EP3383339B1 - Device for supporting the movement of a human shoulder joint - Google Patents

Description

Technical field

The invention relates to a device for supporting movement of a human shoulder joint.

State of the art

Generic systems have long been used in medicine in the form of motor-driven joint orthoses and are used for stabilization and relief as well as for guiding and correcting movable limbs or the trunk. In addition, so-called artificial exoskeletons are known, i.e. motor-supported articulated machine structures which can be worn on the body and which support or reinforce movements of the wearer, for example by driving joints of the exoskeleton by servomotors or similar electromotive drive concepts.

Such systems gain increasing importance and attention due to interdisciplinary research and development on such motion-supporting systems. In particular, the constant improvement of relevant system components, such as the implementation of powerful electric motors, highly efficient control devices and accumulators with high energy density, make new developments in the field of orthoses and exoskeletons possible.

Most exoskeletons are based on a common maxim, namely to position the drive system required for movement support as close as possible to the body joint and the weight of the drive system as possible via a stable structure attached directly to the human body and / or preferably via suitable, force-dissipating support structures directly on the floor to support. The general challenge is not to impair the natural mobility of humans, but rather to support them without any significant hindrance. A typical exoskeleton has a large number of joint mechanisms which are connected to one another via rigid structures and whose coordinated degrees of freedom are selected in such a way that they are modeled on the natural joint kinematics of the person.

Among the human joints, the shoulder joint in particular places the greatest demands on an artificial, articulated replica of the natural joint mobility. It should be noted that the mobility of the shoulder joint is due to the almost 360 ° mobility of the glenohumeral joint, i.e. the ball joint between the humerus and the shoulder blade (scapula), and on the other hand is determined by the mobility of the shoulder blade itself. The glenohumeral joint is deflected in a linearly movable manner both along the transverse plane (x-y plane) and along the frontal plane (y-z plane). It should be noted here that the x-axis in the case of an upright person, the horizontal direction in the viewing direction, the y-axis correspond to the horizontal direction orthogonal to the x-axis and the z-axis to the vertical axis. For reasons of completeness, the sagittal plane, which corresponds to the x-z plane in the above coordinate system, should also be mentioned in this context.

A known structure that relieves the shoulder joint and has an exoskeleton-like structure is in the publication US 2007/0225620 A1 described. Essentially, these are rigid connecting struts that are articulated to one another in the manner of a serial, kinematic chain. To support the body close to the body The kinematic chain is provided by a back plate, which can be detachably fixed to the upper body of a person and to which a first swivel joint with an axis of rotation traversing the upper body is attached. The first swivel joint enables the upper arm to be lifted (abducted) or lowered (adducted) along the frontal plane (yz plane), which intersects the axis of rotation of the first swivel joint orthogonally. A rigid bracket construction is provided on the first swivel joint, which is arranged rearward and above the shoulder area of the person and on the end of which an arrangement of three swivel joints, each with orthogonally oriented axes of rotation, is attached, which corresponds to a ball joint arrangement that simulates the 360 ° rotational mobility of the glenohumeral joint. The axes of rotation of the three swivel joints contained in the ball joint arrangement each intersect in the joint between the humerus and the shoulder blade. Furthermore, the arrangement composed of three swivel joints is followed by a swivel joint arranged in the region of the elbow via a further rigid axis, but this has no direct influence on the mobility in the shoulder blade region. In a preferred embodiment, the known exoskeleton arrangement has corresponding servomotors in each of the rotary joints mentioned, by means of which the movement in the shoulder area can be supported by a motor.

Another example of an exoskeleton arrangement worn on the upper body is given in the publication WO 2015/099858 A2 out, which is a kinematic chain composed of five swivel joints and is attached in a very similar arrangement and design to the upper body of a wearer around the shoulder joint, as in the case explained above according to the document US 2007/0225620 A1 . In contrast to the prior art described above, the joint arrangement is additionally articulated about a rotational axis oriented parallel to the backbone of the wearer on a back plate for attachment to the wearer, so as to enable translational movements of the shoulder joint along the so-called transverse plane.

