DE102022114664A1 - Exoskeletal motion support system for climbing stairs and method for climbing stairs - Google Patents

Abstract

The present invention relates to an exoskeletal movement support system (10) for climbing stairs and a method for climbing stairs, which are associated with effective improvements in movement support when climbing stairs, especially for seniors. The support is provided without much weight and is also very comfortable. In addition, the support can be adapted to the personal needs of the seniors. Of course, this solution according to the invention can also be used with advantage for non-seniors, although seniors will benefit most from it. The system (10) according to the invention is optimized for climbing stairs and is only minimally actuated, being light, easy and intuitive to use, and very ergonomic and energy-efficient. It can be put on and taken off very quickly and works without interfering with the user's living structure.

Description

The present invention relates to an exoskeletal movement support system for climbing stairs according to the preamble of claim 1 and a method for climbing stairs according to the preamble of claim 7.

According to the Federal Statistical Office (see “Older people in Germany and the EU”; https://www.bmfsfj.de/resource/blob/93214/95d5fc19e3791f90f8d582d61b13a95e/aeltere-menschen-deutschland-eu-data.pdf) live in Germany Around one and a half million people with health problems live in one- or two-family houses, the floors of which are usually connected by stairs. Due to various age-related changes in the human body, such as loss of muscle strength or joint wear, climbing stairs becomes a daily hurdle for those affected. As a result, changes in gait, balance problems and an increased fear of falling occur. To counter these problems, simple crutches are used, stair lifts are installed, stairs are avoided as much as possible or, in the most critical case, the familiar living environment is left. If installations are difficult or not possible for technical reasons, a movement support system that can be worn on the body (“exoskeletal movement support system”, also known as eBUS for short) can be a sensible and efficient alternative.

One such eBUS is, for example, the Stride Management Assist from Honda, which supports movement in the hip joint. The Walking Assist Device from Honda is designed so that the user sits in a shell as a seat. The seat is connected to the shoes on the inside of the legs via rigid elements.

Although these eBUS are useful for normal people walking and are easy to put on, they offer little support for seniors when climbing stairs.

On the other hand, there are eBUS, such as the REX exoskeleton from Rex Bionics, which are intended for use on paraplegics so that they can carry out everyday tasks independently in the home or business environment. In addition to the hip joints in extension and flexion as well as abduction and adduction, the knee joints are also actuated in both directions of rotation as well as the dorsiflexion, plantar flexion, abduction and adduction of the ankle joints by appropriately placed motors. In addition to standing, the REX also makes movements such as walking forwards and backwards and climbing stairs possible. However, these eBUS are very massive and uncomfortable for daily use and completely oversized for the needs of “normal” seniors.

It is therefore the object of the present invention to create a solution that offers seniors support when climbing stairs. The support should be provided without a lot of weight and also be comfortable. Preferably, the support should be adaptable to personal needs.

This object is achieved with the system according to the invention according to claim 1 and the method according to the invention according to claim 7. Advantageous developments are specified in the dependent claims and in the following description together with the figures.

On the part of the inventor, it was recognized that this task can be solved particularly easily in a surprising manner if there are two segments of the system, which are each connected to the thigh or the lower leg of a user, with both segments each having position sensors to ensure the alignment to determine the longitudinal extent and thus also the alignment of the upper and lower leg in space. This allows the user's movement to be analyzed and the support provided by the actuator to be optimally adjusted. In addition, depending on an analysis of the movement history of the alignment of the upper and lower leg, the support can be readjusted by the actuator at any time. It was recognized that seniors normally only need support with knee joint movement, but not with hip joint movement. Because the system does not support the movement of the hip joint, the system can be kept much more compact and lighter.

The exoskeletal movement support system according to the invention for climbing stairs with at least two segments, wherein a first segment, which has a first longitudinal extent, can be arranged on a thigh of a user, and a second segment, which has a second longitudinal extent, on a thigh directly can be arranged on the user's lower leg connected via a knee, whereby there is an actuator and there is an operative connection between the first segment and the second segment in such a way that actuation of the actuator causes the second segment to pivot relative to the first segment, is characterized in that A first position sensor is arranged on the first segment and a second position sensor is arranged on the second segment, the first position sensor is set up to determine the orientation of the first longitudinal extent in space, and wherein the second position sensor is set up to determine the orientation of the second longitudinal extent in space.

In an advantageous development it is provided that the system consists of two parts, a first part for the user's left leg and a second part for the user's right leg, the two parts preferably being constructed symmetrically and/or the two parts are designed to be autonomously controllable and/or regulated.

In an advantageous development it is provided that the actuator comprises a motor, in particular an electric motor. The system can then be kept particularly compact and self-sufficient.

