WO2004016206A1

WO2004016206A1 - Voice-controlled orthopedic appliance

Info

Publication number: WO2004016206A1
Application number: PCT/AT2003/000237
Authority: WO
Inventors: Michael Feierfeil
Original assignee: Michael Feierfeil
Priority date: 2002-08-19
Filing date: 2003-08-13
Publication date: 2004-02-26
Also published as: AU2003257221A1

Abstract

The invention relates to an orthopedic appliance, comprised of at least two orthopedic appliance elements (21, 22), e.g. rails, which are interconnected and can be moved toward one another. At least one drive (25) is provided with which the orthopedic appliance elements (21, 22) can be moved relative to one another, and at least one controller (STR) is provided for the at least one drive. According to the invention, the controller of the at least one drive is controlled by voice control. This controller is connected to at least one voice input module (MOD). The voice input module (MOD) is configured for receiving and evaluating voice commands and for initiating a corresponding control of the at least one drive (25). Said voice input module (MOD) wirelessly communicates with the controller (STR).

Description

P9211pct

VOICE-CONTROLLED ORTHOSIS

The invention relates to an orthosis consisting of at least two interconnected and mutually movable orthotic elements, for. B. rails, wherein at least one drive is provided with which the orthotic elements are movable in relation to each other, and for the at least one drive at least one controller is provided.

Orthoses are by definition an “orthopedic device that is used to stabilize, relieve, immobilize, guide or correct limbs or trunk; on the limbs as a rail clamp device (steel rails fitted with straps) or rail sleeve devices (whale leather sleeves encompassing the limbs), on the trunk as a body bandage, bodice or corset "(PSCHYREMBEL, clinical dictionary, 257th edition, publisher Walter de Gruyter, ISBN 3- 933203-04-X).

In contrast to the prostheses, which are intended to replace missing limbs, orthoses are aids that shape and function existing body parts. Support definition.

According to the current state of the art, there are orthoses for many indications, some examples below:

• Neck orthoses (cervical supports), spinal collar

• Arm and shoulder orthoses

• Hand orthoses as a therapy aid for muscle shortening and joint stiffness

• Walking devices for various symptoms of paralysis (for example peroneal paralysis, PoliomyeHtis)

• Corset restorations (frame support corset, 3-point corset, Cheneau corset)

In contrast to prostheses, which take on the overall function of a missing part of the body, an orthosis only serves to relieve existing areas of the body. An orthosis therefore represents a purely passive means of supporting damaged or no longer fully functional areas of a patient's body. Such orthoses are sometimes used, for example, in stroke patients, mostly in the form of walking orthoses. After the acute phase of a stroke, in which physiotherapeutic treatment of the paralyzed limbs is generally not necessary, exercise therapy and restoration of the basic motor skills of the affected parts of the patient's body are of great importance.

The earlier the appropriate therapy is started after a stroke, the greater the prospect of complete recovery or the less residual brain damage.

In a first phase of therapy there is still passive movement of the affected limbs, in particular by therapists, in a later phase the conscious movement of the limbs by the patient against resistance is important for optimal rehabilitation.

These measures are understandably personnel and cost intensive and can therefore usually not be offered to the extent that would be necessary for optimal patient rehabilitation.

In order to be at least partially independent of physiotherapeutic staff, which has advantages at least in terms of care costs, there are also stationary systems in hospitals with which the limbs of the patient can be moved. However, these are complex, expensive and stationary systems that make it necessary for the patient to be on site. A "treatment" of the patient with such facilities is therefore only possible in the hospital or a rehabilitation center, and only here at a certain time, since the facility usually has to be used for several patients.

Orthoses with a drive, partly also with a control for the drive, are known from AT 338410 A, US 4 644938 A, US 3 631 542 A and DE 3638094.

Further devices for rehabilitation are shown, for example, in JP 2000325412 A, JP 2000262571, US 5 683351, WO 2000 / 24355A and US 4669451 A.

For people with limited motor skills who, for example, can only use their hands poorly or not at all, or who want to use the orthosis for one or both arms, these orthoses are difficult or impossible to use. It is an object of the invention to allow the easy and comfortable use of a controllable, driven orthosis even for people with limited motor skills.

This object is achieved with an orthosis mentioned at the outset in that, according to the invention, the control of the at least one drive is controlled by means of voice control, the control being connected to at least one voice input module, and the voice input module being set up to receive voice commands, to evaluate them and to control them accordingly to cause the at least one drive, the voice input module communicating wirelessly with the controller.