The publication WO 2015/058249 A1 an exoskeleton arrangement can be seen, which is used in particular to support movement of an arm. The known device has, in some cases, motor-driven joints which are connected to one another via rigid connecting struts and protrude laterally and also above the shoulder region of the person. The joints each have joint axes which always intersect virtually in the humeral head of the shoulder joint regardless of the state of movement and deflection of the arrangement and thus center this joint area within the arrangement. The person's freedom of movement in the shoulder area is thus severely restricted with regard to transverse self-movements of the shoulder, in particular the shoulder blade.

The publication US 2011/0251533 A1 discloses a rehabilitation device for upper arm mobilization of a person. The device has four motor-driven joints which are connected to one another by rigid connections and whose associated joint axes virtually cut, as in the case described above, in the humeral head.

Comparable therapeutic movement devices are the publications US 2007/0225620 A1 and WO 2015/099858 A2 refer to. In these cases, too, the joint axis assigned to the joints arranged around the shoulder joint intersect in the humeral head, regardless of their respective mutual deflection. The WO 2015/099858 A2 discloses a device for supporting movement of a human shoulder joint with a first pivot bearing for exerting a rotation of a first bearing part about a first axis of rotation, a second pivot bearing for exerting a rotation of a second bearing part about a second axis of rotation, the second axis of rotation directly or indirectly with the first Bearing part is connected, a third pivot bearing for exerting a rotation of a third bearing part about a third axis of rotation, the third axis of rotation being connected directly or indirectly to the second bearing part, a fourth pivot bearing for exerting a rotation of a fourth bearing part about a fourth axis of rotation, wherein the fourth axis of rotation is directly or indirectly connected to the third bearing part and a fifth rotary bearing for exerting a rotation of the fourth bearing part about a fifth axis of rotation, wherein a) the first axis of rotation is spatially fixed to a first fastening means, which is for a detachably fixed type Bringing and aligning the first pivot bearing on the shoulder area of a person is suitable, b) the fifth axis of rotation is spatially connected with a second fastening means which is suitable for a detachably fixed attachment and orientation of the fifth pivot bearing on the upper arm area of the shoulder blade of a person, so that when in use the fifth axis of rotation traverses the upper arm head of the person, c) the second and third axes of rotation are oriented parallel to one another, and d) at least one of the first and fifth pivot bearings has actuators that support the rotation.

Furthermore, there are further exoskeleton arrangements from the publications WO 2008/031023 A2 and US 2003/0115954 A1 remove.

All known approaches for simulating the natural mobility of the shoulder joint in the context of an exoskeleton arrangement have a large-sized, backdrop-like design, projecting over the neck, shoulder and upper arm area, with an articulated support arm construction, which due to its size places at least system-related restrictions on the person. So needs increased awareness to avoid collisions with the environment and with the person himself, especially when abducting the upper arm above the shoulder level.

Presentation of the invention

The invention has for its object to provide a device for supporting movement of a human shoulder joint, so that the full mobility of the shoulder joint is maintained. The movement-supporting device is intended to enable abductor arm movements above head without mechanical limitation and without risk of collision between the device and the body. Furthermore, it is important to make the device as light and small as possible, so that it does not appear, as in known solutions due to a shoulder construction projecting above the shoulder, and thus finds a high level of acceptance among potential users.

The solution to the problem on which the invention is based is specified in claim 1. Features forming the inventive idea in an advantageous manner are the subject matter of the subclaims and the further description, in particular with reference to exemplary embodiments.

