention, an outward and / or inward movement of the sensor element in the finger exoskeleton can be limited by a stop. If the sensor element is limited inward, this can prevent the fingertip from being subjected to excessive forces. On the other hand, limiting the inward and / or outward movement of the sensor element can serve to ensure that the sensor element is held captively on the finger exoskeleton. According to a further proposal of the invention, at least one outer contact element and / or at least one inner contact element has at least one projection, a rib, a depression, a groove, or a notch.In this way, raised sections of the external contact element and / or internal contact element can be created, which can provide primary contact points between the external contact element and the object or between the internal contact element and the fingertip. This can, on the one hand, improve gripping of the object and, on the other hand, improve the sensitive feedback to the fingertip. Alternatively or cumulatively, it is possible for the projection, rib, depression, groove, or notch to provide different levels of rigidity in the region of the external contact element and / or internal contact element. It is possible for the material thickness of the external contact element and / or internal contact element to be changed in the region of the projection, rib, depression, groove, or notch, which can result in a changed rigidity.Alternatively or cumulatively, it is possible for the projection, rib, depression, groove or notch to be formed by an indentation or protrusion or other shaping of the external contact element and / or internal contact element without changing the material thickness.

[0057] Advantageous further developments of the invention emerge from the patent claims, the description and the drawings.

[0058] The advantages of features and combinations of several features mentioned in the description are merely exemplary and can be effective alternatively or cumulatively, without the advantages necessarily having to be achieved by embodiments according to the invention.

[0059] With regard to the disclosure content – ​​not the scope of protection – of the original application documents and the patent, the following applies: Further features can be found in the drawings – in particular the illustrated geometries and the relative dimensions of several components to one another, as well as their relative arrangement and operative connection. The combination of features of different embodiments of the invention or features of different patent claims is also possible, deviating from the chosen references of the patent claims, and is hereby encouraged. This also applies to features that are illustrated in separate drawings or mentioned in their description. These features can also be combined with features of different patent claims.Likewise, features listed in the patent claims may be omitted for further embodiments of the invention, but this does not apply to the independent patent claims of the granted patent.

[0060] The number of features mentioned in the patent claims and the description is to be understood as meaning that exactly this number or a greater number than the stated number is present, without the need for the explicit use of the adverb "at least." Thus, for example, if reference is made to an external contact element, this is to be understood as meaning that exactly one external contact element, two external contact elements, or more external contact elements are present. The features mentioned in the patent claims may be supplemented by further features or may be the only features present in the subject matter of the respective patent claim.

[0061] The reference signs contained in the patent claims do not represent a limitation of the scope of the subject-matter protected by the patent claims. They serve solely to make the patent claims easier to understand.

[0062] BRIEF DESCRIPTION OF THE CHARACTERS

[0063] In the following, the invention is further explained and described with reference to preferred embodiments shown in the figures.

[0064] Fig. 1 shows a three-dimensional view of a finger exoskeleton with three exoskeleton segments.

[0065] Fig. 2 shows the finger exoskeleton according to Fig. 1 in a side view, wherein the finger exoskeleton is in an extended operating position and an outer bearing cheek and a fixing screw of the pivot bearings are not shown.

[0066] Fig. 3 shows the finger exoskeleton according to Figs. 1 and 2 in a side view, with the finger exoskeleton in a bent operating position and an outer bearing flange and a fixing screw of the pivot bearings not shown. Fig. 4 shows a three-dimensional exploded view of the finger exoskeleton according to Figs. 1 to 3, viewed obliquely from below.

[0067] Fig. 5 shows a spatial exploded view of the finger exoskeleton according to Figs. 1 to 4 obliquely from above.

[0068] Fig. 6 shows a three-dimensional view of a pivot bearing insert of a finger exoskeleton according to Figs. 1 to 5.

[0069] Fig. 7 shows a side view of the pivot bearing insert according to Fig. 6.

[0070] Fig. 8 shows detail VIII of the finger exoskeleton according to Fig. 2 in the area of ​​a pivot bearing.

[0071] Fig. 9 shows a side view of a finger exoskeleton according to Fig. 1 to 5 with the outer bearing cheeks of the pivot bearings, but without a fixing screw.

[0072] Fig. 10 shows a section XX of a finger exoskeleton according to Figs. 1 to 5 and 9 with the cutting line marked in Fig. 9.

[0073] Fig. 11 shows a detail XI of the sectional view according to Fig. 10.

[0074] Fig. 12 shows an alternative design of a finger exoskeleton with two exoskeleton

[0075] Structures in a spatial view obliquely from below.

[0076] Fig. 13 shows a spatial view obliquely from above of a sensor element of a finger exoskeleton according to Fig. 12.

[0077] Fig. 14 shows the sensor element according to Fig. 13 in a spatial view obliquely from below.

[0078] Fig. 15 shows a spatial view obliquely from below of an exoskeleton limb designed as a fingertip limb with a sensor element. Fig. 16 shows a spatial view obliquely from above of the sensor element according to Fig. 15.