The invention relates to those orthoses in which two or more orthotic elements, such as rails, of the orthosis can be moved towards one another. For example, in the simplest case, an arm orthosis consists of a splint for the forearm and a splint for the upper arm, both of which can be attached to the respective upper or lower arm. The two splints themselves are articulated so that the orthosis can bend or stretch the arm.

With an appropriate drive, it is now possible to drive the two orthotic elements - in the example of the arm orthosis, the splints for the upper and lower arm - independently of one person etc. This makes it possible, on the one hand, to move a patient's limbs with the orthosis according to the invention without the patient's intervention, which is particularly important in the initial phase of therapy; The force generated by the drive moves, for example, to train the muscles of the corresponding limbs.

The speech-controlled operation of the orthosis makes it possible for the patient to control according to his needs and at his own discretion. Voice control also has the advantage that patients who are severely restricted in terms of the functioning of their limbs also have the option of controlling such an orthosis themselves.

It is provided for the voice control that the control comprises at least one voice input module, which is set up to receive voice commands, to evaluate them and to control the at least one drive accordingly. The voice input module is designed separately from the controller and is wirelessly connected to the controller. The patient can therefore optimally position the speech input module for him and thus control the orthosis particularly well.

In this way, a therapist can also easily control the orthoses of patients, including those of several patients, using speech, without having to be directly with a patient. In this way, for example, monitoring and simultaneous therapy of several patients is possible.

So that the orthosis can also be used on a mobile basis, the at least one drive is attached directly to the orthosis.

The at least one drive is expediently fastened to an orthotic element of the orthosis.

In a specific embodiment of the orthosis, at least one drive is a pneumatic drive. This allows the cost-effective use of the invention in the field of clinical or physicotherapeutic centers, since compressed air cylinders can be used here, since the infrastructure for the air supply already exists.

Alternatively or in the case of several drives, at least one drive can also be a hydraulic drive; however, these are usually more expensive to buy than pneumatic drives.

It is particularly favorable if at least one drive is an electric drive. These are inexpensive to buy, easy to control and corresponding energy sources are available everywhere or allow the orthosis to be used in a simple manner, for example using batteries as an energy source.

For example, the at least one electric drive is a linear motor or a stepper motor.

In order that reliable control of the orthosis is achieved independently of the user, provision is also made for the voice control to take place independently of the speaker.

The invention is explained in more detail below with reference to the drawing. In this show

1 shows an example of a known knee orthosis, 2 is a schematic diagram of an orthosis with a drive,

3 shows the basic structure of a three-way valve for a pneumatic drive,

4 shows a schematic pneumatic plan,

5 shows an exemplary basic circuit diagram of an orthotic control.

1 shows a known knee orthosis 1. This essentially consists of an upper and a lower orthotic element 2, 3, for example in the form of rails 2, 3, which can be fastened to the upper and lower leg, for example by means of Velcro fasteners, etc. The Both rails 2, 3 are connected to one another in an articulated manner by means of an articulated connection 4, so that the orthosis 1 can be brought into a specific position or can also follow a bending or extending movement of the patient's leg.

Based on such known orthoses, the invention provides that a drive is also provided for the orthosis, which enables the orthosis elements of the orthosis, which are movably connected to one another, to move.

FIG. 2 shows such an orthosis 10 according to the invention in a highly simplified, schematic representation. This illustrated orthosis 10 can in turn be a knee orthosis or an arm orthosis. Differences then lie in particular in the dimensions and possibly in the type of fastening of the rails 21, 22, in the dimensioning of joints 24, but also in the dimensioning of the drive 25.

As already indicated, an orthosis 10 according to the invention consists of orthotic elements which can be moved relative to one another. In the case of a knee or arm orthosis, these are two mutually movable rails 21, 22 which are connected to one another via one or more joints 24. Furthermore, a drive 25, in the example shown a cylinder drive 25, is shown, which allows the two rails 21, 22 to move via the articulated connection 24 to one another. In the schematic illustration shown, the drive starts directly on the upper and lower rails 21, 22.

In principle, different types of known drives are suitable for driving the orthosis:

• Pneumatic drives (pneumatic cylinders)

• Hydraulic drives (hydraulic cylinders) • Electric drives (stepper or linear motors in cylinder design)

Pneumatic drives

A first possibility for driving the orthosis is to use pneumatic drives, preferably in the form of pneumatic cylinders. Usually double-acting cylinders are used, which are designed as piston cylinders and have two compressed air connections, one on each piston side. These pneumatic cylinders are usually standardized, whereby the most important specifications within the cylinder standards relate to the cylinder size, the piston diameter, the stroke length and the connection dimensions on the fastening parts.

