DE202021103991U1 - exoskeleton - Google Patents

Abstract

Exoskeleton (2) for relieving and/or supporting a human knee joint, having:
an upper attachment portion (4) for attachment to a human thigh;
a lower attachment portion (6) for attachment to a human lower leg;
an upper strut (8) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside;
a lower strut (10) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside;
a joint (12) disposed between the upper strut (8) and the lower strut (10); and
an elongate spring element (14), in particular an elongate elastomer spring or an elastic band, which is arranged in front of the upper strut (8), in front of the lower strut (10) and in front of the joint (12) which is connected between an upper connection point (16) and a lower connection point (18) and which is guided over a deflection point (20).

Description

The present invention relates to an exoskeleton for relieving and/or supporting a human knee joint.

Orthoses and exoskeletons are often used to stabilize joints, e.g. B. the knee joint in humans, z. B. used after an injury or to support in competitive sports.

For this purpose, such exoskeletons usually have a fixation on the thigh and a fixation on the lower leg, which are connected to each other z. B. are connected by striving.

Exoskeletons, such as those from the GB 2 436 799 A , from the U.S. 8,060,945 B2 or the US 9,682,005 B2 are known, often have a complex structure, which makes them expensive to manufacture and their user-friendliness and thus their field of application severely limited.

It is therefore an object of the present invention to specify an exoskeleton for a human knee that is comparatively inexpensive to manufacture and simple in construction and at the same time relieves and supports the knee joint very well. This should also open up additional fields of application.

This object is achieved by the subject matter of the independent claims. Advantageous developments result from the dependent protection claims.

An exoskeleton according to the invention for relieving and/or supporting a human knee joint
an upper attachment area for attachment to a human thigh;
a lower attachment portion for attachment to a human lower leg;
an upper strut connected or connectable to the upper attachment area, arranged laterally, in particular on the outside;
a lower strut which is connected or can be connected to the upper fastening area and is arranged laterally, in particular on the outside;
a hinge disposed between the upper and lower struts; and
an elongate spring element, in particular an elongate elastomer spring or an elastic band, which is arranged in front of the upper strut, in front of the lower strut and in front of the joint, runs between an upper connection point and a lower connection point and is guided over a deflection point.

In an exoskeleton according to the invention, the relief and/or support effect for the human knee joint is achieved by an elongate spring element, in particular an elongate elastomer spring or an elastic band, e.g. B. achieves an elastic rubber band, which is arranged in front of the upper strut, in front of the lower strut and in front of the joint, i.e. in particular on the front of the exoskeleton, and which runs between an upper connection point and a lower connection point and is guided via a deflection point.

Such elastomer springs are inexpensive and, according to the inventors, are very well suited for use in an exoskeleton according to the invention and for relieving and/or supporting a human knee joint. In the tensioned state, they reliably store the spring energy and when it relaxes, simply and effectively releases it again to the upper and lower movement section and thus to the human leg and knee.

The required stability for the exoskeleton according to the invention is achieved by the upper strut, which is connected or connectable to the upper attachment section, arranged laterally, in particular on the outside, by the lower strut which is connected or connectable to the upper attachment section, arranged laterally, in particular on the outside, and the strut in between, in particular on the outside the knee arranged joint guaranteed.

The space taken up next to the human leg/knee by the exoskeleton according to the invention is comparatively small. The construction of the exoskeleton according to the invention is comparatively simple.

Thus, the exoskeleton according to the invention is suitable for relieving and/or supporting the human modes of locomotion of walking, hiking, jogging, skiing, touring skiing, cross-country skiing and even motocross riding.

In addition, the exoskeleton according to the invention protects the human knee from unwanted loads and movement patterns and increases safety.

The human extremities, in particular the human leg with thigh, lower leg and knee joint, can be reliably relieved by the exoskeleton according to the invention.

The required muscle power for the respective type of locomotion can be noticeably reduced, especially in a range of 10-25%. Included Peak loads in particular can be effectively reduced by an elastomer spring that is well adjusted to the respective weight and strength of the wearer.

An exoskeleton according to the invention with an elastomer spring stores energy from the movement in the elastomer spring and releases it again at the appropriate moment in the movement.

The spring energy is provided by the elongate spring element, additional, e.g. B. electrical energy sources do not have to be provided, which saves weight on the one hand and eliminates the need for regular charging or regular battery replacement on the other.

