DE202018104980U1 - Exoskeleton to relieve the body - Google Patents

Exoskeleton to relieve the body

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Publication number
DE202018104980U1
DE202018104980U1 DE202018104980.1U DE202018104980U DE202018104980U1 DE 202018104980 U1 DE202018104980 U1 DE 202018104980U1 DE 202018104980 U DE202018104980 U DE 202018104980U DE 202018104980 U1 DE202018104980 U1 DE 202018104980U1
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DE
Germany
Prior art keywords
exoskeleton
user
lower
characterized
joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE202018104980.1U
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German (de)
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Johann Bernhardt
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Filing date
Publication date
Priority to AT600432017 priority Critical
Priority to ATA60043/2017 priority
Application filed by Johann Bernhardt filed Critical Johann Bernhardt
Publication of DE202018104980U1 publication Critical patent/DE202018104980U1/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024Knee
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47CCHAIRS; SOFAS; BEDS
    • A47C9/00Stools for specified purposes
    • A47C9/02Office stools not provided for in main groups A47C1/00, A47C3/00 or A47C7/00; Workshop stools
    • A47C9/025Stools for standing or leaning against, e.g. in a semi-standing or half-seated position
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • A61F5/0125Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees the device articulating around a single pivot-point
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1253Driving means driven by a human being, e.g. hand driven
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628Pelvis
    • A61H2201/163Pelvis holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5053Control means thereof mechanically controlled
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00Appliances for aiding patients or disabled persons to walk about

Abstract

Exoskeleton, in particular passive exoskeleton, comprising a mechanical structure (1), characterized in that the structure (1) is designed for carrying under a flexible textile, in particular under a pants (33) of a user that the load of the user when sitting or squat is transmitted from the legs to the textile, which carries the user, and the textile, the resulting load on the underlying mechanical structure (1) passes.

