EP3547969A1

EP3547969A1 - Device and method for supplementing muscle strength

Info

Publication number: EP3547969A1
Application number: EP17840550.2A
Authority: EP
Inventors: Robert Weidner; Jens Peter WULFSBERGER; Zhejun Yao
Original assignee: Exoiq GmbH
Current assignee: Exoiq GmbH
Priority date: 2016-11-30
Filing date: 2017-11-22
Publication date: 2019-10-09
Also published as: AU2017368718A1; US11369541B2; JP2019535438A; WO2018099512A1; CN110062612A; CA3043430A1; DE102016123153A1; US20190282426A1; BR112019011076A2; KR20190090837A

Abstract

A device is described for supplementing muscle strength. The device comprises a flexible supporting structure configured to be worn on the body of a user during use of the device, and an actuator unit configured to apply a tensile force to a first tensile element of the flexible supporting structure in order to supplement muscle strength when a first body part is moved. The first tensile element extends to the actuator unit along a first path through a guide band of the flexible supporting structure, the actuator unit delimiting a section of the first path transversely to the longitudinal direction of the path. The first tensile element is further configured to be fastened to the first body part during use of the device.

Description

DEVICE AND METHOD FOR MUSCLE POWER SUPPORT

Technisches GebietTechnical area

The present invention relates to devices and methods for assisting muscular strength. In particular, the invention relates to a device and a method for supporting the hand muscles.

Stand der TechnikState of the art

Manual activities, especially those based on repetitive and vigorous hand movements, can lead to diseases of the human musculoskeletal system. This can result in reduced muscle strength and connective tissue problems. For example. For example, affected persons may lose the ability to apply sufficient gripping force or sufficient finger force, which may lead to problems in holding and manipulating objects, or may be impaired in their mobility due to persistent overload pain or signs of wear and tear.
In addition to said disorders on the human musculoskeletal system, reduced or (in a given situation) underdeveloped muscular strength may also be due to the use of cumbersome (protective) gloves, poor accessibility or the need to hold or manipulate heavy or stiff objects.
To support muscle strength or to rehabilitate diseases of the hand various portable devices are known from the prior art. The documents US 3707963 A, EP 2436358 A1, WO 2014/033613 A2 and WO 2014/068509 A2, for example, show self-supporting devices constructed from rigid elements, via which movements of one hand can be guided and supported. Devices of this type must ideally be designed so that their pivot points coincide with the axes of rotation of the human joints. Otherwise, the deviations can lead to complaints and injuries of the user as well as to restrictions of the human movements. To meet this requirement, a hard structure requires additional space, which is often difficult to achieve in the hand area.
Furthermore, US Pat. No. 7,573,577 B2 discloses a flexible orthopedic glove which has spring elements on the outside of the hand which support the stretching of the fingers. In addition, the glove can be used to train the grip force. The documents US 8029414 B2 and US 9067325 B2 in turn show gloves that are equipped with traction elements and motors for grip reinforcement, especially in the power grip, or coupled. These devices thus focus mainly on a support of the power grip, in particular the variant of the power grip, in which all fingers and the thumb surround the object. However, to the best of the inventors' knowledge, a device that can support the variety of all possible handles and hand movements is not known in the art.