[0079] Fig. 17 - 21 show a further embodiment of an exoskeleton member of an exoskeleton designed as a finger exoskeleton with associated pivot bearing inserts and fixing elements, wherein Fig. 17 shows a spatial view and Fig. 18 to 21 show details in the area of ​​a pivot bearing for different assembly steps in spatial views.

[0080] FIGURE DESCRIPTION

[0081] In the following description of the figures, components and features that correspond or are similar are identified by the same reference numbers, although these may be differentiated from one another by a supplementary letter a, b, etc. In this case, the components and features may be referred to without the additional letter, which may refer to one component or feature, any number of components or features, or all components or features.

[0082] Fig. 1 shows a finger exoskeleton 1. The finger exoskeleton 1 has exoskeleton segments 2, 3, and 4. The exoskeleton segment 2 is a fingertip segment 5, which houses the third finger phalanx (distal phalanx). If, unlike Fig. 1, the finger exoskeleton 1 is not designed with three exoskeleton segments 2, 3, and 4 and is not intended for an index finger, middle finger, ring finger, and little finger, but is designed with two exoskeleton segments 2, 3 and intended for a thumb, the exoskeleton segment 2 accommodates the thumb's distal phalanx.

[0083] The exoskeleton member 3 accommodates the second phalanx of the index finger, middle finger, ring finger or little finger (phalanx media) or the first phalanx of the thumb.

[0084] When the finger exoskeleton is designed with the three exoskeleton segments 2, 3, 4, the first phalanx of the index finger, middle finger, ring finger or little finger (phalanx proximalis) is accommodated in the exoskeleton segment 4.

[0085] The exoskeleton member 2 surrounds the fingertip of the third phalanx or the end phalanx of the thumb, similar to a thimble. The exoskeleton members 3, 4 are ring-shaped, so that they enclose the phalanx in the circumferential direction. It is possible for the ring formed by the exoskeleton members 3, 4 to be closed or slotted in the circumferential direction.

[0086] On both sides of the finger, the exoskeleton member 2 forms bearing cheeks 6a, 6b in the proximal end area, the exoskeleton member 3 forms bearing cheeks 7a, 7b in the distal end area and bearing cheeks 8a, 8b in the proximal end area and the exoskeleton member 4 forms bearing cheeks 9a, 9b in the distal end area.

[0087] The bearing cheeks 6a, 6b and 7a, 7b abut each other in the overlapping area, forming a sliding contact, and as parts of pivot bearings 10a, 10b on both sides of the finger. Similarly, the bearing cheeks 8a, 8b and 9a, 9b abut each other in the overlapping area, forming a sliding contact, and as parts of pivot bearings 11a, 11b on both sides of the finger.

[0088] The pivot bearings 10, 11 are each formed with the bearing cheeks 6, 7, 8, 9 of the exoskeleton members 2, 3, 4 connected via the pivot bearing, a fixing screw 12 and a pivot bearing insert 13.

[0089] The pair of pivot bearings 10 has a common pivot axis 14. Accordingly, the pair of pivot bearings 11 has a common pivot axis 15. The pivot axes 14, 15 are preferably oriented parallel to each other.

[0090] Fig. 2 shows the finger exoskeleton 1 in an extended position for which the pivot bearings 10, 11 have reached the maximum pivot angle, which, as will be explained in more detail below, is predetermined and limited by stops of the pivot bearings 10, 11.

[0091] In contrast, Fig. 3 shows the finger exoskeleton 1 in the maximum flexion position, for which the pivot bearings 10, 11 have reached the minimum pivot angle, which, as explained in more detail below, is also predetermined and limited by stops integrated into the pivot bearings 10, 11. Figs. 4 and 5 show the finger exoskeleton 1 in three-dimensional exploded views. It can be seen that the bearing cheeks 6 of the exoskeleton member 2 have continuous bearing eyes 16a, 16b. Accordingly, the bearing cheeks 9a, 9b of the exoskeleton member 4 also have bearing eyes 17a, 17b.

[0092] The bearing cheeks 7a, 7b of the exoskeleton member 3 each have a continuous fixing recess 18. Accordingly, the bearing cheeks 8a, 8b of the exoskeleton member 3 have fixing recesses 19a, 19b.

[0093] Figs. 6 and 7 show the pivot bearing insert 13 as an individual part. The pivot bearing insert 13 has a stop flange 20 designed as a circular disc, which, when installed, rests against the cheek 6 or 9 in the direction of the pivot axis 14 or 15. A bearing body 21 is held on the stop flange 20. For the illustrated embodiment, the stop flange 20 and the bearing body 21 are formed as a single piece.

[0094] The bearing body 21 has two longitudinal sections, namely a pivot bearing section 22 and a fixing section 23.

[0095] The pivot bearing section 22 has fixing wings 24a, 24b arranged diametrically opposite one another with respect to the pivot axis 14, 15.

[0096] The pivot bearing section 22 also has wings 25a, 25b arranged diametrically opposite one another with respect to the pivot axis 14, 15.