Description

  • Technical field
  • The present invention relates generally to exoskeletons, and more particularly to relieving the body, as well as straining specific body regions or musculature, whereby the invention can also find utility as a fitness device or in the home. In the foreground, however, is the industrial application.
  • background
  • Exoskeletons are mechanical or mechatronic devices and represent thereby a relatively new topic. First devices were already used for military (eg WO 2015/157803 A1 ) and medical (eg US 2014/0142475 A1 ) Purposes. These are usually constructed mechatronically and thereby generate additional power, which gives the wearer an advantage. The arms and legs are supported by actuators, which makes it possible to carry loads with less effort. Although industrial applications have hardly been the focus of developments so far, there is an enormous range of possible applications in this field.
  • More complex workflows can not be mastered by robots in years to come. In combination with the current demographic development, workers will be exposed to physical stress until old age, which is associated with corresponding failures. To counteract this negative trend, people have to be helped by technical solutions. Exoskeletons are thus an indispensable tool and will be a high priority in everyday work.
  • Muscle problems due to over- or under-demand arise in long-term one-sided movements during work or in everyday life. Sports equipment is used to counteract this problem. However, many people spend their spare time elsewhere, for example, to relax, and do not care about a corresponding sports balance.
  • The invention therefore has the task of providing an exoskeleton to solve the problems in the industry as well as in the private sector.
  • Summary of the invention
  • This object is achieved by an exoskeleton according to claim 1. The subject of the invention is therefore an exoskeleton, in particular passive exoskeleton, comprising a mechanical structure, characterized in that the structure is designed for carrying under a flexible textile, in particular under a user's pants, that the load of the user when sitting or Squatting is transmitted from the legs to the textile, in particular pants that carries the user, and the textile, in particular pants, the resulting load on the underlying mechanical structure passes.
  • This object is also achieved by a use according to claim 23. The subject of the invention is therefore a use of an exoskeleton, in particular a passive exoskeleton, comprising a mechanical structure under a flexible textile, in particular a pant of a user, so that the load of the user is transferred from the legs to the textile when sitting or squatting, which carries the user, and the textile conveys the resulting load to the underlying mechanical structure.
  • By the measures according to the invention the advantage is obtained that the load is not transmitted as usual from the body of a person wearing the exoskeleton, ie by the user, directly (usually very punctiform or partially concentrated) on the exoskeleton, outside the clothing of the user is appropriate. This is disadvantageous because the clothing is squeezed between the supporting structure of the exoskeleton (possibly also bands or cuffs, etc. for tight fitting on the body) and the body of the user. The clothing throws there usually uncomfortable perceptible wrinkles, which lead in the long run to a massive, very concentrated strain on human tissue. Same problem go with common seat brackets. It is thus a long-lasting persistence in a particular squatting or sitting position hardly possible because in the field of attachment of the exoskeleton to the body or the interaction of the exoskeleton with the body significant skin irritation, bruising but also a numbness in the affected body areas can occur.
  • In contrast, according to the technical teaching of the invention advantageously the load of the user's body is first transferred directly to the flexible textiles under which the exoskeleton is worn, and from there only by tensile loading of the textile on the exoskeleton. The inside of the textile, in particular trousers, is thus in contact or connected with the mechanics of the exoskeleton. For example, the exoskeleton can be present completely separate from the textile, ie the textile can be detached and removed from the exoskeleton or slide over the exoskeleton. The exoskeleton However, it can also be connected to it on the inside of the textile. This compound may, with appropriate implementation, allow gliding of exoskeleton and textile together during use or for putting on and taking off the textile.
  • The user is therefore quite comfortable, e.g. into his pants and is thereby held by the mechanical (carrying) structure of the exoskeleton. The pressure load on the back of the legs over a large area over the fabric of the pants distributed, which is perceived by the user as very pleasant. The invention thus allows a long and above all comfortable sitting or squatting.
  • Then whether the tensile load in the pants is selectively or extensively transferred to the supporting structure of the exoskeleton, is only relevant insofar as that the textile of the pants must be sufficiently dimensioned for the expected load and / or the range of load transfer of the structure accordingly must be adapted to the resilience of the textile of the pants. Again, the flexibility of the textile in an advantageous way, wearing, because it ensures that the pants can also cling to those areas of the structure, which are mainly used for load transfer between pants and structure.
  • It should be emphasized here in particular that the mechanical structure is always worn or used under the textile, in particular pants, whereby the exoskeleton is barely recognizable from the outside. This brings several advantages. Thus, the area of use of the exoskeleton is significantly expanded. Since the exoskeleton in the leg areas is indeed worn between the user's pants and leg, in other words underneath the pants or in other words, with the exception of a stand for transferring the load to the floor, no bulky components of the exoskeleton protrude over the clothing ( Pants) of the user. This contributes significantly to occupational safety, because ordinary movements allow, without the risk of running, on any objects in e.g. to get stuck in an assembly hall. Also, wearing under the pants can significantly improve the reliability of the function of the mechanical structure, because the structure z. B. from dust as well as other adverse environmental or environmental influences is protected by the usually robust design of the pants. The relatively slim and space-saving design of the mechanical structure thus also allows easy use under special clothing, such as something in dangerous work environments or civil protection, without that special precautions on the exoskeleton itself would have to be taken because the protective clothing worn over yes the exoskeleton protects.