The device according to the solution for supporting the movement of a human shoulder joint, which is characterized by the 360 ° rotational mobility of the ball joint between the upper arm bone and the shoulder blade (glenohumeral joint) and the transverse mobility of the shoulder blade itself, has five kinematically coupled rotary bearings, of which a first rotary bearing for exercising one Rotation of a first bearing part is formed about a first axis of rotation, wherein the first axis of rotation is spatially connected to a first fastening means which is suitable for a detachably fixed attachment and alignment of the first pivot bearing on the shoulder region of a person, so that the first axis of rotation preferably the shoulder blade of the Person traversed or the frontal plane of the person in the area between the spine and the shoulder blade traversed. The first axis of rotation is preferably oriented orthogonally to the shoulder blade plane, the so-called scapular plane, which is normally inclined by approximately 30 ° in the direction of the sagittal plane with respect to the frontal plane.

A second axis of rotation of a second pivot bearing is connected directly or indirectly to the first bearing part of the first pivot bearing, about which a second bearing part is rotatably supported. A third axis of rotation of a third pivot bearing is connected directly or indirectly to the second bearing part of the second pivot bearing, about which a third bearing part is rotatably supported. Finally, a fourth axis of rotation of a fourth rotary bearing is connected directly or indirectly to the third bearing part, about which a fourth bearing part is rotatably mounted. The fourth bearing part is also rotatably mounted about a fifth axis of rotation of a fifth pivot bearing, the fifth axis of rotation being spatially connected to a second fastening means which is suitable for a detachable fixed attachment and alignment of the fifth pivot bearing on the upper arm area of the shoulder blade of a person, so that the fifth axis of rotation always traverses the humerus head of the person.

In order to support the movement of the shoulder joint in a force-relieving manner, at least one of the first and fifth pivot bearings has actuators that support the rotation. For this purpose, the actuator system is designed as an integral element of the first and / or fifth pivot bearing, so that the size, weight and spatial shape of the first and / or fifth pivot bearing are as small and light as possible. In a simplest exemplary embodiment, the actuator system comprises an elastic tensioning means with a prestress generating a torque, for example in the form of a spring or spring arrangement. In a preferred embodiment, however, the actuator system consists of an electric motor drive, preferably in the form of a servo, stepper or synchronous motor, as a result of which the torques relieving the shoulder joint by the first and / or fifth pivot bearing are individually metered, for example as part of a control system or control, can be specified.

In contrast to known exoskeleton-like training to support movement of the shoulder joint, as explained at the beginning and in the publication WO 2015/099858 A2 discloses, the device according to the solution does not have three rotary bearings that span an xyz coordinate system, the axes of rotation of which intersect in the humeral head of a person, rather the second, third and fourth rotary bearings are connected directly or indirectly to one another so that the second rotary bearing assigned second axis of rotation and the third axis of rotation assigned to the third pivot bearing are oriented parallel to one another and span a plane to which the fourth axis of rotation assigned to the fourth pivot bearing is oriented parallel.

In a preferred embodiment, the first and second rotary bearings are connected to one another in such a way that the first and second axes of rotation always intersect, preferably being oriented orthogonally to one another. Alternatively or in combination with the above orthogonal alignment of the first and second axes of rotation, in a preferred embodiment the fourth and fifth rotary bearings are designed and arranged such that their axes of rotation intersect and are preferably oriented orthogonally to one another. Nevertheless, the first and second swivel joints can be arranged relative to one another in such a way that their respectively assigned axes of rotation do not intersect, in particular in the case in which the first swivel joint is attached to the fastening means, for example in the form of a carrying strap, on the back of the person's upper body is worn, is attached in such a way that the first axis of rotation assigned to the first swivel joint passes through the frontal plane of the person close to their spine. Further explanations here follow in connection with the description of a related exemplary embodiment.

The kinematic chain composed of the first to fifth pivot bearings corresponds to a serial arrangement of all five pivot bearings, in which the distance between the second and third axes of rotation and the distance between the third and fourth axes of rotation are each chosen to be constant and preferably of the same length. The size of the above distances is determined by the size and shape of the second and third bearing part and can in principle be individually adapted to the physically predetermined size measurements in the area of the shoulder and upper arm area of a person.

Due to the rotational mobility of the second and third bearing parts about the third axis of rotation, the distance between the second and fourth axes of rotation is variable and is capable, in particular, of a transverse movement of the shoulder joint, i.e. To follow linear movements along the Forntal plane.