In an advantageous development it is provided that the active connection is a cable pull connection, preferably comprising a Bowden cable, the points of application of the active connection on the first segment and on the second segment being arranged in particular at a distance from a pivot axis of the knee in such a way that the pull is connected to the Cable pull causes knee extension. This means the system can be kept particularly light.

In an advantageous development, it is provided that the actuator is arranged on the first segment, with a power supply for the actuator and/or a control device for the actuator preferably also being arranged on the first segment, with the masses arranged on the first segment being arranged in particular proximally are. This means that the mass distribution for movement is optimal, making the system very comfortable for the user.

In an advantageous further development, it is provided that the cable connection is designed so that it spans the user's knee anteriorly. This makes it particularly easy to recreate the knee joint in the system.

In an advantageous development, it is provided that the cable pull connection is designed in such a way that a point of application, preferably the point of application of the cable pull connection, is arranged on the first segment anteriorly in the area, in particular vertically, above the user's knee to be accommodated in the device. This means that the force vector is independent of the knee angle, so that the support is particularly gentle. Another advantage is that the force vector that is independent of the knee angle can simplify the regulation/control of the force introduced by the system.

In an advantageous development it is provided that there is a third segment which has a third longitudinal extent and can be arranged on a foot of the user which is connected to the lower leg directly via an ankle joint. This means the support can be particularly effective.

A third position sensor is preferably arranged on the third segment, the third position sensor being set up to determine the orientation of the third longitudinal extension in space. This means that the support can be better adapted to personal needs or the current movement sequence.

Alternatively or additionally, a force sensor is preferably arranged on the third segment, the force sensor being set up to determine the force acting on the third segment through a subsurface. This makes it possible to detect the presence or absence of a stance phase when climbing stairs. This also means that the support can be better adapted to personal needs or the current movement sequence.

In an advantageous development it is provided that the first segment and/or the second segment and/or the third segment are designed to be telescopic, with the third segment preferably having two differently aligned telescopic regions. The system can then be adapted particularly easily to the user's physical conditions.

In an advantageous development it is provided that the first segment is connected to the second segment via a first joint connection of the system, the first joint connection preferably having only one degree of freedom, the first joint connection in particular comprising a rotation joint. Alternatively, other types of joints (e.g. polycentric joints) could also be used. This makes the system particularly simple and effective.

In an advantageous development it is provided that the second segment is connected to the third segment via a second joint connection of the system, the second joint connection preferably having only one degree of freedom, the second joint connection in particular comprising a rotation joint. This makes the system particularly simple and effective.

In an advantageous development it is provided that the force sensor is a pressure measuring sensor. This means that force measurement can be carried out particularly easily and safely.

In an advantageous development, it is provided that there is a tensile force sensor for determining the tensile force in the cable connection, wherein the tensile force sensor is preferably arranged between the cable and the point of application of the cable connection on the second segment. This makes it particularly easy to regulate the support because the force used for the support can be correlated with the movement of the user.

In an advantageous development it is provided that the segments are connected to one another unilaterally with respect to the leg of the user on which they are to be arranged. This makes the system particularly comfortable and lightweight at the same time.

In an advantageous development it is provided that there is a first openable and closable holder on the first segment for fastening the first segment to the thigh, the first holder preferably comprising a fixed part and a part that is movable relative to it, the movable part being designed to be particularly flexible , wherein the first holder is preferably designed to be adjustable in its position on the first segment in relation to the longitudinal extent of the first segment. This makes the system particularly convenient.

In an advantageous development it is provided that there is a second openable and closable holder on the second segment for fastening the second segment on the lower leg, the second holder preferably comprising a fixed part and a part that is movable relative to it, the movable part being designed to be particularly flexible , wherein the second holder is preferably designed to be adjustable in its position on the second segment in relation to the longitudinal extent of the second segment. This makes the system particularly convenient.

In an advantageous development, it is provided that there is a third openable and closable holder on the third segment for fastening the third segment to the foot, the third holder preferably comprising a fixed part and a part that is movable relative to it, the movable part being designed to be particularly flexible , wherein there are preferably opening and closing means for the third holder, which are arranged on the first or second segment. This makes the system particularly convenient. The opening and closing means could, for example, include a BOA® RevoFit 2™, which has been modified to allow remote control with a leash.

In an advantageous development, it is provided that the third segment has an energy store that can be charged by dorsiflexion and is set up to release the stored energy during plantar flexion, the energy store preferably having a compression spring, which is arranged in particular in the energy store in an exchangeable manner. The ankle joint movement can then be passively supported. Studies have shown that active support from a motor or the like is not necessary for the movement of the ankle joint in seniors, but that passive support is completely sufficient. Because the system preferably does not actively support the movement of the ankle joint, the system can be made significantly more compact and lighter.