[0097] Pairs of wings 24, 25 preferably adjoin one another directly in the direction of the pivot axis 14, 15 and without forming a step.

[0098] The fixing wings 24 have fixing wing surfaces on both sides, which are distinguished from each other by the suffix "-1" and "-2." The fixing wing surfaces 26 are flat and have a surface normal oriented circumferentially around the pivot axis 14, 15.

[0099] The wings 25 also have wing surfaces 27 on both sides, which are distinguished from each other by the suffix "-1" and "-2." The wing surfaces 27 are flat. However, the wing surfaces 27 are inclined at an angle of inclination 28. This angle of inclination results from a projection of the pivot axis 14, 15 onto the outer surface of the pivot bearing insert 13 in the area of ​​the respective wing surface and the projection of the respective wing surface 27 onto the outer surface. The fixing wing surfaces 26 merge into the wing surfaces 27 via a bend.

[0100] In the pivot bearing section, the vanes 25 are connected to each other in the circumferential direction via outer bearing surfaces 29, which are distinguished from each other by the suffix "-1" and "-2". The outer bearing surfaces 29 have a shape corresponding to the outer surface of a cylinder segment.

[0101] In the transition area from the bearing outer surfaces 29 to the stop flange 20, a rounding can be present both in the area of ​​the bearing outer surfaces 29 and in the area of ​​the wing surfaces 27 (see Fig. 7).

[0102] In the fixing section 23, the fixing wings 24 extend from a hollow cylindrical hub 30. The hub 30 has an inner bore 31, which also extends through the pivot bearing section 22 and the stop flange 20 and is intended to receive the shaft of the fixing screw 12.

[0103] Fig. 8 shows a detail VIII of Fig. 2 in the area of ​​the pivot bearing 10. The pivot bearing section 22 of the bearing body 21 is arranged in the area of ​​the bearing eye 16, 17, wherein the extension of the bearing eye 16, 17 corresponds to the extension of the pivot bearing section 22 in the direction of the pivot axis. It can be seen that the bearing eye 16, 17 has two inner bearing surfaces 32-1 and 32-2, which correspond to the outer surface of a cylinder segment. Vane receiving recesses 33a, 33b are arranged in the circumferential direction between the inner bearing surfaces 32-1 and 32-2. The vane receiving recesses 33 are designed to correspond to a cylinder segment, the radius of which is greater than the radius of the cylinder segment, the outer surface of which corresponds to the inner bearing surface 32. In the circumferential direction, the wing receiving recesses 33 are delimited by wing stop surfaces 34 oriented in the radial direction, which are inclined at an angle of inclination 28 corresponding to the wing surfaces 27.

[0104] Fig. 9 shows a side view of the finger exoskeleton 1 with a marking of a cutting line XX. The sectional view is reproduced in Fig. 10, with Fig. 11 showing a detail XI of the sectional view according to Fig. 10. In Figs. 9 to 11, a view of the pivot bearings 10, 11 without the fixing screws 12 has been chosen.

[0105] The bearing cheek 6 forming the bearing eye 16 is arranged inwardly, i.e., on the side facing the finger, of the bearing cheek 7. On the inside, the bearing cheek 6 has a receptacle 35 (see also Fig. 5) in which the stop flange 20 is received such that the end face of the stop flange 20 facing the finger is arranged flush with the inside of the bearing cheek 6. The pivot bearing section 22 with the wings 25 and the outer bearing surfaces 29 is arranged in the area of ​​the bearing eye 16 and in the area of ​​the inner bearing surfaces 32 and the wing receiving recesses 33 as well as the wing stop surfaces 34 of the bearing eye 16. The fixing section 23 projects outwardly from the bearing cheek 6 and extends into the fixing recess 18 of the bearing cheek 7.

[0106] The outer end face of the bearing body 21 is arranged flush with the outer side of the bearing cheek 7. The fixing screw 12 is screwed or pressed into this end face (not shown in Figs. 9 to 11). For this purpose, the bearing body 21 can have a bore in the end face, and the fixing screw 12 cuts a thread into this bore when screwed or pressed in or can hook into it.

[0107] The functioning of the pivot bearing 10 formed in this way is as follows:

[0108] In the axial direction outwards, the pivot bearing insert 13 is secured in the assembled operating position by the stop flange 20 bearing against the bearing cheek 6 in the area of ​​the receptacle 35. On the other hand, the pivot bearing insert 13 is axially secured inwards by the head 37 of the fixing screw 12 bearing against the outer surface of the bearing cheek 7.

[0109] A relative rotation of the bearing cheeks 6, 7 and thus of the exoskeleton members 2, 3 about the pivot axis 10 is guided by the sliding bearing, which is formed with the outer bearing surfaces 29 of the pivot bearing insert 13 and the inner bearing surfaces 32 of the bearing eye 16, i.e. the bearing cheek 6.