  • In addition, just allows the passive training of the exoskeleton, ie the waiver of electric drive, electronic control and electrical energy storage, especially in harsh and dangerous applications, long-lasting use times whose duration is limited in time only by human performance.
  • Advantageously, it should also be emphasized that the exoskeleton without straps or straps, etc., for direct attachment to those points of the thigh, possibly even lower leg gets along, where the load transfer between pants and mechanical structure takes place.
  • Further, particularly advantageous embodiments and modifications of the invention will become apparent from the dependent claims and the following description. Benefits associated with the features of one category of claims also apply to corresponding claim features of another category. Also, the characteristics listed in relation to one category may be transferred to another category accordingly.
  • According to a first aspect, the mechanical structure comprises an upper retaining bracket, which is designed to frontally surround at least part of the thigh of the user, in particular extending from the outer side of the thigh to the front of the thigh. Thus, the upper retainer extends only from the lateral side to the front of the femur and spans the anterior region of the femur, e.g. the front thigh muscle towards the inside of the thigh. However, he leaves the other areas (the inside and the back) of the thigh free. The upper headband carries, under load, the main load borne by the textile such as e.g. Pants on which mechanical structure is transferred.
  • According to a further aspect, the mechanical structure may comprise a lower retaining bracket, which is designed for the rear-side encompassing of at least a part of the lower leg of the user, in particular extending from the outer side of the lower leg to the rear side of the lower leg. Thus, the lower retainer extends only from the lateral side to the back of the lower leg and spans the rear of the lower leg, e.g. the calf muscle, in the direction of the inside of the lower leg. However, he leaves the other areas (the inside and the front) of the thigh free. The lower headband is optional and can contribute to better distribution of load transfer to the pants as well as increased comfort.
  • According to a further aspect, the mechanical structure has a locking joint, which connects the upper headband to the lower headband in an articulated manner. The orientation or position of the Arretiergelenks in the mechanical structure is chosen so that when planned wearing the exoskeleton the Arretiergelenk is positioned laterally corresponding to a knee joint of the user, in particular right outside next to the right knee joint or left outside next to the left knee joint.
  • However, it has proven to be particularly advantageous for the upper retaining bracket and / or the lower retaining bracket to be designed in an ergonomic integral construction. This significantly improves the wearing comfort and allows a barely perceptible wearing under the (work) trousers when unloaded. In this embodiment, the upper headband is directly connected to the upper end of the locking joint and the lower headband directly to the lower end of the locking joint. e.g. with lockable connectors. Starting from the locking joint of the respective headband is adapted to the body shape and nestles ergonomically close fitting to the body of the user.
  • According to another embodiment of the exoskeleton, a preferably tubular, rod or rod-shaped, upper strut is provided, which holds the upper retaining bracket. In this case, the upper headband is preferably immovable and also fixed non-rotatably to the upper strut.
  • Particularly preferably, the upper strut is formed variable in length, which allows flexible adaptation to a wide variety of body sizes but also individual leg lengths, in particular an individual thigh anatomy.
  • The upper strut is connected to an upper hinge shoulder of the locking joint. The connection may be fixed or detachable, so that replacement of the upper strut or also of the locking joint, e.g. for service or repair purposes.
  • Analogous to the upper strut, the exoskeleton can also have a, preferably tube-, rod- or rod-shaped, lower strut, which holds the lower headband.
  • Regardless of or together with the upper strut and the lower strut can be made variable in length, which in particular allows adaptation to an individual lower leg anatomy as well as wearing preferences of the user.
  • The lower strut is connected to a lower hinge shoulder of the locking joint. The connection can be fixed or detachable, so that replacement of the lower strut or the locking joint, e.g. for service or repair purposes.
  • In another aspect, the lower portion of the structure of the exoskeleton has a foot buckle. The foot buckle can be freely suspended and flexibly attached. Through them the exoskeleton can be positioned close and correct to the body. Likewise, it prevents uncontrolled swinging while walking and ensures a secure positioning of the base of the exoskeleton on the floor.
  • According to a further aspect, the structure has at its lower end a support foot which is designed in such a way that a support arm extends behind the foot of the user during ground contact and load application. This can be rotational and / or translational from top to bottom, from bottom to top or side. As a result, the center of gravity is further offset in the middle, whereby a possible falling over to the rear should be prevented.
  • According to another aspect, it has been found to be particularly advantageous for the locking joint to be designed such that it is designed in an activated mode for limiting the free movement of the knee joint of the user. In order to stay in a sitting or squatting position, the user locks the locking joint. The unlocking is done automatically depending on the training when getting up or manually.
  • In addition, the locking joint is designed such that it allows in an inactive mode, a free movement of the knee joint of the user. In the unlocked state, the exoskeleton thus allows unimpeded locomotion with the legs.
  • The locking joint has as a locking device to a gear mechanism or a Zugseilmechanismus having a pawl for the realization of the activated mode. The components of the locking device is discussed below in the detailed description of the figures.