Independent protection is claimed for the method according to the invention for climbing stairs with an exoskeletal movement support system with at least two segments, a first segment having a first longitudinal extent being arranged on a thigh of a user, and a second segment having a second longitudinal extent , is arranged on a lower leg of the user that is connected to the thigh directly via a knee, with an actuator and an operative connection between the first segment and the second segment in such a way that an actuation of the actuator, a pivoting of the second segment relative to the first segment caused, which is characterized in that a first position sensor is arranged on the first segment and a second position sensor is arranged on the second segment, the first position sensor being set up to determine the orientation of the first longitudinal extent in space, and the second position sensor being set up to determine the orientation of the second longitudinal extension in space, whereby the user's movement is supported depending on the position of the segments registered by the position sensors.

In an advantageous development it is provided that the system according to the invention is used.

In an advantageous development, it is provided that the user's movement is supported depending on the force registered by the force sensor, which acts on the third segment through the ground. The force sensor can be used to differentiate between the movement phases Climbing stairs should be done very well and the support should be adjusted accordingly.

In an advantageous development it is provided that the movement is only supported when a force from the ground acts on the force sensor. This prevents leg extension from being supported via the knee joint if the corresponding foot is not yet placed on the floor.

In an advantageous development, it is provided that when the user is in a neutral-zero position, the measured values of at least one of the position sensors and/or the force sensor are used as zero points. This allows calibration to be carried out as part of a zero point determination for a normal alignment of the user.

In an advantageous development, it is provided that by evaluating the measurement of at least one position sensor and/or the force sensor, it is determined whether climbing up or down stairs is taking place, preferably determining which phase of climbing up or down stairs the user is currently in, In particular, it is provided that the support is provided depending on the ascent and descent of stairs and preferably on the phase determined in each case. This means that support can be very targeted. Climbing stairs can be recognized, for example, by the fact that the foot is touched down while at the same time being in high flexion and at a high extension speed. For example, descending stairs can be recognized by the fact that there is a low flexion angle with a high flexion movement.

In an advantageous development, it is provided that the individual need for support is determined by comparing the force supplied with the force actually acting on the cable connection. This makes the method particularly effective and at the same time adaptable to the user's personal needs, with the support only being provided in such a way that the user still uses his or her naturally existing strength. If the force on the cable connection, which can be determined by the tensile force sensor, is less than the force supplied by the system, then the user still has sufficient own force and the supporting force can be reduced until the supplied force matches the measured force Tension force sensor corresponds.

In an advantageous development it is provided that the individual need for support is determined and preferably readjusted by comparing a reference movement with the movement that actually occurs. This means that the support can be very easily adapted to the personal needs of the user depending on the movement sequence that is actually possible for the user without support.

In an advantageous development it is provided that admittance control is implemented, preferably with gravity compensation. It is preferably specified that the movement of the system follows the movement of the user's leg after a virtual spring-mass-damper interaction, whereby the support can be very easily adapted to the personal needs of the user.

• - aus einer Referenzbewegung wird eine Ausgangs-Sollwerttrajektorie ermittelt und der Kraftverlauf für die Unterstützung so vorgegeben, dass die Ausgangs-Sollwerttrajektorie erreicht wird, (dadurch wird die Unterstützung in erster Näherung für den Benutzer in ausreichender Höhe erfolgen)
• - es wird ein Bewegungsmodell des Benutzers, bevorzugt des entsprechenden Beines des Benutzers ermittelt, wozu vorzugsweise ein Vergleich der zugeführten Kraft mit der tatsächlich wirkenden Kraft an der Seilzugverbindung und/oder ein Vergleich der Referenzbewegung mit der tatsächlich erfolgenden Bewegung vorgenommen wird, (dadurch können die tatsächlichen Bedürfnisse des jeweiligen Benutzers genau ermittelt werden)
• - aus dem Bewegungsmodell des Benutzers wird eine angepasste Sollwerttrajektorie ermittelt und der Kraftverlauf für die Unterstützung so vorgegeben, dass die angepasste Sollwerttrajektorie erreicht wird, (dadurch kann eine exakte Anpassung der Unterstützung an die tatsächlichen Bedürfnisse des Benutzers erfolgen)
• - der Kraftverlauf und/oder das dem Kraftverlauf zugrundeliegende Stellsignal eines Reglers wird mit einer Sicherheitsheuristik bezüglich der biomechanischen Sicherheit bewertet und bei Überschreiten eines kritischen Wertes die Ausgangs-Sollwerttrajektorie verwendet und der Kraftverlauf für die Unterstützung so vorgegeben, dass die Ausgangs-Sollwerttrajektorie erreicht wird. (Dadurch ist die Unterstützungsgabe besonders sicher)

In an advantageous development it is provided that at least one of the following steps is carried out:

• - an initial setpoint trajectory is determined from a reference movement and the force curve for the support is specified so that the initial setpoint trajectory is achieved (as a first approximation, the support will be at a sufficient height for the user)
• - A movement model of the user, preferably of the corresponding leg of the user, is determined, for which purpose a comparison of the supplied force with the force actually acting on the cable connection and/or a comparison of the reference movement with the movement actually occurring is preferably carried out (this allows the the actual needs of the respective user can be determined precisely)
• - an adapted target value trajectory is determined from the user's movement model and the force curve for the support is specified so that the adapted target value trajectory is achieved (this allows the support to be precisely adapted to the user's actual needs)
• - the force curve and/or the control signal of a controller on which the force curve is based is evaluated with a safety heuristic regarding biomechanical safety and, if a critical value is exceeded, the output setpoint trajectory is used and the force curve for the support is specified in such a way that the output setpoint trajectory is achieved. (This makes the support particularly safe)

• 1 das erfindungsgemäße System in Verbindung mit einem Benutzer in einer Frontansicht,
• 2 das System nach 1 in einer Rückansicht,
• 3 das System nach 1 in einer Seitenansicht,
• 4 ein Teil des Systems nach 1 in einer perspektivischen Ansicht ohne Benutzer und
• 5 der Teil nach 4 in einer Blockbilddarstellung der Funktionsstruktur.

The features and further advantages of the present invention are explained below with reference to the description of a preferred embodiment game becomes clear in connection with the characters. Show purely schematically:

• 1 the system according to the invention in connection with a user in a front view,
• 2 the system 1 in a rear view,
• 3 the system 1 in a side view,
• 4 part of the system 1 in a perspective view without users and
• 5 the part after 4 in a block diagram representation of the functional structure.

In the 1 until 5 a preferred embodiment of the system 10 according to the invention is shown in various views.

It can be seen that the exoskeletal movement support system 10 is arranged on the legs 12, 12 'of a user 14, which are two parts 16, 16', which are basically identical but constructed in mirror images. Therefore, only a part 16 of the system 10 will be described below, with what is shown also applying identically to the other part 16 '.

Each part 16, 16' consists, as best in 3 can be seen, from three segments 18, 20, 22, namely a thigh segment 18 (first segment), a lower leg segment 20 (second segment) and a foot segment 22 (third segment). These segments each have a longitudinal extent L1, L2, L3, which is in 3 For better clarity, they are drawn parallel to the segments 18, 20, 22.

The first segment 18 has a thigh splint 24, which can be arranged with a first holder 26 on the thigh 28 of the leg 12 of the user 14. A drive unit 30 is firmly connected to the first holder 26 and, in addition to the actual actuator (preferably an electric motor), also has an energy supply in the form of an electric accumulator, an evaluation and control device and a brake chopper (none of which is shown).

The first holder 26 can be moved together with the drive unit 30 along the thigh rail 24 so that the optimal setting can be found for every leg geometry. For quick attachment and detachment of the first holder 26, it has a flexible part 32 with two elastic straps 34, which are held on a fixed part 36 with fasteners (e.g. magnetic fasteners). The straps 34 are adjustable in length and have a flexible plate 38 (cf. 2 ) guided so that an optimal adaptation to the thigh geometry of the user 14 can take place.

An arm 40 is also fixedly arranged on the thigh rail 24 and consists of three rods 42a, 42b, 42c, as best shown in 4 can be recognized. A Bowden cable 44 extends between the drive unit 30 and the boom 40, with a rope 46 running through the Bowden cable 44 emerging from the Bowden cable 44 below the rod 42c.

Between the first segment 18 and the second segment 20 there is a first joint connection 48 which, as a rotational connection, has only one degree of freedom and replicates the knee joint 50 of the user 14. The part 16 is adjusted so that the first joint connection 48 is vertically at the level of the knee joint 50.

The second segment 20 has a telescopic lower leg splint 52, which includes a first part 52a and a second part 52b. The telescoping function can be loosened or fixed using a toggle screw 54.

The second holder 56 is fixedly arranged on the first part 52a of the lower leg splint 52, this second holder 56 also having a fixed part 58 and a flexible part 60 with elastic straps 62. The point of attack (not shown) for the rope 46 is also arranged on the fixed part 58, with the course of the rope and its point of attack being hidden under a cover 64 for safety reasons. One of the straps 62 is aligned horizontally and the other runs diagonally from the horizontal band downwards in order to achieve a large area connection at the highest point of the calf.

Between the second segment 20 and the third segment 22 there is a second joint connection 66, the vertical height of which can be adjusted on a foot rail 68 by means of a fixable 70 slot guide. This second joint connection 68 is also designed as a rotation connection with only one degree of freedom and replicates the ankle joint 71. The vertical position of the second joint connection 68 is thus adjusted via the elongated hole guide so that it is at the level of the ankle joint 71.