A further embodiment of the device for supporting the movement of a human shoulder joint provides a sixth rotary bearing directly or indirectly on the third bearing part for rotating the fourth bearing part about a sixth axis of rotation which is oriented orthogonally to the fourth axis of rotation. This additional degree of freedom of movement relieves the burden on the person when the upper arm is lifted laterally (abduction), or the motor support for lifting the upper arm can be reduced, especially since in this case only the fourth bearing part and the fifth bearing part attached to it are raised must be maintained, whereas the components of the rest of the kinematic chain essentially maintain their position.

The shape and size-specific design of the device according to the solution is compact and small-sized and, when worn, enables a person to have an inconspicuous appearance, which is essentially characterized by a local clasping structure that laterally delimits the shoulder blade and upper arm area and does not have any components or protruding from the shoulder of the person Components, which can prevent collisions with areas close to the head. Alternative exemplary embodiments are explained in more detail below with reference to the figures.

Brief description of the invention

Fig. 1

Darstellung des äußeren Erscheinungsbildes der lösungsgemäßen Vorrichtung an einer Person,

Fig. 2

Detaildarstellung eines bevorzugten Ausführungsbeispiels der lösungsgemäßen Vorrichtung im Bereich der rechten Schulter einer Person,

Fig. 3

Detaildarstellung eines in den Figuren 1 und 2 illustrierten Ausführungsbeispiels,

Fig. 4

Darstellung eines alternativen Ausführungsbeispiels,

Fig. 5

Darstellung einer Weiterbildung des in Figur 2 illustrierten Ausführungsbeispieles sowie

Fig. 6

Darstellung einer Weiterbildung des in Figur 4 illustrierten Ausführungsbeispieles.

The invention is described below by way of example without limitation of the general inventive concept using exemplary embodiments with reference to the drawings. Show it:

Fig. 1

Representation of the external appearance of the device according to the solution on a person,

Fig. 2

Detailed representation of a preferred embodiment of the device according to the solution in the area of the right shoulder of a person,

Fig. 3

Detailed representation of one in the Figures 1 and 2 illustrated embodiment,

Fig. 4

Representation of an alternative embodiment,

Fig. 5

Presentation of a further training of the in Figure 2 illustrated embodiment and

Fig. 6

Presentation of a further training of the in Figure 4 illustrated embodiment.

Ways of carrying out the Invention, Industrial Usability

In Figure 1 a rear perspective view of the upper body of a person P is shown, who carries a device V designed according to the solution on both shoulders, each of which is mounted on a fastening means 5 which is detachably fixed on the back of the person P.

Already the external appearance of the device V according to the solution differs significantly from known exoskeleton-like structures for supporting the movement of the shoulder joint in that there are no support struts that rise above the shoulder level of the person P like a backdrop. Rather, the device V according to the solution spans the shoulder blade and upper arm area in the manner of an exclusively lateral clasp in an upright basic posture of the person P, whose two arms are just lying against the side of the body. Despite the small and compact design of the device V according to the solution, it offers the complete natural unrestricted mobility of the shoulder joint, both with regard to the almost 360 ° rotational mobility of the glenohumeral joint (joint between the upper arm bone and the shoulder blade) as well as the transverse mobility of the shoulder blade along the XY plane corresponds to the so-called transverse plane.

In Figure 2 a detailed representation of the device V attached to the body of the person P is shown in the area of the right shoulder. The device V according to the solution has five rotary bearings L1, L2, L3, L4 and L5, see also a further detailed illustration of the device according to the invention in isolation according to Figure 3 , which are next to Figure 2 Reference is made in an equal manner with the rotary axes D1, D2, D3, D4 and D5 associated with the respective rotary bearings.