In its simplest form, the exoskeleton according to the invention functions purely mechanically.

In addition, the exoskeleton according to the invention and in particular the elastomer spring can be kinematically adapted to the respective wearer and the respective movement sequence.

Furthermore, the exoskeleton according to the invention has a modular structure. Various upper and lower mounting portions, upper and lower struts, intermediate hinges, and elongate spring members may be used. As a result, the range of activities and movement patterns that are supported by the exoskeleton according to the invention can be significantly increased compared to conventional exoskeletons.

According to the invention, it is possible to provide a degressive, linear or moderately increasing characteristic curve in the force-displacement diagram for the elongated spring element. This is in contrast to conventional exoskeletons with a progressive characteristic.

The exoskeleton according to the invention has a relatively light and simple structure, it is quick and easy to use and enjoys a high level of acceptance among healthy people who use this exoskeleton to support their respective sporting activity, as described above.

The elongate spring element can be arranged in particular on the front side of the exoskeleton.

According to a first embodiment, the elongate spring element is designed and arranged such that it is tensioned and stores spring energy when the angle between the upper strut and the lower strut decreases as a result of angling of the thigh relative to the lower leg; and that upon an increase in the angle between the upper strut and the lower strut, as a result of stretching of the femur relative to the lower leg, it relaxes and releases spring energy to the upper attachment area and/or to the lower attachment area.

Thus, the kinetic energy when bending the thigh, which is supported by the weight of the upper body, can be directly converted into spring energy. When the thigh is stretched, this converted spring energy can be released directly to the upper and/or lower fastening section and thus to the leg of the user, supporting the movement.

As a result, the different types of human locomotion mentioned above can be energy-assisted, which relieves and supports the human knee joint, which makes it possible to cover the same distances with less effort and less muscle power, and which also increases the range.

According to a further embodiment, the deflection point is arranged at a position in front of the joint. A deflection surface, in particular a curved deflection surface, can be provided, which is arranged at a position in front of the joint in such a way that the elongate spring element is guided over it with little friction and/or rests on it in certain areas. The deflection surface can be connected to the upper strut, to the lower strut or to the joint by a spacer strut.

Such a deflection surface, which is designed in particular to be smooth and without projections, makes it possible for the two partial areas of the elongate spring element located between the deflection point and the two connection points of the elongate spring element to be able to change their angular alignment with one another and thus to compensate for the changed angles between the upper and lower struts can follow as a result of angulation and extension of the thigh relative to the lower leg.

A deflection point can also be understood to mean a defined deflection path of the elongate spring element. Irrespective of such pivoting of its upper and lower sections relative to one another, the spring element can store the spring energy and release it again.

According to a further embodiment, at least one connection point of the längli Chen spring element, in particular at the upper connection point, a pretensioning and locking mechanism is provided, which is designed such that the elongated spring element can be tensioned, in particular the length of the elongated spring element can be shortened, and the spring element can be locked at one end.

The curved deflection surface can have the shape of a circular arc or a section of an ellipse, an arc shape with a changing diameter or a multi-arc shape.

The deflection point, which, as mentioned above, can also be designed as a deflection section, is understood to mean that area of the elongated spring element in which a change in direction from the direction of the section between the end of the deflection point to the adjacent connection point to the further section between the opposite end of the deflection point and neighboring connection point. In these sections, the elongate spring element has a straight course.

According to a further embodiment, the elongate spring element is surrounded at least in regions by a protective cover or a protective tube.

As a result, damage to the elongate spring element is avoided and jamming or jamming is avoided.

The biasing and locking mechanism can either be performed manually, z. B. in the form of a knob with a spindle on which the end of the elongate spring element is wound up and unwound, the knob being able to be rotated and released.

It is also possible to use the locking mechanism in the form of a motor, e.g. B. a stepper motor to be provided.

Such a prestressing and locking mechanism can also be used to adjust the prestressing of the elongated spring element and thus the exoskeleton according to the invention and in particular the elastomer spring can be adapted to the respective wearer and the respective movement sequence with regard to the force support. For example, the spring tension can be increased for a mountain route or reduced for a flat route.

According to a further embodiment, the upper connection point of the elongate spring element is arranged in front of the upper strut, in particular laterally next to the upper fastening area; and the lower connection point of the elongate spring element is arranged in front of the lower strut, in particular laterally next to the lower fastening area. This represents a simple and compact embodiment of the present invention with an upper and lower connection point.