A sole 72 is arranged on the foot rail 68, on which there is a third holder 74 into which the foot 76 of the user 14 can slip. This third holder 74 in turn comprises an elastic webbing 76, which is designed to be openable (not shown). For this purpose, a BOA® RevoFit 2™ closure is arranged on the holder, which has been modified in such a way that a remote control with a leash is possible. This leash ends at the first bracket 26 or the second bracket 56 so that it can be easily grasped and operated by the user 14. If necessary, there could also be horizontal adjustability, for example telescoping of the sole 72 relative to the foot rail 68, in order to be able to adapt to different foot sizes.

The sole of the foot 72 is made of a solid but flexible material to enable rolling movements of the foot 76 as well as lateral movements in the frontal plane.

On the second part 52b there is an energy storage 78 with a compression spring (not shown), the compression spring in the energy storage 78 having a first fixed point and on the third segment 22 having a second fixed point. This allows the energy storage device 78 to be charged with energy through dorsiflexion and to release the stored energy again during plantar flexion. This compression spring can be arranged interchangeably in the energy storage 78 so that the energy storage can be adapted to different users 14.

Finally, the first segment 18 has a first position sensor (for example arranged on the fixed part 36 of the first holder 26, not shown) which is connected to the evaluation and control unit, the second segment 20 has a second position sensor (for example on the fixed Part 58 of the first holder 56 arranged, not shown), which is connected to the evaluation and control unit, and on the third segment, in addition to a third position sensor (for example arranged on the elongated hole guide, not shown), there are four force sensors (for example on the Sole 72 arranged, not shown), which is also connected to the evaluation and control unit.

The two position sensors are preferably designed as gyroscopic acceleration sensors and the force sensors are preferably designed as pressure sensors. With the help of the first position sensor, the orientation of the longitudinal extent of the thigh splint 24 in space can be determined. With the help of the second position sensor, the orientation of the longitudinal extent of the lower leg splint 52 in space can be determined. With the help of the force sensors it can be determined whether the user 14 is standing with his foot 76 on a step (not shown).

Furthermore, there is a tensile force sensor (not shown) between the rope 46 and its point of application on the second segment 20 and which is also connected to the evaluation and control unit. This tensile force sensor can be used to feedback the torque in the knee (admittance control). The motor current is also preferably measured in order to obtain further information.

It can be seen that it is a unilateral rigid system 16, i.e. there is a one-sided connection on each leg, which is rigid except for the joint connections 48, 66, in order to be able to optimally support the user, while being flexible due to the trained sole 72 certain degrees of freedom when rolling the foot 76 are given. The flexible parts 32, 60 also significantly increase the ease of use for the user 14.

A biocompatible foam rubber made of EPDM was used at the points of tactile interaction between system 10 and user 14. All straps 34, 62 used are made of polypropylene, are 38 mm wide and 1.4 mm thick and have a maximum breaking load of 306 kg. All three holders 26, 56, 74 are adjustable, on the one hand to take individual anthropometry into account and, on the other hand, to give the user 14 the opportunity to place the holders 26, 56, 74 themselves to increase comfort.

The system 10 is set up so that the range of motion (ROM) for knee flexion is 113° and for knee extension is 0° with an adjustable stop. The flexible sole 72 allows plantar flexion angles of 40° and dorsiflexion of 39° to be achieved.

The system 10 is specifically intended for the senior group, but could of course also be adapted to other users. The user 14 should have a maximum body weight of 100 kg. He should have a healthy, complete and intact lower musculoskeletal system in order to be mobile. Due to the age-related natural decrease in muscle strength, the user 14 may have problems climbing stairs independently and without aids, and the system 10 can now support him.

For this purpose, the system 10 must be fixed to the body of the user 14 before going up a flight of stairs before it is used as intended, with an initial setup being carried out and then the system 10 being put on and taken off simply using the three holders 26, 56, 74.

The system 10 is created for the first time on the user 14 in that each part 16, 16 'after is adjusted and fastened to each other on the respective leg 12, 12 'of the user.

To do this, the foot 76 is first placed on the sole 72 and the elongated hole guide is adjusted and then fixed so that the second joint connection 68 is at the level of the ankle joint 71. Then the third segment 22 is fixed to the foot 76 with the third holder 74. If necessary, the compression spring suitable for the weight of the user 14 is inserted into the energy storage 78.

The toggle screw 54 is then loosened and the second part 52b of the lower leg splint 52 is moved relative to the first part 52a of the lower leg splint 52 so far that the first joint connection 48 is at the level of the knee joint 50 of the user 14 and the toggle screw 54 is tightened again and thus the Lower leg splint 52 fixed. The second holder 54 is then tightened tightly and the second segment 20 is thus fixed on the lower leg of the user 14.