[0110] If a minimum pivot angle corresponding to a maximum flexion angle is reached for pivoting the exoskeleton limbs 2, 3, the wing surfaces 27a-2, 27b-2 come into contact with the wing stop surfaces 34a-2, 34b-2, thus blocking further pivoting in the flexion direction. The wing surfaces 27-2 and the wing stop surfaces 34-2, 34-2 thus form pairs of stops 39, 40.

[0111] On the other hand, pivoting in the extension direction to specify a maximum pivot angle is blocked by the wing surfaces 27a-1, 27b-1 coming into contact with the wing stop surfaces 34a-1, 34b-1. Thus, the wing surfaces 27-1, 27-1 and the wing stop surfaces 34-1, 34-1 also form stops 39, 40.

[0112] Since the wing surfaces 27 and the wing stop surfaces 34 are inclined at the angle of inclination 28, the stop force acting on the wing surface 27 and the wing stop surface 34 is also inclined accordingly, so that it has a component that acts in the axial direction, i.e., parallel to the pivot axis 14. This axial force component is oriented in such a way that it increases the contact pressure of the stop flange 20 against the bearing cheek 6. Thus, this axial force component does not result in an additional axial force being applied to the fixing screw 12. Rather, the axial force component can be supported by a relatively large contact area of ​​an insert support surface 41 between the stop flange 20 and the bearing cheek 6.Preferably, for the embodiment according to the invention, the fixing screw 12 is completely free of forces caused by the external loading of the finger exoskeleton 1, so that the fixing screw 12 only serves to secure the axial mounting position.

[0113] In particular, it can be seen in Fig. 4 that the fixing recess 18 has subsections that correspond to the outer surface of a cylinder segment and that are connected to one another via fixing wing receiving recesses 38, which are formed by a radial extension of the fixing recess 18. The bearing body 21 is received (in particular with a precise fit) in the fixing recess 18 with the fixing section 23, wherein the fixing wings 24 are received in the fixing wing receiving recesses 38 with as little play as possible and ensure a rotationally fixed support of the bearing body 21 on the bearing cheek 7.

[0114] A limitation of a minimum and / or maximum pivot angle is achieved by establishing contact between pairs of stops 39, 40, which are provided on the one hand by one exoskeleton member 2, here the bearing eye 16, and on the other hand by the other exoskeleton member 3 or the pivot bearing insert 13. In the foregoing, reference was preferably made to the pivot bearing 10 between the exoskeleton members 2, 3. The same can also apply to the pivot bearing 11 between the exoskeleton members 3, 4.

[0115] Fig. 12 shows another embodiment of a finger exoskeleton 1, which (with otherwise corresponding design) has only two exoskeleton segments 2, 3, which are connected to each other via a pivot bearing 10. The finger exoskeleton 1 according to Fig. 12 can, for example, be designed as a thumb exoskeleton or, in the case of another finger, serve exclusively to accommodate the second and third finger segments.

[0116] Optionally, the finger exoskeleton 1 according to Figs. 1 to 5 or according to Fig. 12 can be equipped with at least one sensor element 42. This is explained by way of example for the finger exoskeleton 1 according to Fig. 12, whereby the corresponding also applies to the finger exoskeleton 1 according to Figs. 1 to 5.

[0117] Fig. 13 shows the sensor element 42 as a single part in a three-dimensional view obliquely from above. The sensor element 42 is formed in one piece here, although this is not necessarily the case. The sensor element 42 has several external contact elements 43 and an internal contact element 44. The internal contact element 44 is designed as a curved surface element 45. The surface element 45 has a generally constant wall thickness and is adapted to the shape of the fingertip. The surface element 45 covers the underside of the fingertip, at least partially the front side of the fingertip, and the lateral side regions of the fingertip.

[0118] The external contact elements 43 extend vertically from the surface element 45 to the surface element 45 and vertically to the fingertip in the associated area.

[0119] The shape of the external contact elements 43 can be seen particularly in Fig. 14. Two external contact elements 43a, 43b are arranged in alignment on opposite sides. The external contact elements 43a, 43b are arranged in the region of the surface element 45 that corresponds to the lateral side region of the fingertip. The external contact elements 43a, 43b are rib-like with rounded ends and, in some cases, with a curved rib profile, with the external contact elements 43a, 43b extending parallel to the longitudinal axis of the fingertip. On the underside, external contact elements 43c, 43d, 43e, 43f, 43g extend from the surface element 45.

[0120] The external contact element 43c is arranged in the front end region of the underside and oriented in the transverse direction, designed as a type of rib, preferably with rounded ends and a circular arc-shaped curvature corresponding to the curvature of the front side of the fingertip.

[0121] Pairs of external contact elements 43d, 43e and 43f, 43g are arranged in parallel behind the front external contact element 43c with corresponding contours, whereby a gap remains between these pairs of external contact elements 43d, 43e and 43f, 43g on the one hand and between the adjacent pairs on the other hand.

[0122] The fingertip member 5 has recesses 46. The surface element 45 rests against the entire interior of the fingertip member 5. The external contact elements 43 extend through the recesses 46 and protrude from the fingertip member 5. The end faces of the external contact elements 43 form contact surfaces 47 thereof.