The first rotary bearing L1 is connected to the fastening means 5 in the form of a flat support plate, which can be releasably attached to the back of the person P, so that the first axis of rotation D1 is fixed to the fastening means 5. Compared to the axis of rotation D1, the first bearing part 1, which is annular in the exemplary embodiment shown, is rotatably mounted. The first rotary bearing L1 is also equipped with a small-sized, efficient electric motor 7, which is arranged radially on the inside of the ring-shaped first bearing part 1 and the ring-shaped first bearing part 1 about the axis of rotation D1 is able to deflect in a controlled manner. The electric motor 7 is preferably designed as a servo motor, stepper motor or synchronous motor.

The motor-driven first swivel joint L1 is able to transmit power-supporting torques to the shoulder joint, through which abduction and adductor arm movements, i.e. vertical lifting and lowering of the upper arm to the side of the body with a maximum swivel range up to vertically above the head, are possible without restrictions.

Furthermore, the device V according to the solution has at least one second motor-driven swivel joint, the so-called fifth swivel joint L5, which has a second fastening means 6 (see Figure 3 ) in the upper arm area of the person P near the shoulder is detachably fastened. The fifth swivel joint L5 is attached to the upper arm of the person P by means of the fastening means 6 such that the fifth swivel axis D5 assigned to the fifth swivel joint L5 traverses the upper arm head of the person P and thus the glenohumeral joint. For this purpose, it is advisable to connect the fastening means 6 with a cuff encompassing the upper arm. The attachment and design of the fifth pivot bearing L5 to the person enables a power-assisted pivoting movement of the upper arm about the horizontal axis assigned to the fifth axis of rotation D5 due to the electromotive drive 7 which is also integrated radially on the inside. Thus, upper arm movements are related to protraction, i.e. moving the shoulder forward in front of the upper body, as well as retraction, ie moving the shoulder backwards to the upper body, and finally circumduction, i.e. circular upper arm movement above the head along the XZ plane, i.e. along the so-called sagittal plane unlimited possible.

In a preferred embodiment, which in Figure 3 is illustrated, the first and fifth rotary bearings L1, L5 are identical in shape and size. A series kinematic chain, which comprises three further pivot bearings L2, L3 and L4, is used for the kinematically articulated connection of the two pivot bearings L1, L5. The second rotary bearing L2 thus comprises a first bearing part 1, which is fixed to the ring-shaped part, on the latter Outer periphery connected journal 1 ', which is penetrated by the second axis of rotation D2 and about which the second bearing part 2 is rotatably mounted. Due to the compact attachment of the second pivot bearing L2 to the first pivot bearing L1, the first and second axes of rotation D1, D2 intersect and are also oriented orthogonally to one another.

In the same way, the fourth pivot bearing L4 is formed and has a fourth bearing pin 4 ′ which is fixedly connected to the fourth bearing part 4 with an annular design and through which the fourth axis of rotation D4 runs and around which the third bearing part 3 is rotatably mounted.
The second and third bearing parts 2, 3 are formed uniformly or identically in the exemplary embodiment. Of course, it is possible to adapt the shape and size of the second and third bearing parts 2, 3 differently and in particular individually to the ergonomics of the respective wearer.

The second and third bearing parts 2, 3 each have mutually facing bearing eyes 2 ', 3' through which a common bearing pin 8 extends, through which the third axis of rotation D3 passes. The distance between the second and fourth axes of rotation D2, D4 can be varied by the rotational mobility of the first and second rotary bearings L1, L2 and the fourth and fifth rotary bearings L4, L5 about the third axis of rotation D3, whereas the distances between the first and third as well as third and fourth axes of rotation remain constant.

For reasons of a compact and, in particular, reduced vertical construction height of the device, the second and third bearing parts 2, 3 are each formed in a rocker-like manner, so that the third pivot bearing L3 spatially does not or does not have the radial dimensions of the first and fifth pivot bearings L1, L5 significantly towered over.

Due to the kinematic articulated chain, comprising the second, third and fourth pivot bearings L2, L3, L4, the first and fifth to be attached to the body of the person Rotary bearing L1, L5 connects with each other, there is the possibility that when the shoulder blade is moved transversely, for example along the transverse plane (XY plane), the device worn on the body can follow the natural movement of the shoulder blade. Both a linear forward movement of the shoulder blade and a backward movement are thus realized by the device according to the solution.