Finally, the first holder 26 with the drive unit 30 is moved relative to the thigh rail 24 so that it sits as close as possible to the crotch of the user 14 without hindering the user 14. The first bracket 26 is connected to the rail 24 via several screws (not shown). However, it is also conceivable to use a toggle screw here, which can be loosened or fixed in order to enable a stepless displacement of the first holder 26 with the drive unit 30 relative to the thigh rail 24. The length of the Bowden cable 44 can be adjusted with two adjusting screws (not shown), which are attached to the rail 42c or to the fixed part 36 of the first holder 26. Finally, the first holder 26 and thus the first segment 18 is fixed on the thigh of the user 14 and the system 10 is therefore ready for use.

After the system 10 has been securely put on, the user 14 places himself in a so-called neutral-zero position (cf. Salis-Soglio, Georg Freiherr von: “The Neutral-0 Method”, Berlin, Heidelberg, Springer, 2015) and takes Calibrate all sensors by pressing an initialization button (not shown).

The user 14 can then independently initialize the movement of ascending or descending stairs. The flight of stairs must then be overcome by climbing or descending gradually.

After intended use, the three holders 26, 54, 74 must be loosened and the system 10 must be separated from the user 14. The application duration for a support process with an installed system 10 should, if possible, be less than 60 minutes. The system 10 supports the user 14 in carrying out the movement task by providing additional force vectors that act on the user 14 through the system 10. The system 10 is designed so that at least 30 ascents and descents of flights of stairs, which consist of up to 13 steps, are possible without having to supply the system 10 with electrical energy in the meantime.

System 10 is ideally used with stairs within buildings that are standardized according to DIN 18065. These should be free of accident hazards such as abandoned objects. If possible, it should not be used outside of buildings or on non-standard stairs. The system 10 is also not intended to support movements other than ascending and descending stairs in a gradual climb.

During use of the system 10, the actively generated force acts to support climbing stairs between the first segment 18 and the second segment 20 anterior to the human knee joint 50. A conventional rotation drive is used, with the brake chopper being used between the drive and the energy source. The motor is controlled via a servo controller in combination with an Arduino® Mega 2560. The force on the cable 46 in the Bowden cable 44 is measured at any time by the tensile force sensor. The Bowden cable 44 is at a fixed distance from the patella of the knee 50 at all times, so that the force vector is independent of the knee angle. The force transfers an external moment through the rigid structure of System 10 to the musculoskeletal system to support knee extension.

However, this external force only becomes active when the user 14 is in the stance phase with the corresponding part 16, 16 'of the system 10, which is detected by the four pressure sensors integrated in the sole 72. The position sensors (inertial measuring units) additionally attached to the three segments 18, 20, 22 enable the determination of the joint angle positions during operation, whereby ascent and descent as well as their phases can be distinguished from one another.

To support the movement when climbing stairs, reference trajectories (initial setpoint trajectory) are used, which differ for going up and down stairs. More specifically, these reference trajectories are for an average senior with an average weight and build including an average step length, in order to overcome an average staircase, with the force applied to the pull rope being determined depending on the current phase of movement of the respective leg. This reference trajectory is always used when no more precise data is available for the respective user or when it is determined as part of a risk assessment that a change in the corresponding force curves could be dangerous for the user.

In the course of continued use of the system by a specific user, an increasingly precise individual setpoint trajectory (adapted setpoint trajectory) is determined from the reference trajectory and the force curve is adjusted accordingly so that this adjusted setpoint trajectory is achieved. For this purpose, the forces supplied to the respective leg are compared with the force actually acting on the cable connection and the reference movement is compared with the movement that actually occurs. The admittance regulation is also used in this context. As part of the adjusted setpoint trajectory, the user's remaining fitness and performance are taken into account, so that the user is only ever provided with as much power to support him as he actually needs. The strength he still has is not overplayed, but rather continues to be used, so that a noticeable improvement in his performance can gradually occur, i.e. the support provided can be reduced further and further.

As part of the trajectories, monitoring using the sensors determines which phase of the stair climbing movement the respective leg is currently in. For example, the partial or complete load on one or more force sensors determines that the corresponding leg is currently standing on a step. If none of the force sensors on the other leg report any load at the same time, the corresponding leg is currently in the complete stance phase.

In addition, the system 10 can also independently distinguish whether the user is going up or down stairs. This is also done by evaluating the measurement of the position sensors and the force sensors. Climbing stairs can be recognized by the fact that the foot is touched down with high flexion and high extension speed at the same time. Descending stairs can be recognized by the fact that there is a low flexion angle with a high flexion movement.

Different reference trajectories can be used for male and female seniors. In addition, different settings of the system 10 can also be used for different seniors, which the respective senior can set themselves (for example, there could be three or four personal switches, whereby a user sets personal preferences similar to the seat adjustment in a motor vehicle).