[0123] The sensor element 42 can be flexible, flexible, or elastic, with a constant stiffness or a stiffness that varies in different sections. If the wearer of the finger exoskeleton 1 contacts an object with the fingertip segment 5, the contact surfaces 47 come into contact with the object. The contact force is then transmitted via the external contact elements 43 to the internal contact element 44, which in turn transmits the contact force to the fingertip, so that the wearer of the finger exoskeleton 1 receives sensitive feedback on the contact force. The external contact elements 43a, 43b transmit a lateral contact force, while the external contact elements 43d to 43g transmit a contact force acting on the underside of the thumbtip.

[0124] For mounting and fastening the sensor element 42 to the fingertip member 5, the following alternative or cumulative possibilities are preferably available: a) If the sensor element 42 has external contact elements 43a, 43b arranged on opposite sides, these can be inserted into the associated recesses 46a, 46b while elastically compressing the sensor element 42. The elastic restoring force of the sensor element 42 then secures the external contact elements 43a, 43b in the recesses 46a, 46b. b) It is also possible for the sensor element 42 to have mounting projections 48, which (likewise under elastic deformation of the sensor element 42) can be received in a recess of the fingertip member 5, which may then be discontinuous.c) It is possible for the fingertip member 5 to have a through-hole 49, through which an adjacent contact surface between the sensor element 42 and the fingertip member 5 is exposed to an adhesive agent, which then creates an adhesive connection between the sensor element 42 and the fingertip member 5. It is also possible for the through-hole 49 to be arranged in the region of the connection of a mounting projection 48 to a recess according to b).

[0125] It is possible that the sensor element 42, preferably in the area of ​​the external contact elements 43, has ventilation recesses 50.

[0126] Figs. 15 and 16 show an alternative embodiment of the fingertip member 5 with the sensor element 42. Here, the surface element 45 has recesses 51a, 51b adjacent to the external contact elements 43a, 43b. The recesses 51a, 51b can be used to specifically specify deformation paths of the surface element 45 and / or to influence the rigidity of the surface element 45.

[0127] According to the exemplary embodiment in Fig. 15 and 16, the external contact elements 43a, 43b, 43c, 43d do not have a continuous end-face contact surface 47. Rather, the external contact elements 43 have recesses 52 in the region of the end-face contact surfaces 47, in particular in the form of grooves 53, via which the contact surfaces 47 are divided into partial contact surfaces. The recesses 52 or grooves 53 can also serve to influence the rigidities and provide deformation paths of the partial sections of the external contact elements 43. As shown, it is possible for external contact elements 43a, 43b to have preferably cross-intersecting grooves 53a, 53b and / or for external contact elements 43c, 43d to have non-intersecting, preferably parallel grooves 53c, 53d.

[0128] The pivot joints 10, 11 preferably limit a maximum pivot angle such that no hyperextension or a pivot angle greater than 170°, greater than 175°, greater than 180°, greater than 185°, greater than 190° or even greater than 195° occurs.

[0129] The finger exoskeleton 1 and the pivot bearings 10, 11 are dimensioned to withstand forces of up to 400 Newtons. The stops 39, 40 can also be subjected to the moments resulting from such forces.

[0130] The exoskeleton members 2, 3, 4 and in particular the bearing cheeks 6, 7, 8, 9 preferably have a material thickness of 1.5 mm (in particular + / - 0.8 mm, + / - 0.5 mm, + / - 0.3 mm, or + / - 0.2 mm). The longitudinal extension of the pivot bearing insert 13 in the direction of the pivot axis 14, 15 is twice the wall thickness.

[0131] The overall dimension of the pivot bearing insert 13 transverse to the pivot axis 14, 15 is preferably less than 10 mm, 9 mm, 8 mm, or 7 mm.

[0132] Alternatively or cumulatively, it is possible for the bearing cheeks not to lie directly against one another, but for a gap to remain between them. In this case, the gap can remain free. It is also possible for the pivot bearing insert to extend into this gap, in which case the dimensions of the pivot bearing insert in this gap can also be larger than the aforementioned overall dimensions. Providing a free gap or extending the pivot bearing insert into the gap can be advantageous, for example, to compensate for manufacturing tolerances, improve material performance and / or reduce friction that is intended to counteract pivoting, or to generate it with a larger radius and lever arm.

[0133] The fixing screw 12 is preferably an M2 screw.

[0134] The angle of inclination 28 results in a conversion of the contact force acting on the wings 25 into an axial force oriented vertically to the rotation plane for the relative rotation of the exoskeleton members 2, 3. The axial force can then be supported reliably and with high mechanical strength via the stop flange 20 and the insert support surface 41. The axial force generated as a result of the angle of inclination 28 acts outward. If a component of the pivot bearing 10, 11 fails, a fracture also occurs outwardly, thus preventing injury to the wearer of the finger exoskeleton 1. Instead of a fixing screw 12, a pressed-in fixing pin with a head can also be used. The fixing screw 12 or a fixing pin can provide a core that can support the other components and at least reduce deformation of the other parts.