  • To obtain support for each leg, the mechanical structure of the exoskeleton is essentially two-piece. Thus, the structure is provided separately for each leg of the user.
  • Against this background, it may be advantageous if the upper headband are designed to be interchangeable with each other so that they serve in the replaced state to the rear side encompassing of at least a portion of the thigh of the user. The headband can thus be converted into seatbelts.
  • According to a further aspect, a functional rotary or push button for activating or deactivating the locking joint is provided in the exoskeleton. The functional rotary or push button is connected by means of a pulling mechanism or pull rope with the locking joint and its locking device. By pressing the rotary or push button, the locking device can be actuated via the traction cable mechanism or the traction cable. It is irrelevant where the clothing of the user of the rotary or push button is attached.
  • At any rate, it has proved to be particularly advantageous for me that the rotary or pushbutton is designed for one-handed operation. This training greatly facilitates the handling of the exoskeleton. For example, it allows the user to change his posture (sitting or squatting position) while he / she, e.g. in the other hand, that hand, with which the rotary or pushbutton is just not being operated, holding an object in position or just holding a tool.
  • In a further aspect, a strap may be provided on the exoskeleton, the strap holding the exoskeleton in a preset position on the body of the user. In particular, the upper strut and the upper headband by means of a flexible or rigid connection to the belt, particularly preferably in a lateral position on the body of the user, mounted. The belt can therefore be worn over clothing, ie outside clothing, e.g. at the hip or the belly spanning.
  • In this context, it has also proved to be advantageous for the belt to fix the rotary pushbutton on the user's body, preferably at the hip, particularly preferably in a central position, most preferably in a lateral position on the user's body.
  • list of figures
  • The invention will be explained in more detail below with reference to the accompanying figures with reference to embodiments, to which the invention is not limited. In this case, the same components are provided with identical reference numerals in the various figures. They show in a schematic way:
    • 1 Exoskeleton 1 in 3D view;
    • 2 Exoskeleton 1 under a flexible textile;
    • 3 Simplified kinematic view of the forces;
    • 4 Simplified lateral representation of the parts of the exoskeleton;
    • 5 Simplified lateral representation in ergonomic integral design;
    • 6 Simplified three-dimensional representation of the parts of the exoskeleton;
    • 7 Three-dimensional representation in ergonomic integral design;
    • 8th Front view of the retaining clip with textiles;
    • 9 Alternative applications of the retaining clip as a seat post;
    • 10 Retaining bracket in ergonomic integral construction;
    • 11 Seat frame in ergonomic integral construction;
    • 12 Anti-slip buffer;
    • 13 Length adjustable strut by means of pins;
    • 14 Length adjustable strut by means of shaping;
    • 15 Locking joint with gear mechanism in the unlocked state;
    • 16 Exploded view of the locking joint;
    • 17 Detailed view of the locking mechanism in side view;
    • 18 Release lever with guide element;
    • 19 Detailed illustration of the angle latching mechanism;
    • 20 Arresting joint mechanism in the locked state;
    • 21 Exploded view of the locking joint with Zugseilmechanismus;
    • 22 Side view of the Zugseilmechanismus the Arretiergelenkes;
    • 23 Lock slide guide diagonally at the upper joint attachment;
    • 24 Locking slide guide horizontally in the upper area of the upper joint projection;
    • 25 Lock slide guide horizontally in the lower area of the upper joint attachment;
    • 26 Overall view of the locking and releasing mechanism on the belt;
    • 27 Cross-section of the side view of the release mechanism of the locking on the belt;
    • 28 Front view of the locking mechanism on the belt;
    • 29 Representation of the operation of the support leg - support arm unloaded;
    • 30 Representation of the operation of the support leg - supporting boom loaded;
    • 31 three-dimensional view of the optional support leg;
    • 32 Section view of the optional support leg.
  • Description of the embodiments
  • This invention, a passive exoskeleton, serves to relieve the human body in any standing and sitting position. The load is transferred from the legs to a mechanical structure 1 transfer. The user sits down in a flexible carrying device 33 and is doing by the mechanical support structure 1 held. This is basically under the pants, see 2 housed, causing the exoskeleton 1 hardly recognizable from the outside. However, a version over the clothing is also possible. To linger in a sitting or squatting position, the user locks the exoskeleton with the aid of a functional knob 38 who see the locking mechanism 17 in joint mechanics 34 triggers. The unlocking takes place, depending on the version, automatically when getting up or manually again. By adjusting the struts 58 . 71 , the system can be adapted to any body size. The structure also works without batteries or additional energy sources.
  • Due to the special design and type of use, this exoskeleton can 1 can also be used as a training device during work. You sit with the help of this exoskeleton 1 like on an exercise ball, thereby supporting the back muscles during use.
  • The invention is a passive exoskeleton which is a support mechanism similar to a mobile chair. The exoskeleton assists the user in standing, squatting and sitting by at any one time transferring the load from the legs to the mechanical structure 1 transfers. The user sits down in a carrying device 33 , consisting of soft and flexible textiles 35 , This flexible carrying device, eg a pair of trousers, see 2 , in turn, is replaced by a mechanical support structure 1 and thus offers a comfortable and ergonomic seating. The angular position of the joint, eg knee joint, is freely selectable and any position, from standing to sitting or squatting, is possible. Thus, the user is no longer exposed to long-term and exhausting positions during the work and a symptom-free, longer and more productive work is made possible. Due to the upright posture and the freedom of movement when using the exoskeleton, certain muscle parts can be trained while sitting.