Figure 4 shows an alternative embodiment for implementing the device designed according to the solution for motorized movement-assisted movement of the human shoulder joint. The same or equivalent components are provided with the same reference numerals, which are already in the exemplary embodiment according to Figure 3 have been introduced so that a repeated functional description can be dispensed with.

As it were in Figure 3 In the illustrated exemplary embodiment, the first axis of rotation D1 of the first bearing element L1 is fixedly connected to a fastening means 5 which can be detachably attached to the back of a person who is not further illustrated. In contrast to the one in Figure 3 The illustrated embodiment, in which the first and second axes of rotation D1, D2 are aligned orthogonally to one another and intersect due to the construction, the second pivot bearing L2 'is spatially spaced laterally from the first pivot bearing L1. In this case, a first lever arm 9 is provided which is fixedly connected to the first bearing part 1 and on which the second axis of rotation D2 'of the second pivot bearing L2' is mounted in a rotationally fixed manner.

A corresponding lateral lever arm 10 is attached between the fifth pivot bearing L5 and the fourth pivot bearing L4 ', which on the one hand is rotatably connected about the fifth axis of rotation D5 and on the other hand non-rotatably connected to the fourth axis of rotation D4' of the fourth bearing part L4 '. The dashed lines of the reference symbols L2 ', D2' and L4 ', D4' are only intended to indicate that the second and fourth rotary bearings L2 ', L4' in the exemplary embodiment according to Figure 4 each have a lateral distance from the first pivot bearing L1 or from the fifth pivot bearing L5. The lateral overall distance between the first pivot bearing L1 and fifth pivot bearing L5 can be enlarged or adjusted individually. For example, a modular on-site stocking of differently long lateral lever arms 9, 10 can be used to individually adapt the device according to the solution to the ergonomic proportions of a person.

The series-formed kinematic chain arranged between the two lever arms 9, 10, comprising the second, third and fourth pivot bearings L2 ', L3, L4' with the associated axes of rotation D2 ', D3, D4', is mechanically equivalent to the respective pivot bearings of the in Figure 3 illustrated embodiment. At the same time, the second, third and fourth axes of rotation D2 ', D3, D4' are arranged parallel to one another and each have a lateral distance from one another which is determined by composite bearing parts.

Of course, it is possible to supplement the series-formed kinematic chain with at least one further pivot bearing, each with an axis of rotation oriented parallel to the other axes of rotation D2 ', D3, D4', in order in this way to determine the lateral distance of the first and fifth axes of rotation along that through both Axes spanned plane variable to enlarge.

The use of high-performance electric motors 7 enables a force-assisted movement of the shoulder blade of a person not only for the purposes of therapeutic mobility increase or recovery, but also and above all for the purpose of force support during arm and shoulder movements, for production, assembly or other work purposes are to be mastered.

In Figure 5 is a further training of the in Figure 3 Illustrated embodiment illustrated with identical reference numerals to those in Figure 3 Removable reference numerals, each marking identical components, for the meaning and explanation of which reference is made to the above description in order to avoid unnecessary repetition. In addition to the in Figure 3 illustrated embodiment shows that in Figure 5 shown embodiment another so-called sixth pivot bearing L6, which is arranged on the end of the third bearing part 3, the third pivot bearing L3 opposite. The sixth pivot bearing L6 is arranged and designed on the third bearing part L3 such that the sixth pivot axis D6 assigned to the sixth pivot bearing L6 is oriented orthogonally to the fourth axis of rotation D4 * of the fourth pivot bearing L4 *. The sixth pivot bearing L6 provides a pivot connection between the third bearing part 3 and the fourth pivot bearing L4 *, so that the fourth pivot bearing L4 * and the associated fifth pivot bearing L5 can be pivoted together about the sixth axis of rotation D6. This kinematic sub-chain, comprising the sixth, fourth and fifth pivot bearings (L6, L4 *, L5), enables the upper arm of a person to be raised without the other components of the device relating to the two bearing parts 2, 3 and the second and third pivot bearings L2 , L3 in order to deflect the first axis of rotation D1 of the first rotary bearing L1 upwards and thus to raise it. This leads to a relief of the motor-assisted lifting process, ie the motor power invested in the first pivot bearing L1 is reduced. Optionally, an actuator system supporting the lifting process can be provided in the sixth pivot bearing L6.