[0135] Furthermore, the resistance of the pivot bearing 10, 11 caused by friction can be adjusted by means of the tightening torque of the fixing screw 12.

[0136] It is possible for the components of the finger exoskeleton 1, in particular the exoskeleton limbs 2, 3, 4 and / or the pivot bearing insert 13, to be 3D-printed from a plastic material, whereby different materials can be used for the exoskeleton limbs 2, 3, 4 on the one hand and the pivot bearing insert 13 on the other. Preferably, the pivot bearing insert 13 is made of a hard plastic or a plastic with greater rigidity and strength than the exoskeleton limbs 2, 3, 4.

[0137] Guidance of the rotary movement of the pivot bearing 10, 11 can be ensured alternatively or in addition to the guidance by the designated bearing inner surface 32 and the bearing outer surface 29 via an inner bearing surface of the bearing eye 16, 17 with the outer cylinder segment-shaped surface of the wings 25, which then form bearing outer surfaces.

[0138] Since the fixing screw 12 does not perform any relative movement during pivoting with respect to the pivot bearing insert 13 on the one hand and the bearing cheek against which the head 37 rests on the other hand, friction and material wear are reduced.

[0139] The fixing screw 12 is preferably made of metal.

[0140] The fixing screw 12 can also be pressed into a hole in the pivot bearing insert 13 without screwing.

[0141] Polyamide (especially PA11, PA12 and / or a thermoplastic polyurethane) is preferably used as the material for the exoskeleton members 2, 3, and 4, for example, when manufactured using 3D printing. However, the pivot bearing insert 13 can be manufactured from acrylonitrile butadiene styrene using 3D printing.

[0142] It is possible for the exoskeleton limbs 2, 3, 4 to be individually adapted to a user with regard to the dimensions, in particular the length and / or diameter, of the finger phalanges. In this manufacturing process, the wing stop surfaces 34 provided by the bearing eyes 16, 17 can also be individually manufactured in order to equip the finger exoskeleton 1 with the minimum and / or maximum pivot angle specific to the wearer. In this case, identical pivot bearing inserts 13 can be used regardless of the specifically specified minimum and / or maximum pivot angles. It is also possible for the bearing eyes 16, 17 not to be specifically manufactured, but instead for the arrangement and circumferential extent of the wings 25 of the pivot bearing insert 13 to be specifically manufactured.

[0143] For the illustrated embodiments, it is evident that even without the installation of the fixing screw 12, the pivot bearing 10, 11 is fundamentally functional and can absorb and transmit the forces and moments acting on the exoskeleton limbs 2, 3, 4, ensuring guidance of the pivoting movement. For this embodiment, the fixing screw 12 serves only to axially secure the components of the pivot bearing 10, 11.

[0144] Fig. 17 shows a spatial view of a further embodiment of an exoskeleton member 3, which can basically be a component of a finger exoskeleton 1 with further exoskeleton members 2, 4, in accordance with the previously illustrated embodiments.

[0145] The exoskeleton member 3 has a cover 54 in the area of ​​each of the pivot bearings 10a, 10b, 11a, 11b. In the illustrated embodiment, the cover 54 is formed integrally with the base body of the exoskeleton member 3. In the illustrated embodiment, the cover 54 is designed as a type of pocket 55 having an interior space accessible in an assembly direction via an insertion opening 56. An insertion slot 57 opens into the insertion opening 56 and the interior of the pocket 55. The insertion slot 57 also opens into the fixing recess 18, 19. In the illustrated embodiment, the cover 54 is designed as a type of disc with an edge curved in the direction of the base body of the exoskeleton member 3, or as a type of disc, the edge then forming the insertion opening 56.In the description of this embodiment and the assembly, reference is preferably made to the pivot bearing 10a, whereby the same can apply to the pivot bearings 10b, 11a, 11b.

[0146] For assembly, the fixing element, which is designed as a fixing screw 12, for example, is first inserted into the section of the insertion slot 57 arranged outside the pocket 55, according to the assembly step from Fig. 18 to Fig. 19, until the fixing screw 12 comes to rest with its head on the lateral boundary of the insertion slot 57 (Fig. 19).

[0147] For the next assembly step from Fig. 19 to Fig. 20, the fixing screw 12 can then be inserted along the insertion slot 57 through the insertion opening 56 into the interior of the pocket 55 until the longitudinal axis of the fixing screw 12 has its intended end position, which corresponds to the pivot axis of the pivot bearing 10, 11.

[0148] In the next assembly step, the pivot bearing insert 13 is inserted into the fixing recess 18, 19, while simultaneously pressing the pivot bearing insert 13 onto the thread of the fixing screw 12. The fully assembled position of the pivot bearing 10, 11 is shown in Fig. 21.

[0149] With a fundamentally corresponding design of the cover 54 and pocket 55 with insertion opening 56 and the use of an insertion slot 57, a fixing element other than the fixing screw 12 can also be used. For example, the pivot bearing insert 13 can be attached to the fixing element via a press connection, a material connection, a snap connection, or a locking connection. For example, the fixing element can also be designed as a press pin or dowel pin, which has a press section pressed onto the pivot bearing insert 13 and a head.