  • All mechanical elements are under the work pants 33 , protruding frame parts are avoided. This results in an increase in the safety factor and ease of use compared to existing systems where the construction is predominantly placed over the clothing. However, it is also possible with this invention to vary the exoskeleton so that it can be worn outside the clothing. For this, the headband 61 to seatbelts 70 converted or an additional carrier material, similar to a seat belt attached. In the unlocked state, the exoskeleton allows unimpeded locomotion. If you want to stay in a sitting or squatting position at the respective work place, you take the desired position and locks the joints of the exoskeleton by a simple handle. If a change of location is necessary, you either simply stand up and the system unlocks automatically or it can be unlocked manually, depending on the version.
  • The knob 38 for locking is located on a belt 36 like a belt buckle and has several features. On the one hand is a push button 37 mounted centrally, the joints when actuated 34 that over ropes 75 are connected to the locking device on the joint, lock, or fix the angle. Turning on the outer edge of the knob 38 , so the joints unlock again. This is done via a locking mechanism, see 17 , in joint mechanics 34 ,
  • The feel is comparable to a conventional pants, whether in the locked or unlocked state. The wearer can also remain standing in a slightly ajar position, relieving the joints and muscles, as if leaning against a wall. Due to the one-size-fits-all version and the variable size setting, the briefing of a new user takes only about one minute.
  • To adjust the system to all body sizes, the height of the struts 58 . 71 freely adjustable. This is done by a pressure at a certain pressure point on the mechanics, see 13 and 14 , The uncomplicated design without batteries or additional energy sources allows a 24 hours / 7 days use. Compared To common active systems, the initial cost can be reduced enormously. Exoskeletons are an even rarer sight nowadays, which could lead to a rejection of the wearer. In this system, however, the support structure is not recognizable because under clothing 33 hidden, which makes people more willing to use it in public.
  • 1 shows the complete structure of the exoskeleton in the 3D view without flexible textiles.
  • 2 shows the mechanism of carrying the mechanism under the flexible textile. The exoskeleton 1 gets under the pants 33 attached and this carries the user.
  • 3 shows a simplified kinematic view of the force. That is, the distribution of forces from the body to the mechanical structure 1 , The load of the user is transferred from the legs to the flexible textile when sitting or squatting. The textile, in turn, transfers the resulting load to the underlying or associated mechanical structure 1 , Due to the locking of the joints, the load is led further to the ground and thereby leads to a relief of the body.
  • 4 shows the lateral view of the exoskeleton 1 and a simplified representation of the items. Shown are several individually modifiable elements, which follow parallel to the anatomical bone structure of the leg and are thus created on its side.
  • 5 shows the lateral view of the exoskeleton 1 and a representation of the individual parts in ergonomic integral design 59 . 72 , The curved parts follow an organic design. The locking joint 34 is located outside at the level of the human knee joint. The lower elements 72 follow the anatomy of the leg and swing sideways across the back of the lower leg to the floor. These elements are foot buckles 55 attached and more elements can be added.
  • 6 shows the three-dimensional view of the exoskeleton 1 and a simplified representation of the items. A high variation in the design is possible as long as the mechanical basic structure or its functionality is retained. The upper headband 61 is placed over the thigh. He transfers the load to the rest of the mechanics 1 , The load of the body is about the flexible holding device, eg. A pair of pants 33 or a seat belt 33 , taken over and on the upper 61 and lower headband 74 forwarded.
  • The upper strut 58 Holds the upper headband 61 , This consists of several elements, which means that they can be changed in length 13 . 14 , which allows adaptation to different body sizes. In activated mode 20 prevents the locking joint 34 a free movement of the joints of the user. Is the locking joint 34 while inactive, the user can move his joints freely and without obstruction. The locking joint 34 consists of the upper joint extension 60 in which the holding function is integrated, and the connecting elements for the upper struts 58 / headband 61. The upper joint approach 60 is with the lower joint approach 73 connected, which in turn has other connecting elements to the lower struts 71 or headband 74 to fix.
  • The aspiration 58 . 71 consist of several elements, which allows a change in their length and the exoskeleton 1 thus can be adapted to different body sizes. Furthermore, the foot buckles 55 and the support foot 86 , as well as other functional elements on the lower strut 71 be attached.
  • The foot buckles 55 are free-swinging and flexible. Through them, the exoskeleton can 1 be positioned near and correct on the body. Likewise, it prevents an uncontrolled swinging while walking and a secure positioning of the base (see 29 ) on the floor.
  • The support foot (see 30 ) is on the foothold, so the lower strut 71 attached, thereby falling over to the rear can be prevented. In addition, by the extendable or foldable mechanism (see 31 ) the center of gravity shifted, allowing a better grip while sitting.
  • 7 shows the three-dimensional view of the exoskeleton 1 and a representation of the individual parts in ergonomic integral design. Due to its integral construction, the upper ergonomically curved retaining bracket fulfills its requirements 59 several functions in one component. He takes over the applied load from the flexible holding device 33 , creates a connection to the locking joint 34 and protects against external forces. The design with fewer components results in improved application and simplified production.
  • The lower ergonomically curved headband 72 also fulfills several functions in one component by means of integral design. He takes over the applied load from the lower part of the flexible holding device 33 and connects locking joint 34 , Foot buckles 55 , Stand 39 and support foot 86 together. 8th shows the front view of the retaining clip with textiles.
  • Oberer 61 and lower headband 74 consist of a solid support element, which above and / or below with textiles 35 which are breathable, comfortable and not rubbing on the skin of the user. The advantage of positioning above the thigh is the high level of comfort, as the user in the flexible holding device, such as a pair of pants 33 , hangs and this forms according to the individual body and thereby the occurrence of pressure points, as with common seat brackets, avoided.