According to an alternative embodiment, the elongate spring element is designed to be circumferential.

In particular, the elongate spring element can run downwards from the upper connection point via the deflection point to the lower connection point on the front side of the exoskeleton, extend backwards at least partially along the lower strut or at least partially along the lower fastening area, and from there to the rear side of the exoskeleton Exoskeletons run upwards to an additional, upper rear attachment point.

According to a further embodiment, the upper connection point of the elongate spring element is arranged in front of the upper strut, in particular laterally next to the upper fastening area; and the lower attachment point of the elongate spring element is located on the lower strut or laterally adjacent to the lower attachment area.

According to a further embodiment, the lower attachment point of the elongate spring element is arranged on a coupling which is designed to move between a locking position, in which it locks the elongate spring element with respect to the lower strut or the lower attachment area, and a freewheeling position, in which the elongate spring element is held free-running only between the upper connection point and the additional, upper rear connection point, is movable.

Thus, the exoskeleton can be used to support movement by means of the clutch when the clutch is in the locking position and the elongated spring element is/is locked with respect to the lower strut or the lower movement section, or can be operated with almost no movement support when the clutch is in the freewheeling position is.

When the clutch is in the freewheel position, the elongate spring element rides with a decrease in the angle between the upper strut and the lower strut due to angling of the thigh relative to the lower leg, and with an increase in the angle between the upper strut and the lower strut , due to stretching of the thigh relative to the lower leg, a distance through the coupling and is not or only insignificantly stretched and relaxed.

The clutch may be moveable/switchable between the locked position and the freewheel position manually or by a controller.

According to a further embodiment, a sensor system or at least one sensor can also be provided, which is designed in such a way that a gait phase or a movement pattern can be detected and, depending on the detected gait phase or the detected movement pattern, the clutch can be switched between the locking position and the Freewheeling position is movable / switchable.

Thus e.g. B. during a step, during a sequence of steps or depending on certain route characteristics, z. For example, on an uphill or downhill stretch, the clutch can be brought into the locked position, so that there is movement support, or it can be brought into the freewheeling position, so that there is almost no movement support.

According to a further embodiment, an actuator is additionally provided, which provides movement support for overcoming resistance for a short time, but does not provide permanent movement support.

Such an actuator can be designed and arranged as described below.

• einen oberen Befestigungsbereich zur Befestigung an einem menschlichen Oberschenkel;
• einen unteren Befestigungsbereich zur Befestigung an einem menschlichen Unterschenkel;
• eine mit dem oberen Befestigungsbereich verbundene oder verbindbare obere, seitlich, insbesondere außen angeordnete Strebe;
• eine mit dem oberen Befestigungsbereich verbundene oder verbindbare untere, seitlich, insbesondere außen angeordnete Strebe;
• ein zwischen der oberen und der unteren Strebe angeordnetes Gelenk;
• einen Aktuator mit einem oberen Anbindungspunkt an der oberen Strebe und mit einem unteren Anbindungspunkt an der unteren Strebe, insbesondere an
• einem fest mit der unteren Strebe verbundenen Fortsatz-Schenkel vor oder hinter dem Gelenk.

The invention also relates to an exoskeleton for relieving and/or supporting a human knee joint, comprising:

• an upper attachment area for attachment to a human thigh;
• a lower attachment portion for attachment to a human lower leg;
• an upper strut connected or connectable to the upper attachment area, arranged laterally, in particular on the outside;
• a lower strut which is connected or can be connected to the upper fastening area and is arranged laterally, in particular on the outside;
• a hinge disposed between the upper and lower struts;
• an actuator with an upper connection point on the upper strut and with a lower connection point on the lower strut, in particular
• an extension limb firmly connected to the lower strut in front of or behind the joint.

In this aspect of the invention, the movement is supported by means of the actuator.

In particular, this can be equipped with a controller that adjusts the actuator performance and thus the movement support provided by the exoskeleton depending on the person wearing the actuator, e.g. B. of weight and desired movement support and possibly according to certain route characteristics, z. B. descending or ascending route controls.

According to one embodiment, the extension leg is arranged at an angle of 70 to 110°, in particular approximately 90°, to the main direction of extension of the lower strut.

