EP3383339B1 - Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain - Google Patents

Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain Download PDF

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Publication number
EP3383339B1
EP3383339B1 EP16805077.1A EP16805077A EP3383339B1 EP 3383339 B1 EP3383339 B1 EP 3383339B1 EP 16805077 A EP16805077 A EP 16805077A EP 3383339 B1 EP3383339 B1 EP 3383339B1
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EP
European Patent Office
Prior art keywords
rotation
axis
bearing
bearing part
person
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EP16805077.1A
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German (de)
English (en)
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EP3383339A1 (fr
Inventor
Jérémy LEFINT
Christopher RIEHS
Conrad HOCHBERG
Urban DAUB
Jannis Breuninger
Tobias ROGGE
Amir EBRAHIMI
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
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Publication of EP3383339A1 publication Critical patent/EP3383339A1/fr
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Definitions

  • the invention relates to a device for supporting movement of a human shoulder joint.
  • 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.
  • the shoulder joint in particular places the greatest demands on an artificial, articulated replica of the natural joint mobility.
  • 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).
  • 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
  • the z-axis to the vertical axis.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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
  • 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 device 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • fourth and fifth rotary bearings are designed and arranged such that their axes of rotation intersect and are preferably oriented orthogonally to one another.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • the device V 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.
  • FIG 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second pivot bearing L2 ' is spatially spaced laterally from the first pivot bearing L1.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG 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.
  • 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.
  • an actuator system supporting the lifting process can be provided in the sixth pivot bearing L6.
  • 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.
  • 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.
  • an actuator system supporting the lifting process can be provided in the sixth pivot bearing L6.
  • first pivot bearing L1 is different from Figure 4 arranged near the spine of the person on the fastener 5.
  • first axis of rotation D1 passes through the frontal plane of the person in the area near the spine.
  • 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 .

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Claims (10)

  1. Dispositif pour assister le mouvement d'une articulation d'épaule humaine comportant un premier palier rotatif (L1) pour faire tourner une première pièce de palier (1) autour d'un premier axe de rotation (D1), un deuxième palier rotatif (L2) pour faire tourner une deuxième pièce de palier (2) autour d'un deuxième axe de rotation (D2), dans lequel le deuxième axe de rotation (D2) est directement ou indirectement relié à la première partie d'appui (1), un troisième palier rotatif (L3) pour faire tourner une troisième partie d'appui (3) autour d'un troisième axe de rotation (D3), dans lequel le troisième axe de rotation (D3) est directement ou indirectement relié à la deuxième partie d'appui (2), un quatrième palier rotatif (L4) pour faire tourner une quatrième partie d'appui (4) autour d'un quatrième axe de rotation (D4), dans lequel le quatrième axe de rotation (D4) est central ou est directement relié à la troisième partie d'appui (3) et à un cinquième palier pivotant (L5) pour faire tourner la quatrième partie d'appui (4) autour d'un cinquième axe de rotation (D5), dans lequel
    a) le premier axe de rotation (D1) est relié spatialement à un premier moyen de fixation (5), qui est adéquat pour une fixation et un alignement fixes de manière amovible du premier palier rotatif (D1) sur la zone des épaules d'une personne,
    b) le cinquième axe de rotation (D5) est relié spatialement à un deuxième moyen de fixation (6) qui est adéquat pour une fixation et un alignement fixes de manière amovible du cinquième palier rotatif (D5) sur la partie supérieure du bras de l'omoplate d'une personne, de sorte que pendant l'utilisation le cinquième axe de rotation (D5) traverse la tête du bras supérieur de la personne,
    c) le deuxième et le troisième axe de rotation (D2, D3) sont orientés parallèlement l'un à l'autre et s'étendent sur un plan (E) vers lequel le quatrième axe de rotation (D4) est orienté parallèlement,
    d) au moins un du premier et cinquième palier rotatif a un système d'actionneur qui prend en charge la rotation, et
    e) aucun de trois paliers rotatifs des cinq paliers rotatifs (D1, D2, D3, D4, D5) ne couvrent un système de coordonnées x-y-z coupant en intersection la tête du bras supérieur lorsqu'ils sont utilisés avec les axes de rotation qui leur sont attribués.
  2. Dispositif selon la revendication 1, caractérisé en ce que le quatrième et le cinquième axe de rotation se coupent.
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que le deuxième et troisième axe de rotation et le troisième et quatrième axe de rotation ont chacun une distance constante l'un de l'autre et la distance entre le deuxième et quatrième axe de rotation est variable.
  4. Dispositif selon une des revendications 1 à 3, caractérisé en ce que le deuxième axe de rotation est orienté orthogonalement au premier axe de rotation, et le quatrième axe de rotation est orienté orthogonalement au cinquième axe de rotation.
  5. Dispositif selon une des revendications 1 à 4, caractérisé en ce que l'actionneur comprend un moyen de serrage élastique avec une polarisation génératrice de couple de rotation, ou que l'actionneur présente un entraînement électromoteur, sous la forme d'un des moteurs électriques suivants: servomoteur, moteur pas à pas ou synchrone, ou que le système d'actionneur possède un entraînement servo-hydraulique ou servo-pneumatique.
  6. Dispositif selon une des revendications 1 à 5, caractérisé en ce que la première, deuxième, troisième et quatrième pièce d'appui (1, 2, 3, 4) sont chacune constituées en composants séparés.
  7. Dispositif selon une des revendications 1 à 6, caractérisé en ce que le premier et le deuxième axes de rotation se coupent.
  8. Dispositif selon une des revendications 1 à 7, caractérisé en ce que le premier palier rotatif (LI) sur les moyens de fixation (5) est agencé de manière à être fixé dans l'espace de sorte que, pendant son utilisation, le premier axe de rotation (D1) traverse l'omoplate ou une zone située entre la colonne vertébrale et l'omoplate de la personne.
  9. Dispositif selon une des revendications 1 à 8, caractérisé en ce que le premier axe de rotation (D1) et le cinquième axe de rotation (D5) couvrent un niveau commun.
  10. Dispositif selon une des revendications 1 à 9, caractérisé en ce qu'un sixième palier rotatif (L6) est fixé directement ou indirectement sur la troisième pièce d'appui (3) pour faire tourner la quatrième pièce d'appui (4) autour d'un sixième axe de rotation (D6), qui est orienté orthogonalement au quatrième axe de rotation (D4).
EP16805077.1A 2015-12-03 2016-11-30 Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain Active EP3383339B1 (fr)

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DE102015224156.4A DE102015224156A1 (de) 2015-12-03 2015-12-03 Vorrichtung zur Bewegungsunterstützung eines menschlichen Schultergelenkes
PCT/EP2016/079249 WO2017093298A1 (fr) 2015-12-03 2016-11-30 Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain

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IT201900010026A1 (it) * 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparato in grado di attuare un giunto distale e di trasferire le reazioni vincolari in un esoscheletro di spalla sotto-attuato
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CN108601697B (zh) 2020-09-25
WO2017093298A1 (fr) 2017-06-08
EP3383339A1 (fr) 2018-10-10
CN108601697A (zh) 2018-09-28
DE102015224156A1 (de) 2017-06-08

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