In Figure 6 is a further training of the in Figure 4 Illustrated embodiment illustrated with identical reference numerals to those in Figure 4 Removable reference numerals, each marking identical components, for the meaning and explanation of which reference is made to the above description in order to avoid unnecessary repetition. In addition or modification to that in Figure 4 illustrated embodiment shows that in Figure 6 Embodiment shown as it were in the preceding Figure 5 a further, so-called sixth pivot bearing L6, which is arranged at the end on the lateral lever arm 10. The sixth bearing L6 is arranged and designed on the lateral lever arm 10 in such a way that the sixth axis of rotation D6 assigned to the sixth pivot bearing L6 is orthogonal to one compared to the exemplary embodiment in FIG Figure 4 fourth axis of rotation D4 * of the fourth pivot bearing L4 * is oriented, the supplementary fourth pivot bearing L4 * in contrast to the exemplary embodiment according to Figure 4 is combined with the sixth pivot bearing L6, so that the supplemented fourth pivot bearing L4 * and the associated fifth pivot bearing L5 together the sixth axis of rotation D6 are pivotable. This remains unchanged in Figure 6 illustrated embodiment as it were in Figure 4 the fourth pivot bearing L4 'with the axis of rotation D4', which is oriented parallel to the axis of rotation D2 'and D3. For purely nomenclature reasons, the pivot bearing L4 'denotes the in Figure 4 fourth rotary bearing L4 'shown and is interchangeable with this in arrangement and function.

The kinematic partial chain, comprising the sixth, supplemented fourth and fifth pivot bearings (L6, L4 ', L5), enables a person's upper arm to be lifted without the other components of the device relating to the two bearing parts 2, 3, the lateral lever arms 9, 10 as well as the pivot bearings L2 ', L3, L4' in order to deflect the first axis of rotation D1 of the first pivot bearing L1 upward and thus to raise it.

This leads to a relief of the motor-assisted lifting process, i.e. The engine power invested in the first pivot bearing L1 is reduced. Optionally, an actuator system supporting the lifting process can be provided in the sixth pivot bearing L6.

In addition, the first pivot bearing L1 is different from Figure 4 arranged near the spine of the person on the fastener 5. In this way, the first axis of rotation D1 passes through the frontal plane of the person in the area near the spine. This also opens up the possibility of using a further force-supporting unit 11, for example in the form of a cylinder-piston unit, preferably a pneumatically or hydraulically driven cylinder unit, which is supported on one side on the fastening means 5 and is articulated on the lateral lever arm 9 for the purpose of introducing force .

Another variant for training the in would also be conceivable Figure 6 Illustrated embodiment, in which the lever arm 10 is rotatably mounted on one side on the third pivot bearing L3 and thus takes over the role of the second bearing part 3, with the omission of the pivot bearing L4 'about the third pivot axis D3.

Reference symbol list

1

First bearing part

1'

Bearing journal

2nd

Second bearing part

3rd

Third bearing part

3 '

Bearing eye

4th

Fourth bearing part

4 '

Bearing journal

5

Fasteners

6

Fasteners

7

Electric motor

8th

Bearing bolt

9, 10

Lever arm

11

power support unit

D1

First axis of rotation

D2

Second axis of rotation

D3,

Third axis of rotation

D4, D4 ', D4 *

Fourth axis of rotation

D5

Fifth axis of rotation

D6

Sixth axis of rotation

L1

First pivot bearing

L2

Second pivot bearing

L3,

Third pivot bearing

L4, L4 ', L4 *

Fourth pivot bearing

L5

Fifth pivot bearing

L6

Sixth pivot bearing

V

contraption

Claims (10)