According to a further embodiment, the actuator is designed as a hydraulic actuator, in particular as a hydraulic cylinder, as an electric actuator, in particular as a torque motor, as a pneumatic actuator, as a piezoelectric actuator, or as a passive actuator. A pressure accumulator and control valves can also be provided.

According to a further embodiment, the attachment areas are cuff-like or half-shell-shaped with adjustable straps so that they can be detachably attached to a leg. In this case, the upper fastening area has in particular a larger diameter than the lower fastening area.

• 1 zeigt eine schematische Perspektivansicht schräg von vorne auf ein Exoskelett für ein linkes menschliches Bein, insbesondere für ein linkes menschliches Kniegelenk, gemäß einem Ausführungsbeispiel der vorliegenden Erfindung.
• 2 zeigt eine schematische Seitenansicht eines an einem rechten menschlichen Bein angebrachten Exoskeletts, gemäß einem Ausführungsbeispiel der vorliegenden Erfindung.
• 3 zeigt eine schematische Seitenansicht eines an einem rechten menschlichen Bein angebrachten Exoskeletts gemäß einem weiteren Ausführungsbeispiel der vorliegenden Erfindung.
• 4 zeigt eine schematische Seitenansicht eines an einem rechten menschlichen Bein angebrachten Exoskeletts, gemäß einem weiteren Ausführungsbeispiel der vorliegenden Erfindung.

The invention is explained in more detail below using exemplary embodiments with reference to the attached figures.

• 1 shows a schematic perspective view obliquely from the front of an exoskeleton for a left human leg, in particular for a left human knee joint, according to an embodiment of the present invention.
• 2 12 shows a schematic side view of an exoskeleton attached to a right human leg, according to an embodiment of the present invention.
• 3 12 shows a schematic side view of an exoskeleton attached to a right human leg according to a further embodiment of the present invention.
• 4 12 shows a schematic side view of an exoskeleton attached to a right human leg according to a further embodiment of the present invention.

This in 1 The exoskeleton 2 shown has an upper attachment area 4 for attachment to a human thigh and a lower attachment area 6 for attachment to a human lower leg. The upper fastening area 4 is designed in the form of two sleeves arranged one above the other, which are each fastened by means of a quick-release mechanism, from which in 1 the front operating knob is visible, to which human femurs can be attached. In particular, the diameter of the cuff can be changed and reduced in such a way that it corresponds to the outer diameter of the human lower leg in the area in question.

The lower fastening area 6 is designed in the form of a wider cuff, which can also be fastened in relation to the human lower leg by means of a quick-release mechanism, of which the front actuating knob is clearly visible. In particular, the diameter of the cuff can be changed and reduced in such a way that it corresponds to the outer diameter of the human lower leg in the area in question.

An upper strut 8 is arranged on the outside of the upper attachment area 4, in particular connected thereto by means of suitable attachment means such as screws or rivets, and extends downwards therefrom. This upper strut 8 extends essentially parallel to the central axis of symmetry which runs through the upper attachment area 4, in particular through the two cuffs, and essentially parallel to the human thigh to which the upper attachment area 4 is attached.

A lower strut 10 is also attached to the lower attachment area 6 by suitable attachment means such as screws or rivets. This lower strut 10 extends upwards from the outside of the lower attachment portion 4, substantially parallel to the central axis of symmetry passing through the lower attachment portion 6, and more particularly parallel to the lower human leg to which the lower attachment portion 6 is attached.

Approximately at the level and laterally outside of the human knee, i.e. in a central area between the upper fastening area 4 and the lower fastening area 6, the two struts 8 and 10 are connected to one another by means of a joint 12, which is designed in such a way that the two struts 8 and 10 to each other in an angular range that corresponds to the angular range between the human thigh and lower leg in a normal movement, ie z. B. when running, when running or when skiing / ski touring corresponds.

The struts 8 and 10 and the joint 12 can in particular be made of a stable plastic and/or metal material. A wooden material is also possible for the struts 8 and 10 .

Furthermore, the in 1 Exoskeleton 2 shown has an elongate spring element 14, which can be designed as an elongate elastomer spring or as an elastic band, in particular as an elastic rubber band, which is arranged in front of the upper strut 8, in front of the lower strut 10 and in front of the joint 12 and between an upper connection point 16 and a lower binding point 18 and is guided over a deflection point 20 .