This standardization of the pneumatic cylinders allows the use and exchange of equivalent (standardized) cylinders from different brands, which is advantageous in terms of worldwide service, warehousing, spare parts procurement, etc.

Valves are required to control a pneumatic drive element (start, stop), the definition of which is specified in DIN 24 300, for example. The design of a valve within a pneumatic control is usually of minor importance. The only thing that is important is the function that can be triggered, the type of actuation and the connection size, which also defines the assigned flow cross-section.

According to the function, pneumatic valves are divided into the following main groups:

• Directional control valves

• Flow valves

• check valves

• pressure valves

Directional control valves are preferably used for the application in connection with the invention. Such valves, which are required for the switching on and off of bending and stretching movements, are briefly discussed in more detail below.

Figure 3 shows schematically a 5/3 multi-way valve. Directional valves influence the path of the compressed air (mainly start, stop and flow direction). Depending on the number of controlled routes, there are two-way, three-way, four-way, five-way or multi-way valves. Connections from the compressed air network, supply lines to the consumer and exhaust air openings (ventilation) count as paths. Every cylinder has to be vented after work is done so that a new bar can begin. Accordingly, at least one three-way valve is necessary for the invention. The connections R, S (vents), A, B (working lines), and P (compressed air) are controlled as follows. In the initial position, the passage is open via direction P -> A (ventilation of one cylinder half), while there is a blockage in direction P -SB. After an electrical actuation, the outputs A and B are blocked at the same time in the middle position - ie when no valves are electrically actuated - and after the switchover is complete, the states are exactly the opposite, i.e. passage P - A is blocked, while passage P - B is open (ventilation of the other half of the cylinder). A double-acting cylinder shown symbolically in FIG. 3 is identified by V.

Figure 4 also shows schematically a pneumatic plan for a pneumatic cylinder ZYL.

The double-acting cylinder ZYL, which has adjustable damping on both sides, has connections for compressed air and throttle valves. Accordingly, the cylinder is connected to throttle check valves DRV, which are also called speed control valves. Such a throttle check valve consists of 2 valves: from the throttle there are flow valves (adjustable), the check function also makes them a check valve. In the case of one-way flow control valves, the throttling point is usually adjustable, which regulates the air flow flowing through. The throttling effect is only in one direction of flow, in the opposite direction there is free passage through the check valve.

In addition, adjustable pressure valves DVE and a 5/3-way solenoid valve VEN are provided, which have 5 controlled air connections and 3 switched paths, the reversal is done electrically by means of magnets.

In addition, silencers SDA are also provided, as the compressed air flowing out generates unpleasant noises depending on the pressure and outflow speed, which are bothersome in rooms.

Furthermore, a pressure source DQE is connected, which will be discussed in more detail below.

For the use of compressed air cylinders DQE as pressure sources, two variants of the compressed air supply can be considered: stationary: When used in hospitals or rehabilitation clinics there is a stationary compressed air supply so that an orthosis according to the invention can be put into operation at almost any number of points in the house, but in any case in the patient's room.

mobile: For use outside the above institutions (e.g. at home), the

Compressed air can be made available via our own compressors or in the form of compressed air bottles.

In the field of clinical or physicotherapeutic centers, the invention can be applied inexpensively using compressed air cylinders, since the infrastructure for the air supply already exists.

However, the situation outside of these institutions is different, since each patient has to provide the air connection himself. In addition, it means an additional physical and psychological burden for the user to change the pressure source, or to be dependent on the help of other people.

Hydraulic drives

In principle, such drives, in particular in the form of hydraulic cylinders, are also of interest for use in the orthosis according to the invention, and similar considerations apply with regard to the dimensions etc., but are not described in the context of this document. However, hydraulic drives are more expensive to buy than pneumatic drives.

Electric motors

Stepper and linear motors are preferably used as electrical drives in connection with orthoses.

With a stepper motor, discrete positioning can be realized without feedback of the rotor position. This operation as a link in an open control chain and the long service life of the stepper motor bring a considerable cost advantage compared to position controls with feedback and therefore favor its use. Disadvantages are the tendency to mechanical vibrations and falling out when the load is too high, which can lead to loss of step or even to a standstill of the motor. Stepper motors are not directly connected to the network, but require special pulse-generating control devices to control them. Microprocessors generate voltage pulses in a cyclical order, which are fed to the stepper motor after amplification (power electronics). If the motor is supplied with the pulses in a periodic sequence, the rotor executes a continuous rotary movement.