1. Apparatus for supporting the movement of a human shoulder joint, with
   a first rotary bearing (L1) for executing a rotation of a first bearing part (1) about a first axis of rotation (D1),
   a second rotary bearing (L2) for executing a rotation of a second bearing part (2) about a second axis of rotation (D2), wherein the second axis of rotation (D2) is connected indirectly or directly to the first bearing part (1),
   a third rotary bearing (L3) for executing a rotation of a third bearing part (3) about a third axis of rotation (D3), wherein the third axis of rotation (D3) is connected indirectly or directly to the second bearing part (2),
   a fourth rotary bearing (L4) for executing a rotation of a fourth bearing part (4) about a fourth axis of rotation (D4), wherein the fourth axis of rotation (D4) is connected indirectly or directly to the third bearing part (3), and
   a fifth rotary bearing (L5) for executing a rotation of the fourth bearing part (4) about a fifth axis of rotation (D5),
   wherein

   a) the first axis of rotation (D1) is connected in a spatially fixed manner to a first fastening means (5) which is suitable for a detachably secure mounting and orientation of the first rotary bearing (D1) on the shoulder area of a person,

   b) the fifth axis of rotation (D5) is connected in a spatially fixed manner to a second fastening means (6) which is suitable for a detachably secure mounting and orientation of the fifth rotary bearing (D5) on the upper arm area of the person's scapula, such that the fifth axis of rotation (D5) traverses the head of the person's humerus of the person during use,

   c) the second and third axes of rotation (D2, D3) are orientated parallel to each other and span a plane (E) relative to which the fourth axis of rotation (D4) is in parallel orientation,

   d) at least one of the first and/or fifth rotary bearings have/has an actuator system that supports the rotation, and

   e) when used with their assigned axes of rotation, no three rotary bearings of the five rotary bearings (D1, D2, D3, D4, D5) span an x-y-z coordinate system which intersects in the humerus head.
2. Apparatus according to Claim 1,
   characterized in that the fourth and fifth axes of rotation intersect.
3. Apparatus according to Claim 1 or 2,
   characterized in that the second and third axes of rotation and the third and fourth axes of rotation each have a constant distance from each other, and the distance between the second and the fourth axes of rotation is variable.
4. Apparatus according to any one of Claims 1 to 3,
   characterized in that the second axis of rotation is orientated orthogonally to the first axis of rotation, and
   that the fourth axis of rotation is orientated orthogonally to the fifth axis of rotation.
5. Apparatus according to any one of Claims 1 to 4,
   characterized in that the actuator system comprises an elastic clamping means with a torque-generating bias, or
   that the actuator system has an electromotive drive in the form of one of the following electric motors: servo-, stepper or synchronous motor, or that the actuator system has a servohydraulic or servopneumatic drive.
6. Apparatus according to any one of Claims 1 to 5,
   characterized in that the first, second, third and fourth bearing parts (1, 2, 3, 4) are each embodied as separate components.
7. Apparatus according to any one of Claims 1 to 6,
   characterized in that the first and second axes of rotation intersect.
8. Apparatus according to any one of Claims 1 to 7,
   characterized in that the first rotary bearing (L1) is arranged in spatially fixed manner on the fastening means (5) such that the first axis of rotation (D1) traverses the scapula or an area located between the person's spine and scapula during use.
9. Apparatus according to any one of Claims 1 to 8,
   characterized in that the first axis of rotation (D1) and the fifth axis of rotation (D5) span a common plane.
10. Apparatus according to any one of Claims 1 to 9,
    characterized in that a sixth rotary bearing (L6) is mounted indirectly or directly on the third bearing part (3), for executing a rotation of the fourth bearing part (4) about a sixth axis of rotation (D6), which is orientated orthogonally to the fourth axis of rotation (D4) .

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