From the above illustration it is clear that the present invention creates a solution that brings effective improvements. More specifically, the solution according to the invention offers seniors support when climbing stairs. The support is provided without much weight and is also very comfortable. In addition, the support can be adapted to the personal needs of the seniors. Of course, this solution according to the invention can also be used with advantage for non-seniors, although seniors will benefit most from it. The system 10 according to the invention is optimized for climbing stairs and is only minimally actuated, while it is light, easy and intuitive to use, and is designed to be very ergonomic and energy efficient. It can be put on and taken off very quickly and works without interfering with the user's living structure 14.

All features shown in the general description of the invention, the description of the exemplary embodiments, the following claims and in the figures can be essential to the invention both individually and in any combination with one another. These features or combinations of features can each constitute an independent invention, the use of which is expressly reserved. Individual features from the description of an exemplary embodiment do not necessarily have to be combined with one or more or all of the other features specified in the description of this exemplary embodiment; in this regard, each subcombination is expressly disclosed. In addition, objective features of a device, a device and/or a system can also be used as process features when reformulated and process features can be used when reformulated as objective features of a device, a device and/or a system. Such a reformulation is therefore automatically disclosed.

Reference symbol list

10

preferred embodiment of the exoskeletal movement support system according to the invention

12, 12'

legs

14

user

16, 16'

two parts of the system 10

18

Femoral segment, first segment

20

Lower leg segment, second segment

22

Foot segment, third segment

24

Thigh splint

26

first bracket

28

Thigh

30

Drive unit

32

flexible part of the first holder 26

34

elastic straps

36

fixed part of the first holder 26

38

compliant plate

40

boom

42a, 42b, 42c

three boom 40 rods

44

Bowden cable

46

Rope

48

first articulated connection, rotational connection

50

User's knee joint 14

52

telescopic lower leg splint

52a

first part of the telescopic lower leg splint 52

52b

second part of the telescopic lower leg splint 52

54

Toggle screw

56

second bracket

58

fixed part of the second holder 56

60

flexible part of the second holder 56

62

elastic straps

64

cover

66

second articulated connection, rotational connection

68

Foot splint

70

Fixing the slotted hole guide

71

Ankle joint

72

sole

74

third bracket

76

User's foot 14

76

elastic webbing

78

Energy storage

L1

Longitudinal extent of the first segment 18

L2

Longitudinal extent of the second segment 20

L3

Longitudinal extent of the third segment 22

Claims (10)