In the embodiment of 1 the upper area of the elongate spring element 14, including the upper connection point 16 and the deflection point 20, is surrounded by a protective tube 24 made of a solid material, for example a plastic or metal material.

The upper connection point 16 is located at the upper end of the tube, outside the upper sleeve of the upper attachment area 4. The elongated spring element 14 is fixed there, inside the tube, on the upper strut 8 or on the upper attachment area 4.

From this upper connection point 16 to the deflection point 20, which is arranged essentially in front of the joint 12 and can also be designed as a deflection section, the elongate spring element 14 runs inside the protective tube 24 and forms a straight upper section. The protective tube 24 is preferably attached to the upper strut 8 and/or to the joint 12 .

Between the lower connection point 18, with which, as in 1 is clearly visible, the lower end of the spring element 14 is fixed in a fastening sleeve or fastening socket, which is arranged on the outside and at the lower end of the lower strut 10 or the lower fastening area 6, and the deflection point 20 the elongate spring element 14 runs without a covering and forms a straight bottom section.

Alternatively, in an exemplary embodiment not shown here, the straight lower section of the elongate spring element 14 can also be enclosed by a protective tube or a protective cover.

The elongate spring element 14 can, as shown, have a rectangular cross-section, or alternatively have a round or rounded cross-section.

At the upper end of the protective tube 24, a biasing and a locking mechanism 22 is provided, which in the present embodiment with a small display and a motor drive such. B. a servomotor, and at least one actuator is equipped. The elongate spring element 14 can be tensioned by this pretensioning and locking mechanism.

In particular, the length of the elongate spring element 14 at the upper end can be changed, in particular increased or decreased. The upper connection point 16 can be shifted and the length of the elongate spring element 14 can thus be changed, in particular reduced or increased.

It is also possible to increase the tension of the elongate spring element 14, e.g. B. by partially rolling up the upper end of the elongate spring element 14 onto a spindle, in particular to increase or reduce it.

The elongated spring element 14 and thus the upper connection point 16 can be locked in the desired position.

As an alternative to a motorized pretensioning and locking mechanism 22, in an exemplary embodiment that is not shown, this can also be carried out manually, e.g. B. by means of a lockable knob and a spindle connected thereto, on which the elongated spring element 14 is fixed with its upper end and can be rolled up and down.

The fact that the struts 8, 10, the joint 12, the elongated spring element 14 with its connection points 16 and 18, the protective tube 24 and the pretensioning and locking mechanism 22 are arranged laterally outside the left leg and thus outside the human body results in no impairment of movement.

In 2 is shown schematically how the exoskeleton 2 from 1 on a human leg and a human knee, here on a right human leg and a right human knee.

In the 2 , 3 and 4 the individual elements of the exoskeleton and the human leg with human knee are only shown schematically.

Same elements as in 1 are marked with the same reference symbols and will not be explained again.

Additionally is in 2 a spacer strut 26 can also be seen, which extends forward from the joint 12 and at the front end of which the deflection point 20 is arranged.

Furthermore, the course of the elongate spring element 14 with an upper straight section, with a deflection point 20 or deflection path 20 and with a lower straight section can be seen clearly.

The deflection point 20 is thus arranged at a position in front of the joint 12 . In practice, the deflection point 20 is designed in particular as a curved deflection surface, i.e. as a low-friction front surface of the spacer strut 26, in particular with a guide over which the elongate spring element 14 is guided and along which the middle region of the elongate spring element 14 is deflected.

In 3 is shown schematically how an exoskeleton 2 is arranged on a human leg and a human knee, here on a right human leg and a right human knee.

In this exoskeleton 2, the elongate spring element 14 is circumferential.

It runs from the upper connection point 16, via the lower deflection point 20, is deflected backwards at a lower area of the lower strut 10 or the lower fastening area 6 and runs a little to the rear, is attached to a rear area of the lower strut 10 or the lower attachment area 6 is deflected upwards again and runs from there upwards on the rear side of the exoskeleton 2 to an additional upper rear connection point 30 on the rear side of the upper strut 8 or the upper attachment area 4.

In doing so, as in 3 shown, a retaining strut 34 extending rearwardly from the joint 20 may be provided, at the rear end of which a guide, e.g. B. an eyelet is arranged, through which this elongated spring element 14 is guided. At this point, the elongate spring element 14 has a kink in its course at its rear section.