  • The upper headband 61 gets on the thigh and right under the pants 33 appropriate. If the user goes into a sitting posture, the load of his body first becomes on the flexible textile 33 distributed. The adjacent forces on the pants 33 are now from both brackets 61 . 74 taken over and passed over the remaining support structure to the ground.
  • Shall the exoskeleton 1 However, regardless of the clothing of the user to be attached, so the upper headband 61 Also separately on the length-adjustable upper strut 58 be attached. He can be adjusted so that he either above or below the thigh, this is the headband as a seat post 70 used, is applied. 9 illustrates this alternative application of the retaining bracket as a seat bracket 70 ,
  • In both cases, additional flexible materials are used to secure the exoskeleton 1 without pants 33 to attach to the body.
  • 10 shows the headband in ergonomic integral construction.
  • 11 shows the headband as a seat post in ergonomic integral design.
  • 12 shows the anti-skid buffer 85 consisting of a shock absorbing material. As a result, when walking and / or sitting down, exoskeleton 1 and users spared.
  • 13 shows the length adjustable strut 58 . 71 by pin 40 , To support different body sizes, the struts can 58 . 71 be adjusted in the Länger. By pressing a button, on eg a pin 40 , so can the exoskeleton 1 be quickly adapted to any body size. For height adjustment, the respective pin 40 pushed in, causing a displacement of the strut elements 58 . 71 and thus their adaptation to the respective size, is made possible.
  • 14 shows the length adjustable strut 58 . 71 by means of shaping 41 , Through this gearing 41 or some other specific shape 41 remain the pursuit 58 . 71 in the set length. When operating the lever 42 the mechanism is released and a change in length can be made.
  • 15 shows a simplified representation of the locking joint 34 with gear mechanism. The toothing and locking of the locking joint 34 is done by obstructing the rotary axis, similar to the function of a ratchet. The locking joint 34 consists of several parts: Lower joint approach 73 with toothed head as ratchet wheel 68 for locking the pawl 65 ,
  • pawl 65 the lower joint approach 73 and thus the joint 34 locked. Here is a page 67 toothed and the other 66 smooth. By a spring 52 becomes the pawl 65 always kept in the set position. By a cable / lever mechanism is the joint 34 latched or unlatched, depending on the setting on the release mechanism on the strap, see 26 ,
  • The feather 52 , which are at the upper joint approach 60 attached, pushes a small ball 56 or a lever to the pawl 65 and thereby keeps the set position.
  • The rope 75 serves the mechanical connection of the belt 36 to the respective joint 34 , When actuating the rotary 38 or push button 37 , pulls or releases the pawl 65 and the locking or unlocking mechanism is triggered.
  • The upper joint approach 60 holds the pawl 65 and the spring 52 together and connects them via a freely rotating pin or a storage 43 with the lower joint approach 73 ,
  • The release lever 51 is at the pawl 65 attached and serves as an automatic mechanism for unlocking the lock to see in 20 , which is triggered when the user is upright. If the user stands up, the angle between the upper 60 and the lower joint shoulder is increased 73 smaller, then it rotates at the lower joint 73 attached guide element 54 the release lever 51 and thus unlocks the lock. The automatic unlocking can also be done manually, either by a handle on the joint 34 or by adjusting the release lever 51 be activated or deactivated.
  • The guide element 54 is used for automatic unlocking of the previously locked joint in 20 , It can be designed as a simple round pin.
  • The automatic release of the joints is done with the help of the release lever 51 , which firmly with the pawl 65 connected is. When standing upright (0 ° angle) becomes the release lever 51 by means of the guide element 54 set in motion. This movement takes place in rotary form and releases the contact between the pawl 65 and ratchet wheel 68 of the lower joint approach 73 ,
  • Another function is to set the lock and retain the desired angle, even while upright and upright. The lower hinge extension 73 is initially freely swingable. If a sitting posture is taken, you lock the pawl 65 to see about the cable mechanism in 28 ,
  • The contact between the pawl 65 and the locking spacer 44 prevents movement or rotation of the lower joint attachment 73 beyond the angle now set. However, free movement / rotation from upright to the set angle is possible.
  • In the unlocked state holds a return mechanism, for example. A spring 52 or a magnet, the locking spacer 44 at the same angle as the lower joint 73 and thus follows the positioning of the limbs of the user.
  • When in contact between the lower joint approach 73 and the locking spacer 44 it comes to a damping by means of a shock absorbing material 49 , This protects the construction and gives the user a smoother feeling when sitting down.
  • 16 shows the simplified representation of the locking joint 34 with gear mechanism in exploded view.
  • 17 shows the detailed view of the locking mechanism in side view.
  • 18 shows the three-dimensional view of the release lever 51 with guide element 54 ,
  • 19 shows the detailed representation of the Winkeleinrastmechanismus.
  • 20 shows the sectional view of the locking joint mechanism in the locked state.
  • 21 shows the exploded view of the locking joint 34 with pull rope mechanism. It is a tension-based mechanical structure consisting of several parts:
  • The lower joint approach 73 is with the lower strut 71 connected. About a freely stored connection 44 this is as a hinge as well with the upper joint approach 60 connected. A groove 57 at the round head 45 of the lower joint approach 73 serves to guide the pull rope 53 , A recess 57 offers space for mechanical, electrical or pneumatic / hydraulic energy storage 50 or a combination of these.
  • Along the component is a flexible and tensile rope / cord 53 curious; excited. This is done by means of the first spring 63 and the second spring 64 held tight and allows, in combination with the locking slide 69 to keep the set angular position.
  • The locking slide 69 moves in a predefined guide 46 of the upper joint approach 60 and holds in the locked state, the pull rope 53 and thus the set angle. Between the upright position (angle 0 °) and the set angle X (eg 90 °), the user or the joint can move freely.
  • tension springs 63 . 64 serve to tighten the rope 53 and retracting the locking slide 69 in the unlocked state. 22 shows the side view of the Zugseilmechanismus the Arretiergelenkes 34 , Will the pawl 65 by means of a mechanism, depending on the structure, moved or rotated, this prevents a displacement of the locking slide 69 , whereby the angle is adjusted. The system is unlocked when the contact is released, eg by turning the knob 38 or pressing the push button 37 depending on the setting.