Exoskeletal movement support system (10) for climbing stairs with at least two segments (18, 20, 22), a first segment (18), which has a first longitudinal extent (L1), on a thigh (28) of a user (14) can be arranged, and a second segment (20), which has a second longitudinal extent (L2), can be arranged on a lower leg of the user (14) which is connected to the thigh (28) directly via a knee (50), an actuator (30 ) exists and there is an active connection (44) between the first segment (18) and the second segment (20) in such a way that actuation of the actuator (30) causes the second segment (20) to pivot relative to the first segment (18). , characterized in that a first position sensor is arranged on the first segment (18) and a second position sensor on the second segment (20), the first position sensor being set up to determine the orientation of the first longitudinal extension (L1) in space, and wherein the second position sensor is set up to determine the orientation of the second longitudinal extension (L2) in space. Movement support system (10). Claim 1 , characterized in that the actuator (30) comprises a motor, in particular an electric motor and/or that the active connection a cable pull connection, preferably comprising a Bowden cable (44), wherein the points of application of the active connection on the first segment (18) and on the second segment (20) are arranged in particular at a distance from a pivot axis of the knee (50) so that the pull causes knee extension with the cable pull (46). Movement support system (10). Claim 2 , characterized in that the actuator (30) is arranged on the first segment (18), wherein preferably a power supply for the actuator (30) and / or a control device for the actuator are arranged on the first segment (18), wherein the masses arranged on the first segment (18) are arranged in particular proximally, and/or that the cable connection (44) is designed such that it spans the knee (50) of the user (14) anteriorly, and/or that the cable connection (44 ) is designed so that a point of application, preferably the point of application of the cable connection (44) on the first segment (18) is arranged anteriorly in the area, in particular vertically above the knee (50) of the user (14) to be picked up. Movement support system (10) according to one of the preceding claims, characterized in that there is a third segment (22) which has a third longitudinal extent (L3) and on a foot (76) of the user connected to the lower leg directly via an ankle joint (71). (14) can be arranged, wherein preferably a) a third position sensor is arranged on the third segment (22), the third position sensor being set up to determine the orientation of the third longitudinal extension (L3) in space, and / or b) on the A force sensor is arranged in the third segment (22), the force sensor being set up to determine the force acting on the third segment (22) through a subsurface. Movement support system (10) according to one of the preceding claims, characterized in that the first segment (18) and/or the second segment (20) and/or the third segment (22) are designed to be telescopic, the third segment (22) being preferred has two differently aligned telescopic areas, and / or that the first segment (18) is connected to the second segment (20) via a first joint connection (48) of the system (10), the first joint connection preferably having only one degree of freedom, the first joint connection in particular comprises a rotation joint (48), and/or that the second segment (20) is connected to the third segment (22) via a second joint connection (66) of the system (10), wherein the second joint connection preferably only has one degree of freedom has, wherein the second joint connection in particular comprises a rotation joint (66), and/or that the force sensor is a pressure measuring sensor and/or that a tensile force sensor for determining the tensile force in the cable connection (44), the tensile force sensor preferably being between the cable (46) and the point of application of the cable connection (44) is arranged on the second segment (20) and/or that the segments (18, 20, 22) are positioned in relation to the leg (12, 12') of the user (14) on which they are are to be arranged, are unilaterally connected to each other. Movement support system (10) according to one of the preceding claims, characterized in that there is a first openable and closable holder (26) on the first segment (18) for attaching the first segment (18) to the thigh (28), the first holder (26 ) preferably comprises a fixed part (36) and a part (32) that is movable relative to it, the movable part (32) being designed to be particularly flexible, the first holder (26) preferably being in its position in relation to the first segment (18). is designed to be adaptable to the longitudinal extent (L1) of the first segment (18), and/or that there is a second openable and closable holder (56) on the second segment (20) for attaching the second segment (20) to the lower leg, the second Holder (56) preferably comprises a fixed part (58) and a part (60) that is movable relative to it, the movable part (60) being particularly flexible, with the second holder (56) preferably on the second segment (20) in its Position is designed to be adjustable in relation to the longitudinal extent (L2) of the second segment (20), and/or that there is a third openable and closable holder (74) on the third segment (22) for attaching the third segment (22) to the foot, wherein the third holder (74) preferably comprises a fixed part and a part that is movable relative to it, the movable part being in particular flexible, preferably opening and closing means for the third holder (74), which are arranged on the first or second segment are, and / or that the third segment (22) has an energy store (78) that can be charged by dorsiflexion and is set up to release the stored energy during plantar flexion, the energy store (78) preferably having a compression spring, which is in particular in the energy store ( 78) is arranged interchangeably. Method for climbing stairs with an exoskeletal movement support system (10) with at least two segments (18, 20), 22), a first segment (18), which has a first longitudinal extent (L1), on a thigh (28) of a user (14) is arranged, and a second segment (20), which has a second longitudinal extent (L2), is arranged on a lower leg of the user (14) which is connected to the thigh (28) directly via a knee (50), wherein a There is an actuator (30) and there is an active connection (44) between the first segment (18) and the second segment (20) in such a way that an actuation of the actuator (30) and a pivoting of the second segment (20) relative to the first segment ( 18), characterized in that a first position sensor is arranged on the first segment (18) and a second position sensor is arranged on the second segment (20), the first position sensor being set up to adjust the orientation of the first longitudinal extent (L1) in space determine, and wherein the second position sensor is set up to determine the orientation of the second longitudinal extension (L2) in space, the movement of the user (14) being supported depending on the position of the segments (18, 20) registered by the position sensors. Procedure according to Claim 7 , characterized in that the system (10) according to one of the Claims 1 until 6 is used and/or that the movement of the user (14) is supported depending on the force registered by the force sensor, which acts on the third segment (22) through the ground, and/or that the movement is only supported when on a force from the ground acts on the force sensor, and/or that when the user (14) is in a neutral-zero position, the measured values of at least one of the position sensors and/or the force sensor are used as zero points. Procedure according to Claim 7 or 8th , characterized in that by evaluating the measurement of at least one position sensor and / or the force sensor, it is determined whether climbing or descending stairs is taking place, preferably determining which phase of climbing or descending stairs the user (14) is currently in, in particular, it is provided that the support is provided as a function of ascending and descending stairs and preferably of the phase determined in each case, and/or that the individual need for support is determined by comparing the force supplied with the force actually acting on the cable connection (44), and /or that the individual need for support is determined and preferably readjusted by comparing a reference movement with the actual movement and/or that an admittance control, preferably with gravity compensation, is implemented. Procedure according to one Claims 7 until 9 , characterized in that at least one of the following steps is carried out: - an initial setpoint trajectory is determined from a reference movement and the force curve for the support is specified so that the initial setpoint trajectory is achieved, - a movement model of the user (14) is created , preferably of the corresponding leg (12, 12 ') of the user (14), for which purpose a comparison of the supplied force with the actually acting force on the cable connection (44) and / or a comparison of the reference movement with the actual movement is carried out , - an adapted setpoint trajectory is determined from the user's movement model and the force curve for the support is specified in such a way that the adapted setpoint trajectory is achieved, - the force curve and / or the control signal of a controller underlying the force curve is evaluated with a safety heuristic with regard to biomechanical safety and when a critical value is exceeded, the initial setpoint trajectory is used and the force curve for the support is specified so that the initial setpoint trajectory is achieved.

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