In the case of this circumferential spring element 14 , the lower connection point 18 is formed at the point at which a clutch 32 can lock the circumferential spring element 14 . This point is in the schematic representation of 3 provided centrally in that area of the peripheral elongate spring element 14 on which it runs from front to back.

As an alternative to this, the coupling 32 and thus the lower connection point 18 can also be provided on the front region of the elongate spring element 14 running downwards, in particular on its lower end.

The clutch 32 is designed to move between a locking position, in which it locks the elongate spring element 14 with respect to the lower strut 8 or the lower attachment area 6, and a freewheeling position, in which the circumferential elongate spring element 14 is only between the front upper connection point 4 and the additional upper rear connection point 30 is held free-running, is movable.

• Das längliche Federelement 14 ist so ausgebildet und angeordnet, dass es bei einer Verkleinerung des Winkels zwischen der oberen Strebe 8 und der unteren Strebe 10, in Folge eines Anwinkelns des Oberschenkels relativ zu dem Unterschenkel, gespannt wird und Federenergie speichert und dass es bei einer Vergrößerung des Winkels zwischen der oberen Strebe 8 und der unteren Strebe 10, in Folge eines Streckens des Oberschenkels relativ zu dem Unterschenkel, entspannt wird und Federenergie an den oberen Befestigungsbereich 4 und/oder an den unteren Befestigungsbereich 6 abgibt.

In the exoskeleton 2 according to the 1 and 2 and in the exoskeleton 2 according to 3 when the clutch 32 is in the locked position:

• The elongate spring element 14 is constructed and arranged such that it is tensioned and stores spring energy when the angle between the upper strut 8 and the lower strut 10 decreases as a result of angling of the thigh relative to the lower leg, and that it stores spring energy when the angle between the upper strut 8 and the lower strut 10 decreases of the angle between the upper strut 8 and the lower strut 10, as a result of a stretching of the thigh relative to the lower leg, is relaxed and releases spring energy to the upper attachment area 4 and/or to the lower attachment area 6.

This movement support is very beneficial for a variety of human movement options, e.g. B. for walking, hiking, jogging, skiing, ski touring, cross-country skiing or motocross.

This function is in the exoskeleton 2 according to 1 and 2 always given. She is also on the Exoskeleton 2 of the 3 given when the clutch 32 is in the locked position, so that the lower connection point 18 is fixed on or in the clutch 32.

The tension of the elongate spring member 14 can be increased or decreased by the biasing and locking mechanism 22 . As the tension of the elongate spring element 14 is increased, so does the spring energy that can be stored and thus the amount of movement support that can be provided by the exoskeleton 2 according to the invention.

If the clutch 32 according to 3 is in the free-wheeling position, the circumferential elongate spring element 14 rides with a decrease in the angle between the upper strut 8 and the lower strut 10, as a result of angling of the thigh relative to the lower leg, and with an increase in the angle between the upper strut 8 and the lower strut 10, as a result of a stretching of the thigh relative to the lower leg, a little way through the coupling 32 and is not or only insignificantly stressed and relaxed. In this freewheeling position there is no or only very little movement support.

In 4 is shown schematically how an exoskeleton 36 is arranged on a human leg and a human knee, here on a right human leg and a right human knee.

At the in 4 The exoskeleton 36 shown is an actuator-supported exoskeleton 36. The basic structure of the exoskeleton 36 with an upper attachment area 4, with a lower attachment area 6, with an upper strut 8, with a lower strut 10, and with a joint 12 arranged in between corresponds to the structure as described above based on 1 until 3 has been explained.

Identical elements are marked with the same reference symbols and are not explained again here.

In the case of the exoskeleton 36, a front extension leg 38 is also rigidly connected to the lower strut 10 approximately at the height of the joint 12. Alternatively or additionally, a rear extension leg 40 is rigidly connected to the lower strut 10 approximately at the level of the joint 12 .

The exoskeleton 36 has an actuator 42 . Like the front actuator 42 in 4 be formed and extend between an upper connection point 44 at the upper end of the upper strut 8 and a lower connection point 46, in particular on the front side of the front extension leg 38.

As an alternative to this, this actuator 42 can also extend to a lower attachment point 46 at a rear end of the rear extension leg 40 .