  • The pawl 65 is at the top of the joint 60 attached and is with a spring 52 held so that either the joint is released or locked, depending on the system structure. Parallel and / or opposite to the pivot point of the pawl 65 there is a pulling mechanism 76 , which is a countermovement to the spring 52 starting from the belt mechanism to see in 26 performs.
  • energy storage 50 , such as leaf springs, on the one hand used as a damper, on the other hand, they also serve as support when getting up. That is, they are stretched / pressed when setting and when you get up the stored energy is released again.
  • The lower joint approach 73 has several functions: connection with the lower strut 71 ; Rotatory joint in interaction with the upper joint approach 60 ; Hold and position guide the rope 53 ; Suspension and additional force application when getting up, by means of energy storage 50 , such as leaf springs, located in the recess 57 of the lower joint approach 73 are located.
  • The guide for the locking slide 46 at the upper joint attachment 60 can be done in different angles and positions, seen in 23 . 24 and 25 , On top of or below the locking slide 69 and the associated pawl 65 be set. This can in turn be mounted either above or below the locking slide.
  • A lever arm 47 , For example, a pin, takes over the resulting forces from the energy storage 50 in the lower joint approach 73 and transfers these to the upper 60. The force adjustment can be varied by the lever arm 47 in different recesses 48 is placed or stronger / weaker energy storage 50 be used.
  • The locking of the mechanism and the adjustment of the angle at the joint by means of contact between locking slide 69 and pawl 65 executed. Closes the contact between the two, so can the locking slide 69 no longer move and thus determines the maximum angle of rotation of the joint. If the contact is released again, the lock unlocks and the joint can again assume any position.
  • 23 shows the alternative positioning of the guide of the locking slide 46 in which the locking slide 69 diagonally below the pawl 65 located.
  • 24 shows the alternative positioning of the guide of the locking slide 46 in which the locking slide 69 horizontally above the pawl 65 located.
  • 25 shows the alternative positioning of the guide of the locking slide 46 in which the locking slide 69 horizontally below the pawl 65 located.
  • 26 shows the overall view of the locking and releasing mechanism on the belt 36 which can be operated with one hand. To the locking or releasing mechanism, see 28 To activate are a mechanical knob 38 and / or a push button 37 on the belt 36 appropriate. These are with pull ropes 76 connected, which are mechanically or electrically tightened or loosened. These traction cables 76 are connected to the respective joints and their locking devices. A belt 36 holds the controls 37 . 38 on the body and fixes the mechanics 1 , Flexible or firm connections 78 to the upper struts 58 or retaining clips 61 . 59 are also on the belt 36 appropriate. These hold the exoskeleton 1 in the set position on the body.
  • 27 shows the cross-section of the side view of the release mechanism of the locking on the belt 36 , 28 shows the detailed front view of the release mechanism of the lock on the belt 36 , In order to simply lock or unlock the angle of the joint, depending on the setting, either to lock the joint of the knob 38 rotated and by pressing the push button 37 solved again, or vice versa, the push button 37 pressed so that the joint is locked, which by turning the knob 38 can be solved again, or in both cases, a push button 37 or knob 38 used.
  • The knob 38 is for a better grip on the outside with a structure / nubs 79 Mistake. In the inner bulge is the push button 37 appropriate.
  • The push button 37 that as a ratchet wheel 68 serves, we by means of a return spring 80 held in the locking position, in which the teeth 81 of the knob 38 are located. Press the push button 37 , he shifts into the interior of the knob 38 where there are no gears of 81. This may cause the knob 38 move back to its original position / turn and, depending on the setting, unlocks or locks the associated joint.
  • gearing 81 between the knob 38 and push button 37 keep the pull rope 76 and thus enable, depending on the function, the locking or release of the joints. The gears 81 allow rotation in one direction only and thus obstruct the other. However, this functionality can also be achieved with design measures that are based on a linear movement. Instead of turning, you could then drag, push or move.
  • The return spring 80 the task has the push button 37 back out into the area of the gears 81 of the knob 38 to move.
  • 29 shows the simplified representation of the base or the operation of the support leg 86 , In this case, the movement of the support arm 84 shown, which is retracted when not loaded.
  • 30 shows the simplified representation of the base or the operation of the support leg 86 , It illustrates how the support boom 84 when loading the mechanics extends.
  • 31 shows the three-dimensional view of the kinematics of the structure of the optional support leg 86 , The base 39 gives the resulting load of the body, the mechanics or the exoskeleton 1 was taken to the ground, down. At the lowest end is a damper made of rubber or other shock-absorbing Materiealien.
  • Touch the pedestal 39 the ground, or the mechanics is placed on it and loaded, so drives behind the human foot, a mechanical support arm 84 out. This can be rotational and / or translational from top to bottom, from bottom to top or side. As a result, the center of gravity is further offset in the middle, whereby a possible falling over to the rear should be prevented.
  • 32 shows the sectional view of the kinematics of the structure of the optional support leg 86 , This consists of two components, the base 39 and the standing device 82 that can move into each other. Press the stand 39 in the stand device 82 , becomes the integrated spring 83 compressed. When pushing the support boom moves 84 via a proposed kinematics. The movement takes place translationally and / or rotationally until the support arm 84 reached the ground and thus as an extended stand device for the exoskeleton 1 serves. Shock absorbing elements are attached to the bottom of the structure.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been 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.
  • Cited patent literature
    • WO 2015/157803 A1 [0002]
    • US 2014/0142475 A1 [0002]