For example, reluctance stepper motors (VR motor), permanently excited stepper motor (PM motor), or hybrid stepper motors (HY stepper motor) are used, which are not discussed in more detail here.

Linear motors can also be used. These often allow mechanically simpler solutions for electromotive drives when implementing movements by eliminating a transmission. B. thrust is generated directly without the intermediary of gears. Linear direct drives in conjunction with magnetic levitation technology also open up completely new combinations of driving, carrying and guiding loads. Among other things, this results in the following advantages when using linear motors:

• Traction is independent of static friction

• Increased reliability due to the absence of wear parts

• Power transmission takes place without contact

• Robust, simple design of the drive

Depending on the field of application, linear motors are designed in short or long stator designs, as solenoids, single-comb or double-comb designs.

If you look at the mechanical structure of a linear motor and you think of the stator of an asynchronous three-phase motor cut open and unwound, a flat laminated core with rectangular grooves is created. This part of the linear motor is called an inductor. The winding is inserted in the slots of the inductor. In the double comb motor, there is a flat runner rail between the two opposing inductors.

The runner is usually made of aluminum or copper. In special cases, a squirrel-cage rotor can also be used. Depending on the possible design of the rotor and inductor, double-comb motors, single-comb motors and the tubular polysolenoid linear motor can be distinguished. The advantage of a solenoid motor is the smooth stroke movement under load as well as without load, regardless of whether it concerns tensile or compressive loads.

Using a brake motor, the spindle can be held in position even when it is not self-locking. Such drives can be used in various applications as an alternative to pneumatic or hydraulic cylinders.

Overall, linear motors have a number of advantages, namely

• High precision (up to 0.1 μm)

• Speed (high speed, high acceleration)

• Wear-free (non-contact drive)

• Easy to assemble (small number of components)

• High synchronism (easy controllability)

Compared to rotating machines, linear motors sometimes have a less favorable power factor. In addition, they usually have lower feed forces, no self-locking (without a brake motor) and higher motor costs.

Basically, drives for an orthosis must be easy to assemble, moreover reliable in operation, wear-free, inexpensive and low-noise. From the point of view of the electrical drives considered, linear motors are best suited for the operation of orthoses. In addition, the speed of the extending piston rod and the required convertible force can be achieved relatively easily with these motors.

So far, orthoses and the possibilities of driving such orthoses have been dealt with, in particular using the example of knee or arm orthoses. In principle, the invention is suitable for all types of orthoses in which a movement of body parts is to be achieved by means of the orthosis or a counterforce is to be generated for a movement of a body part. If several orthotic elements of an orthosis can be moved relative to one another, it is of course also possible for several drives, also of different types, to be used. The special type of attachment of one or more drives to an orthosis, the corresponding dimensioning of the orthosis and the drives is not discussed in detail here, however, since this is within the skill of a person skilled in the art. Of course, it is particularly advantageous if the drive or drives of an orthosis are controlled.

For this purpose, as can be seen in FIG. 2, the drive 25 is connected to a control STR, which is set up to transmit corresponding control signals to the drive 25. In the illustration, the control is designed separately from the drive, but in an embodiment ready for series production, these two units can be integrated in a single module.

The control itself can be programmed accordingly, for example, so that a specific, callable movement model is carried out by the orthosis in order to train the corresponding limbs.

Furthermore, it would be possible, for example, to transmit input signals to the control by means of a joystick or other suitable apparatus, which the control STR then converts into corresponding movements or actions, such as the application of a counterforce, to the orthosis.

However, it is particularly advantageous if the control takes place using speech. A corresponding speech recognition module can be integrated directly in the control, possibly together with the drive - as briefly mentioned above.

With regard to the simpler voice input, however, it is expedient if the voice input module MOD is designed separately from the control STR as shown in FIG. 2 and is connected to the control. For example, the connection is made by means of an appropriate electrical cable, or by means of wireless communication, something via radio, or, as in a tried and tested embodiment, by means of infrared. On the one hand, infrared has the advantage that no annoying cables are necessary, and it has the advantage over radio that the transmission can be disturbed less easily.

The use of radio, such as "Bluetooth", has the advantage that no line of sight is necessary between the transmitter and the receiver. In this way, for example, a therapist can also treat several patients at the same time. A patient himself can hold the voice input module as desired how it is optimal for him.