[0150] The cover 54 secures the fixing element to the exoskeleton member 3 and thus to the finger exoskeleton 1. On the other hand, the cover 54 can also ensure desired, in particular smooth, contact conditions of the exoskeleton member 3 with the environment, for example, an adjacent finger.

[0151] The appended patent claims claim the use of the pivot bearing 10, 11 for a finger exoskeleton 1. However, for another application not covered by the current version of the patent claims, it can also be any exoskeleton that can be used for any body part in the region of at least two body limbs. For example, it can be a knee exoskeleton or an elbow exoskeleton. In the present application, reference is preferably made to a finger exoskeleton, whereby the corresponding statement can also apply to an exoskeleton used on another body part.

[0152] For another application not covered by the current version of the patent claims, a correspondingly designed pivot bearing is used in any other technological field to connect two links pivotably about a pivot axis 14, 15. The statements apply accordingly to these other applications, whereby in this case, the following substitutions must be made, particularly in the patent claims:

[0153] Replacing the exoskeleton with a swivel assembly and / or

[0154] Replacement of exoskeleton limbs by limbs and / or

[0155] Replacement of body or finger joint by pivot assembly part and / or replacement of fingertip joint by sensor joint.

[0156] In this case, the links serve not to support a finger joint, but rather another object. For example, the links can be supporting pivoting components, part of a link chain, part of a hinge assembly, or part of a pivot assembly.

[0157] LIST OF REFERENCE SYMBOLS

[0158] Finger exoskeleton Exoskeleton limb Exoskeleton limb Exoskeleton limb Fingertip limb Bearing cheek Bearing cheek Bearing cheek Bearing cheek Pivot bearing Pivot bearing Fixing screw Pivot bearing insert Pivot axis Pivot axis Bearing eye Bearing eye

[0159] Fixing recess Fixing recess Stop flange Bearing body Pivot bearing section Fixing section Fixing wing Wing Fixing wing surface Wing surface Inclination angle Bearing outer surface Hub

[0160] Inner bore Bearing inner surface Wing receiving recess

[0161] Sash stop surface

[0162] Recording

[0163] Head

[0164] Fixing wing recess

[0165] stop

[0166] stop

[0167] Insert support surface

[0168] Sensor element

[0169] External contact element

[0170] Internal contact element

[0171] Surface element

[0172] recess

[0173] Contact surface

[0174] Mounting projection

[0175] Through recess

[0176] Ventilation recess

[0177] recess

[0178] Deepening

[0179] groove, slot

[0180] cover

[0181] Bag

[0182] Insertion opening

[0183] insertion slot

Claims

PATENT CLAIMS 1. Finger exoskeleton (1) with a) two exoskeleton members (2, 3), each intended for supporting a finger member, b) a pivot bearing (10) which has a bearing eye (16) and a bearing body (21) arranged in the bearing eye (16) and connects the exoskeleton members (2, 3) to one another so as to be pivotable about a pivot axis (14), and c) two stops (39, 40) which come into contact with one another to specify a minimum or maximum pivot angle of the exoskeleton members (2, 3), characterized in that d) one stop (39) is formed by the bearing eye (26) of an exoskeleton member (2).

2. Finger exoskeleton according to claim 1, wherein the stops (39, 40) are integrated into the pivot bearing (10) and / or the stops (39, 40) are arranged between the outer surfaces of two bearing cheeks (6; 7; 8; 9) 3. Finger exoskeleton according to claim 1 or 2, wherein the pivot bearing (10) is provided in that a) the bearing body (21) has a rotary bearing section (22) which aa) has a wing (25) oriented radially to the pivot axis (14) and forming a stop (40), and ab) has a bearing outer surface (29) corresponding to a lateral surface of a cylinder segment, b) the bearing eye (16) ba) has a bearing inner surface (32) corresponding to a lateral surface of a cylinder segment, and ba) has a wing receiving recess (33) delimited in the circumferential direction by a stop (39), c) wherein ca) the rotary bearing section (22) of the bearing body (21) is inserted into the bearing eye (16), cb) to specify the minimum or maximum pivoting angle of the exoskeleton members (2, 3), the stop (40) formed by the wing (25) comes to bear against the stop (39) circumferentially delimiting the wing receiving recess (33) of the bearing eye (16), and cc) the outer bearing surface (29) of the bearing body (21) is rotatably guided on the inner bearing surface (32) of the bearing eye (16).

4. Finger exoskeleton according to claim 3, wherein a) the bearing body (21) has two outer bearing surfaces (29) and two wings (25) and b) the bearing eye (16) has two inner bearing surfaces (32) and two wing receiving recesses (33).

5. Finger exoskeleton according to one of claims 1 to 4, wherein the pivot bearing (10) has a pivot bearing insert (13) which forms the bearing body (21).