Claims (27)

  1. Exoskeleton, in particular passive exoskeleton, comprising a mechanical structure (1), characterized in that the structure (1) is designed for carrying under a flexible textile, in particular under a pants (33) of a user that the load of the user when sitting or squat is transmitted from the legs to the textile, which carries the user, and the textile, the resulting load on the underlying mechanical structure (1) passes.
  2. Exoskeleton after Claim 1 characterized in that the mechanical structure (1) comprises an upper support bracket (61; 59) adapted to frontally encompass at least a portion of the thigh of the user, in particular extending from the outer side of the thigh to the front of the thigh.
  3. Exoskeleton after Claim 2 , characterized in that the mechanical structure (1) has a lower retaining bracket (74; 72), which is designed to cover at least a part of the lower leg of the user, in particular extending from the outer side of the lower leg to the rear side of the lower leg.
  4. Exoskeleton according to the Claims 2 and 3 characterized in that the mechanical structure (1) comprises a locking joint (34) hingedly connecting the upper retaining bracket (61; 59) to the lower retaining bracket (74; 72) and the locking joint (34) laterally corresponding to a knee joint the user is positioned, in particular right outside next to the right knee joint and / or left outside next to the left knee joint.
  5. Exoskeleton according to Claim 4 , wherein the upper headband (59) and / or the lower headband (72) are formed in an ergonomic integral construction.
  6. Exoskeleton according to one of the preceding Claims 2 - 4 , characterized in that a, preferably tubular, rod or rod-shaped upper strut (58) is provided which holds the upper retaining bracket (61).
  7. Exoskeleton after Claim 6 , characterized in that the upper strut (58) is formed variable in length.
  8. Exoskeleton after one of the Claims 5 - 6 , characterized in that the upper strut (58) is connected to an upper hinge lug (60) of the locking joint (34).
  9. Exoskeleton after one of the preceding Claims 2 - 4 , characterized in that a, preferably tubular, rod or rod-shaped, lower strut (71) is provided, which holds the lower headband (74).
  10. Exoskeleton after Claim 9 , characterized in that the lower strut (58) is formed variable in length.
  11. Exoskeleton after one of the Claims 9 - 10 , characterized in that the lower strut (71) is connected to a lower hinge lug (73) of the locking joint (34).
  12. An exoskeleton according to any one of the preceding claims, wherein the lower portion of the structure (1) comprises a foot buckle (55).
  13. Exoskeleton according to one of the preceding claims, characterized in that the structure (1) has at its lower end a support leg (86) which is designed such that upon ground contact and load action behind the user's foot a support arm (84) extends.
  14. Exoskeleton after one of the preceding Claims 4 - 13 wherein the locking joint (34) is adapted to be configured in an activated mode to limit the free movement of the user's knee joint.
  15. , Exoskeleton after Claims 14 wherein the locking joint (34) is adapted to allow free movement of the user's knee joint in an inactive mode.
  16. Exoskeleton after one of the Claims 14 to 15 in that the locking joint (34) has as a locking device a toothing mechanism or a pulling cable mechanism which has a pawl for realizing the activated mode.
  17. Exoskeleton after one of the preceding Claims 2 - 16 , characterized in that the structure (1) is provided separately for each leg of the user.
  18. Exoskeleton after Claim 17 , characterized in that the upper headband (61; 59) are designed to be interchangeable with each other in such a way that they serve, after being exchanged, for the rearward encompassing of at least part of the thigh of the user.
  19. Exoskeleton after one of the Claims 4 - 18 , characterized in that a functional rotary (38) or push button (37) for activating and deactivating the locking joint (34) is provided and the functional rotary (38) push button (37) with Help a pulling mechanism or pull rope (76) with the locking joint (34) and its locking device is connected.
  20. Exoskeleton after Claim 4 - 19 , characterized in that the rotary (38) / push button (37) is designed for one-handed operation.
  21. Exoskeleton according to one of the preceding claims, characterized in that a strap (36) is provided which holds the exoskeleton in a preset position on the body of the user, in particular the upper strut (58) and the upper headband (61; 59) by means of a flexible or fixed connection (78) on the belt, particularly preferably in a lateral position on the user's body.
  22. Exoskeleton after Claim 21 , characterized in that the belt (36) the rotary (38) push button (37) according to one of Claims 19 - 21 attached to the body of the user, preferably located at the hip, more preferably in a central position, most preferably located in a lateral position on the body of the user.
  23. Use of an exoskeleton, in particular a passive exoskeleton, comprising a mechanical structure (1) under a flexible textile, in particular a pant (33) of a user, so that the load of the user is transferred from the legs to the textile when sitting or squatting carries the user, and the textile the resulting load on the underlying mechanical structure (1) passes.
  24. Use of an exoskeleton according to Claim 23 , wherein the load is first distributed to the textile, in particular trousers (33), and the applied forces on the textile, in particular pants (33), are now taken over by two retaining clips (61, 74, 59, 72) and the rest Structure (1) further led to the ground.
  25. Use after Claim 24 in that an arresting joint (34), the position of which is located laterally from a knee of the user, is provided between an upper retaining clip (61; 59) and a lower retaining clip (74; 72) and due to the locking of the locking joint (34) Load is passed on to the ground, so that the body of the user is relieved.
  26. Use according to one of Claims 23 - 25 an upper headband (61; 59) is mounted over the thigh of the user, and optionally a lower headband (74; 72) is mounted behind the lower leg of the user, and the load of the user's body over the Pants (33) is taken over and on the upper headband (61, 59) and on the optional lower headband (74, 72) is forwarded.
  27. Use according to one of the preceding Claims 23 - 26 , wherein the exoskeleton according to one of Claims 1 - 21 is trained.
DE202018104980.1U 2017-05-30 2018-05-28 Exoskeleton to relieve the body Active DE202018104980U1 (en)

Priority Applications (2)

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AT600432017 2017-05-30
ATA60043/2017 2017-05-30

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WO (1) WO2018219863A1 (en)

Citations (2)

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US20140142475A1 (en) 2010-09-27 2014-05-22 Vanderbilt University Movement assistance device
WO2015157803A1 (en) 2014-04-16 2015-10-22 The Commonwealth Of Australia Exoskeleton system for load carrying

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US3451064A (en) * 1968-03-08 1969-06-24 Robert N Dolan Trousers type garment with seat and ground engaging support
US9610188B2 (en) * 2012-01-11 2017-04-04 Alliance Design And Development Group, Inc. VRB cantilever-based unloader brace assembly
KR101344117B1 (en) * 2013-07-04 2013-12-23 김형준 Pants combined chair
EP2842527A1 (en) * 2013-08-26 2015-03-04 ETH Zurich Wearable posture assisting device
EP3158894A1 (en) * 2015-10-21 2017-04-26 noonee AG Control unit for wearable sitting posture assisting device

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140142475A1 (en) 2010-09-27 2014-05-22 Vanderbilt University Movement assistance device
WO2015157803A1 (en) 2014-04-16 2015-10-22 The Commonwealth Of Australia Exoskeleton system for load carrying

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