The actuator can be designed in particular as a hydraulic actuator, in particular as a hydraulic cylinder, as an electric actuator, in particular as a torque motor, as a pneumatic actuator, as a piezoelectric actuator or as a passive actuator. He can also do one Include accumulators and appropriate control valves, not shown here.

If the front actuator 42 is operated in such a way that the distance between its two connection points 44 and 46 increases, the angle between the upper strut 8 and the lower strut 10 increases, thus supporting or even causing the thigh to bend relative to the lower leg .

When the front actuator 42 is actuated so that the distance between the upper connection point 44 and the lower connection point 46 is reduced, the angle between the upper strut 8 and the lower strut 10 increases, so that the thigh is supported or caused to stretch relative to the lower leg.

• Wenn dieser so betrieben wird, dass der Abstand zwischen den Anbindungspunkten 44 und 46 vergrößert wird, so vergrößert sich der Winkel zwischen oberer Strebe 8 und unterer Strebe 10 und somit wird ein Strecken des Oberschenkels relativ zu dem Unterschenkel unterstützt oder bewirkt.

If a rear actuator 42 is provided, its function is as follows:

• If this is operated in such a way that the distance between the connection points 44 and 46 is increased, the angle between the upper strut 8 and the lower strut 10 increases and thus a stretching of the thigh relative to the lower leg is supported or effected.

If this is operated in such a way that the distance between the connection points 44 and 46 decreases, the angle between the upper strut 8 and the lower strut 10 decreases, so that the thigh is supported or angled relative to the lower leg.

The angles are measured starting from the human leg to the left, ie on the back of the struts 8 and 10 and the human leg/human knee joint.

For the function of the exoskeleton 36, it is entirely sufficient if only one of the two in 4 actuators 42 shown is provided, i.e. either the front or the rear actuator 42.

Of course, both actuators 42 can also be present, i.e. both the front and the rear actuator 42.

The exoskeleton 36 may further include a controller (not shown) to adjust the speed and/or the force and/or the distance that the actuator 42 is displaced.

With regard to further advantages and embodiments, reference is made to the general part of the description. The advantages and embodiments specified there are not listed separately again here.

reference list

2

exoskeleton

4

upper mounting area

6

lower mounting area

8th

upper brace

10

lower strut

12

joint

14

elongated spring element

16

upper connection point

18

lower connection point

20

deflection point

22

Preload and locking mechanism

24

protective tube

26

spacer brace

28

circumferential elongated spring element

30

additional, upper rear connection point

32

coupling

34

support brace

36

exoskeleton

38

anterior process limb

40

posterior process limb

42

actuator

44

upper connection point

46

lower connection point

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• GB 2436799A [0004]
• US8060945B2 [0004]
• US 9682005 B2 [0004]

Claims (17)