6. Finger exoskeleton according to claim 5, wherein the bearing body (21) has a fixing section (23), in the region of which the bearing body (21) is fastened to the exoskeleton member (3) which does not form the bearing eye (16).

7. Finger exoskeleton according to claim 6, wherein a) the bearing body (21) has a fixing wing (24) in the fixing section (23), b) the exoskeleton member (3), which does not form the bearing eye (16), has a fixing recess (18) with a fixing wing receiving recess (38), and c) the fixing wing (24) is arranged in the fixing wing receiving recess (38) to form a rotationally fixed connection.

8. Finger exoskeleton according to one of claims 5 to 7, wherein the pivot bearing insert (13) has an insert support surface (41) via which the pivot bearing insert (13) is supported in an axial direction on an exoskeleton member (2).

9. Finger exoskeleton according to one of claims 5 to 8, wherein the pivot bearing insert (13) is secured to at least one exoskeleton member (3) via a fixing element.

10. Finger exoskeleton according to claim 9 when appended to claim 8, wherein the pivot bearing insert (13) a) is supported on an exoskeleton member (2) via the insert support surface (41) in one axial direction, b) is secured on one or the exoskeleton member (3) via the fixing element in the other axial direction, and c) is positively connected to the exoskeleton member (3) with respect to rotation about the pivot axis (14).

11. Finger exoskeleton according to claim 9 or 10, wherein the fixing element is a fixing screw (12).

12. Finger exoskeleton according to one of the preceding claims, wherein a pivot bearing (10a, 10b) is arranged on each of the two sides of the finger exoskeleton, wherein the two pivot bearings (10a, 10b) have aligned pivot axes (14).

13. Finger exoskeleton according to one of the preceding claims, wherein at least two stops (39, 40) which come into contact with one another to limit a pivoting angle have inclined stop surfaces with an angle of inclination (28).

14. Finger exoskeleton according to one of the preceding claims, wherein a) the bearing body (21) of the pivot bearing insert (13) aa) is inserted with the rotary bearing section (22) from the inside into the bearing eye (16) of a first exoskeleton member (2), ab) is supported from the inside outwards via the insert support surface (41) on the first exoskeleton member (2) and ac) extends with the fixing section (23) outwards from the first exoskeleton member (2) and is arranged with the fixing section (23) in the fixing recess (18) of a second exoskeleton member (3), b) wherein a fixing screw (12) is screwed into the outer end face of the bearing body (21), said fixing screw having a head (37) which secures the pivot bearing insert (13) against disassembly inwards.

15. Finger exoskeleton according to one of claims 9 to 14, wherein at least one exoskeleton member (2; 3; 4) has a cover (54) which covers the fixing element.

16. Finger exoskeleton according to claim 15, wherein the cover (54) is formed integrally with the exoskeleton member (2; 3; 4), wherein preferably the cover (54) is formed as a pocket (55) with an insertion opening (56) into which an insertion slot (57) opens.

17. Finger exoskeleton (1) with a fingertip member (5), characterized in that a) a sensor element (42) aa) an external contact element (43) arranged on the outside of the fingertip member (5) and ab) an internal contact element (44) arranged on the inside of the fingertip member (5), which is connected or coupled to the external contact element (43), b) wherein the external contact element (43) and the internal contact element (44) of the sensor element (42) are jointly displaceable relative to the fingertip member (5).

18. Finger exoskeleton (1) according to claim 17, characterized in that the finger exoskeleton (1) is designed according to one of claims 1 to 16.

19. Finger exoskeleton (1) according to claim 17 or 18, wherein the sensor element (42) extends through a recess (46) of the fingertip member (5).

20. Finger exoskeleton (1) according to one of claims 17 to 19, wherein the sensor element (42) is displaceable inwardly against the action of a spring.

21. Finger exoskeleton (1) according to one of claims 17 to 20, wherein the outer contact element (43) and the inner contact element (44) are displaceable inwards relative to the fingertip member (5) with elastic deformation of the sensor element (42).

22. Finger exoskeleton (1) according to one of claims 17 to 21, wherein a plurality of external contact elements (43) are coupled or connected to an internal contact element (44).

23. Finger exoskeleton (1) according to one of claims 17 to 22, wherein a plurality of inner contact elements (44) are coupled or connected to an outer contact element (43).

24. Finger exoskeleton (1) according to one of claims 17 to 23, wherein the external contact elements (43) and associated internal contact elements (44) are provided which are displaceable in different directions relative to the fingertip member (5).

25. Finger exoskeleton (1) according to one of claims 17 to 24, wherein the sensor element (42) is secured to the fingertip member (5) by two pairs of external contact elements (42) extending on opposite sides through lateral recesses (46) of the fingertip member (5).

26. Finger exoskeleton (1) according to one of claims 17 to 25, wherein an outward and / or inward movement of the sensor element (42) is limited by at least one stop.

27. Finger exoskeleton (1) according to one of claims 17 to 26, wherein at least one external contact element (43) and / or at least one internal contact element (44) has at least a) a projection and / or b) a rib and / or c) a recess (52) and / or d) a groove (53) or notch.

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