Voice control systems generally have a very limited vocabulary, since usually only a few commands are required for control and there is no direct contact with the speech-recognition computer. Another distinguishing criterion deals with the question of whether a discrete way of speaking is required for speech recognition, i.e. each word must be spoken for itself, or whether the text can be continuously dictated, as is normal in normal speech.

For the present invention, however, so-called "isolated" word recognition is sufficient, since only actions from individual words have to be derived.

In addition, the speech recognition used is a speaker-independent system that can be used by any person without training.

In the case of a speech recognition system without the supplied speaker-independent vocabulary, each user who wants to work with the system must first build up his own personal vocabulary. The computer must generate a reference pattern from each word that the user dictates. Sufficiently good recognition results can only be achieved if the vocabulary you have built yourself is representative enough. As a result, the training period for each user takes a very long time and productivity will drop sharply at first. Such systems are no longer common today.

Therefore, a speaker-independent vocabulary is preferably supplied with the invention, since this vocabulary then only has to be adapted to the way the user speaks and does not have to be entered first. The most frequently used words are already contained in the vocabulary mentioned and are deposited with reference patterns. They are only adapted to the speaker. For example, the system learns whether the speaker says "important", "important" or even "wipe table".

Adaptation training is no longer necessary due to today's speaker-independent systems, but is highly recommended due to our individual pronunciation. This results in a much higher level of recognition accuracy right from the start.

Reliable speech recognition systems for real use are still rare. One of the biggest challenges is voice control for people with physical disabilities, such as stroke patients. For many users of such systems, language is the only way to communicate with their environment. These users are often unable to operate devices with their own hands.

A voice control for disabled people has to "listen" 24 hours a day, it has to react reliably when it is addressed. In addition, it has to be unintentional Triggered by noises such as B. Music or conversations can be excluded. So that an emergency call can be made at any time in case of doubt, it must not depend on an external voltage source, which in turn means that the power consumption must be very low. Accordingly, simple detection algorithms are required in order to keep the computing power and thus the energy consumption low.

An essential measure of performance for speech recognition systems is the correct word recognition in a high percentage. Each system has a certain vocabulary, certain key words (keywords) with which the speech recognition takes place. Devices for speech recognition classify the entered (spoken) words with those that are already stored in the system for certain tasks.

In real use, the speech recognition system must be able to determine whether a word can be accepted or rejected. There may be different background noises when programming the device than with the actual application itself.

When manufacturing voice controls for disabled people, it is essential to avoid unwanted device responses, as these people may not be able to undo certain actions. A speech recognition system must still function properly even if the language of the user is subject to changes (e.g. unclear pronunciation due to illness).

Another application-specific problem is that a voice remote control is normally not only used in quiet places. Noises from audio and / or TV sets can therefore be expected in the area of the user. Since the voice control devices are in use 24 hours a day and ambient noise is not stationary, it is currently not possible to remove them using the latest noise elimination methods.

The requirements for the use of suitable devices are listed again below:

• Functionality 24 hours a day

• low power consumption (computing power)

• simple operating mode even for "inexperienced users"

• simple training procedure

• light and therefore portable • Power supply external (power supply) and internal (batteries)

The user must define and enter two or more language patterns for each keyword. These patterns are saved in the system. If new functions are required or existing functions are no longer required or language changes occur, the system must be able to adapt to the new circumstances. You can also keep old patterns and add new ones. The speech recognition system must constantly adapt to the changed pronunciations of the user. It must be possible to put it into a so-called "standby mode" when it is not in use. In this state, it can only be reactivated by a certain keyword, and only if it is not out of the fluent language All other entries, even if they are defined keywords, must be ignored, in this device state unlimited free speech is possible.

Such voice recognition modules or voice control modules MOD are available, for example the product SICARE light from the applicant.

After acceptance by the SICARE light module, a spoken word is converted into a specific IR code using an internal coding table, which is sent to the recipient. The receiver decodes the signal and controls the power section with a corresponding pulse pattern.

Most devices that can be controlled with an infrared remote control can also be operated with SICARE light. The learned commands are sent by SICARE light to the corresponding devices after the user has entered a voice. In this way, various electrical devices can be voice-controlled and existing remote controls can be replaced. In addition to voice, the device can also be operated with buttons.