Exoskeleton (2) for relieving and/or supporting a human knee joint, having: an upper attachment portion (4) for attachment to a human thigh; a lower attachment portion (6) for attachment to a human lower leg; an upper strut (8) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside; a lower strut (10) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside; a joint (12) disposed between the upper strut (8) and the lower strut (10); and an elongate spring element (14), in particular an elongate elastomer spring or an elastic band, which is arranged in front of the upper strut (8), in front of the lower strut (10) and in front of the joint (12) which is connected between an upper connection point (16) and a lower connection point (18) and which is guided over a deflection point (20). Exoskeleton (2) after claim 1 wherein the elongate spring element (14) is constructed and arranged to be tensioned upon a reduction in the angle between the upper strut (8) and the lower strut (10) as a result of angling of the thigh relative to the lower leg and spring energy stores; and that when the angle between the upper strut (8) and the lower strut (10) increases, as a result of a stretching of the thigh relative to the lower leg, it is relaxed and spring energy to the upper attachment area (4) and/or to the lower ones Fastening area (6) releases. Exoskeleton (2) after claim 1 or 2 wherein the turning point (20) is located at a position in front of the joint (12); and/or wherein a deflection surface, in particular a curved deflection surface, is provided, which is arranged at a position in front of the joint (12) in such a way that the elongate spring element (14) is guided over it with little friction and/or rests on it in certain areas; and/or wherein the deflection surface is connected to the upper strut (8), to the lower strut (10) or to the joint (12) by a spacer strut (26). Exoskeleton (2) according to one of the preceding claims, wherein at least one attachment point (16, 18) of the elongate spring element (14), in particular on the upper attachment point (16), a prestressing and locking mechanism (22) is provided, which is designed in this way that the elongate spring element (14) can be tensioned, in particular the length of the elongate spring element (14) can be shortened, and the elongate spring element (14) can be locked at one end. Exoskeleton (2) according to one of the preceding claims, wherein the elongate spring element (14) is surrounded at least in regions by a protective cover or a protective tube (24). Exoskeleton (2) according to one of the preceding claims, wherein the upper connection point (16) of the elongate spring element (14) is arranged in front of the upper strut (8), in particular laterally next to the upper fastening area (4); and wherein the lower connection point (18) of the elongated spring element (14) is arranged in front of the lower strut (10), in particular laterally next to the lower fastening area (6). Exoskeleton (2) after one of Claims 1 until 5 , wherein the elongate spring element (14) runs circumferentially, and wherein the elongate spring element (14) extends in particular from the upper connection point (16) via the deflection point (20) to the lower connection point (18) on the front side of the exoskeleton (2). downwards, extending at least partially backwards along the lower strut (10) or at least partially along the lower attachment area (6), and from there upwards at the rear of the exoskeleton (2) to an additional, upper rear one Connection point (30). Exoskeleton (2) after claim 7 , wherein the upper connection point (16) of the elongate spring element (14) is arranged in front of the upper strut (8), in particular laterally next to the upper fastening area (4); and wherein the lower connection point (18) of the elongate spring element (14) is arranged on the lower strut (10) or laterally next to the lower fastening area (6). Exoskeleton (2) after claim 8 , wherein the lower connection point (18) of the elongate spring element (14) is arranged on a coupling (32) which is designed to move between a locking position in which it holds the elongate spring element (14) with respect to the lower strut (10) or the lower fastening area (6) is locked, and a free-running position in which the elongate spring element (14) is held freely only between the upper connection point (16) and the additional, upper rear connection point (30) can be moved. Exoskeleton (2) after claim 9 wherein when the clutch is in the freewheel position, the elongate spring element (14) upon a reduction in the angle between the upper strut (8) and the lower strut (10) due to angling of the thigh relative to the lower leg, and at a Enlargement of the angle between the upper strut (8) and the lower strut (10), as a result of stretching of the thigh relative to the lower leg, runs through the coupling (32) a little and is not or only insignificantly stretched and relaxed. Exoskeleton (2) after claim 9 or 10 , wherein the clutch (32) can be moved/switched manually or by a controller between the locking position and the freewheeling position. Exoskeleton (2) after claim 11 , wherein a sensor system or at least one sensor is also provided, which is designed in such a way that a gait phase or a movement pattern can be recognized and, depending on the recognized gait phase or the recognized movement pattern, the clutch (32) by the control between the locking position and the Freewheeling position is movable / switchable. Exoskeleton (2) according to one of the preceding claims, wherein an actuator is additionally provided which provides movement support for overcoming resistance for a short time. Exoskeleton (36) for relieving and/or supporting a human knee joint, comprising: an upper attachment portion (4) for attachment to a human thigh; a lower attachment portion (6) for attachment to a human lower leg; an upper strut (8) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside; a lower strut (10) which is or can be connected to the upper fastening area (4) and is arranged laterally, in particular on the outside; a joint (12) disposed between the upper strut (8) and the lower strut (10); an actuator (42) with an upper connection point (44) on the upper strut (8) and with a lower connection point (46) on the lower strut (10), in particular on an extension limb fixedly connected to the lower strut (10). (38, 40) in front of or behind the joint (12). Exoskeleton (36) after Claim 14 , wherein the extension leg (38, 40) is arranged at an angle of 70 to 110 °, in particular of about 90 ° to the main direction of extension of the lower strut (10). Exoskeleton (36) after one of Claims 13 until 15 , wherein the actuator (42) is designed as a hydraulic actuator, in particular as a hydraulic cylinder, as an electric actuator, in particular as a torque motor, as a pneumatic actuator, as a piezoelectric actuator, or as a passive actuator; and/or wherein a pressure accumulator and control valves are also provided. Exoskeleton (2, 36) according to any one of the preceding claims, the attachment portions (4, 6) being cuff-like or clamshell-like with adjustable straps to be releasably attachable to a leg; and In particular, the upper fastening area (4) has a larger diameter than the lower fastening area (6).

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