The device is supplied with a specific menu function in which the keywords required for the respective application are already implemented. After switching on the device, a special word is used to switch to the mode in which the speech is input. This voice input is made considerably easier for the user, since the words to be spoken are shown directly on the display and only need to be spoken into the microphone built into the device. However, the words presented here are only to be regarded as examples and the use of other words is also possible, which is particularly advantageous for patients who may additionally suffer from certain restrictions with regard to speaking. The device acknowledges the recognition of the word acoustically. If all key words are known to the device, it can be used immediately or put into standby mode.

The keywords are briefly discussed below:

The voice recognition module MOD, for example the device SICARE Hght briefly described above, is activated (in the example of an arm orthosis for the arm arm) with the words “arm arm”. In the submenu opened in this way, eight further entries are possible Keywords used to carry out the required movement patterns:

Entry into the key menu - from the keywords for activating the words derived actions motion control

"Stretch" the orthosis in single steps to the position

"Bend" the orthosis in single steps to the position

"bend" a complete sequence of movements

"stretch" a complete sequence of movements

a "bend / stretch" sequence of max. 1 minute

immediately ends any movement currently in progress

increases the speed of an ongoing movement

reduces the speed of an ongoing movement

sleep "I puts the device into standby mode

"wake up" | brings the device out of stand-by mode

The word "sleep" deactivates the voice control for the abovementioned keywords, so that no unintentional movements can be triggered by normal communication. However, the prerequisite is that a movement sequence that has started must be ended. The word "wake up" is used to activate the voice control and thus for the processes that are possible in the "left arm" menu.

Finally, FIG. 5 shows a basic circuit diagram of an orthotic control. The heart of the conversion of the signals received from the IR receiver to the drive, for example motors, is a processor PIC, for example a PIC processor 1GF628. This is a one-time programmable chip computer (OTP), which in addition to the processor also contains a RAM and a ROM area. It forms the control voltages and pulse trains required to control the H-bridge. The speed of the motor results from the pulse-pause ratio of the square-wave voltage stored at the PWM output. The direction of rotation is determined by two further exits (Hnks-bend, stretch to the right).

An output of the processor PIC is used to control a piezo signal transmitter for acknowledging the recognized keywords.

A switch SI at the input of the processor is used to enable or disable the processor outputs and thus to switch off the power section (on / off switch). This state is signaled by the yellow LED at an output of the processor.

The bridge driver circuit, which generates the gate voltages and currents required for controlling the transistors, is located between the processor and the power unit (SIPMOS H bridge).

According to the example circuit, the power section itself is made up of four transistors of the BUZIOO type, which, as already mentioned, are connected in a bridge, but a complete module (e.g. TLE 6209R) can also be used. The bridge driver circuit and the power output stage are combined in one module. This module can then be controlled directly by the computer.

The red and green LEDs indicate the direction of rotation of the orthotic drive. Depending on the speed, the brightness of the diode concerned will vary.

The power supply for the drive is provided by a plug-in power supply. A fixed voltage regulator connected in the control unit is used to supply the processor.

Claims

1. orthosis, consisting of at least two interconnected and mutually movable orthotic elements (21, 22), z. B. rails, wherein at least one drive (25) is provided with which the orthotic elements (21, 22) are movable in relation to each other, and for the at least one drive at least one controller (STR) is provided, characterized in that the controller of the at least one drive is controlled by voice control, the control being connected to at least one voice input module (MOD), and the voice input module (MOD) being set up to receive and evaluate voice commands and to initiate a corresponding control of the at least one drive (25) , wherein the voice input module (MOD) communicates wirelessly with the controller (STR).

2. Orthosis according to claim 1, characterized in that the at least one drive is attached directly to the orthosis (10).

3. Orthosis according to claim 2, characterized in that the at least one drive is attached to an orthotic element of the orthosis (10).

4. Orthosis according to one of claims 1 to 3, characterized in that at least one drive is a pneumatic drive (25).

5. Orthosis according to one of claims 1 to 3, characterized in that at least one drive is a hydraulic drive (25).

6. Orthosis according to one of claims 1 to 5, characterized in that at least one drive is an electric drive.

7. Orthosis according to claim 6, characterized in that the at least one electric drive is a linear motor.

8. Orthosis according to claim 6 or 7, characterized in that the at least one electric drive is a stepper motor.

9. Orthosis according to one of claims 1 to 8, characterized in that the voice input module (MOD) is connected to the controller (STR) via an infrared interface or a radio interface.

10. Orthosis according to one of claims 1 to 9, characterized in that the voice control takes place independently of the speaker.