Darstellung der ErfindungPresentation of the invention

It is the object of the present invention to improve the concepts known from the prior art for assisting human movements.
The present invention provides a biomimetic device according to claim 1 which replicates the function of the muscles and connective tissue of the muscles of a human body part (and in particular a hand) in the form of an attractible (textile) garment.
The inventive muscle power assist device comprises a flexible support structure adapted to be worn on the body of a user during use of the device and an actuator unit configured to apply a tensile force to a first force support muscle force upon movement of a first body part To exert tension member of the flexible support structure, wherein the first tension member along a first path through a guide band of the flexible support structure to the actuator unit which limits a portion of the first web in a direction transverse to the web longitudinal direction, the first tension member is set during use of the device by means a first fastener to be attached to the body part and the guide tape is positioned along the power transmission direction after the first fastener.
The flexible support structure may be configured to be slipped over a limb, particularly over one or more fingers of a user's hand.
The actuator unit may be adapted to be connected to the user by means of a cuff or an arm or leg strap.
The flexible support structure may comprise a plurality of tension elements fastened in particular on a palm side and a back side of the support structure, wherein the tension elements are guided along different paths in the support structure to the actuator unit and the actuator unit is adapted to exert tensile forces on the tension elements.
The flexible support structure may be provided on the inside and / or outside at least partially with a polymer layer.
For example. For example, the flexible support structure may comprise an outer layer (eg a polymer layer) covering the tension elements.
Here, the term "flexible support structure", as used in the description and the claims, in particular a structure to understand that includes flexible elements, eg. Textile elements, on the force on a body part such as, a limb or on sections or areas of a limb can be exercised. Due to the flexibility of the support structure, it can be achieved, in particular, that the force acts not only substantially punctiformly but also over a specific area (evenly distributed) on the body part. Furthermore, the flexibility of the support structure allows the user to influence the force direction within certain limits or to deviate from a given direction of force within certain limits, allowing a more natural movement.
Furthermore, the term "actuator unit" as used in the description and the claims, is to be understood in particular as a unit which is set up, under the control of electrical signals, to apply a force to elements which are connected to the actuator unit , The fact that the actuator unit can be connected to the user during use of the device by means of a cuff or an arm or leg strap, the tension elements can thus be moved relative to the sleeve or relative to the arm or foot band. The relative movement can initiate or support a movement of the limb or parts of the limb.
Furthermore, the term "cuff" as used in the description is to be understood as meaning, in particular, an expandable element (which, during use of the device) is an arm, a leg or another body part that frictionally wraps around it Bandes (ie as a bracelet, leg band or band or belt around a body part) may be formed. The cuff may for example be formed of an elastic material, which is wound around the arm or the leg during use of the device in a stretched state and is connected by the restoring force of the elastic material frictionally with the arm or the leg.
Furthermore, by the phrase "palm side / back of the back of the support structure", as used in the description, in particular a on the palmar side or the dorsal side of the hand fitting or opposite region of the support structure to understand. In addition, the term "tension element" as used in the description and the claims is to be understood in particular as an element which is adapted to divert a force applied by the actuator unit to a connection point (for example a wire, a thread, a leash, a cable, a band, or a rubber band). In this context, the term "web", as used in the description and the claims, in particular a (straight or curved) trajectory to understand along which a corresponding tension element during use of the device (sliding) can be moved. The term "trajectory" should be understood broadly and also include defined deviations from an "ideal line" transverse to the direction of displacement, which may occur, for example, in a guide with play and / or of elastic material.
In addition, it should be noted that adjectives such as "first / first / first, second / second / second, third / third / third, etc." as used in the specification and claims are primarily intended to express terms to delimit the terms designated elements from each other. For example, a reference to a "third tension member" does not mean that the invention requires a first and a second tension member, but merely serves to simplify the reference to a particular tension member with respect to embodiments that include more than one tension member. Furthermore, adjectives such as "first / first / first, second / second / second, third / third / third, etc." as used in the specification and claims should not be construed as necessarily being different Features is because embodiments may exist in which different functions can be effected by different (same) features but also by a single feature.
Preferably, the flexible support structure is formed as a glove, wherein the one or more fingers of the user's hand are enclosed by one or more finger cots of the glove.
Here, the term "glove", as used in the description and the claims, in particular a textile garment to understand, which encloses the one or more fingers of the user's hand, the metacarpus and often the carpal, wherein the The expression "enclosed" is to be understood broadly and gloves with one or more recesses, for example for ventilation, should be included. In addition, in addition to an elastic, the one or more fingers and the carpal of the hand while using (in the stretched state) non-positively enclosing glove, a glove is considered, the only certain areas of the one or more fingers and the carpal during use in tightly encloses stretched state.
Preferably, each tension member is secured to a band-shaped loop of the flexible support structure, wherein at least one loop of the flexible support structure is adapted to loop around a finger bone of the hand, and at least one loop of the flexible support structure is adapted to loop around metacarpal bones of the hand.
By applying a tension element with a tensile force through the actuator unit, the loop connected to the tension element can be pulled in the direction of the web or in the direction of a web section to the actuator unit. As a result, the looped finger bone is bent along the palm side during a course of the lane and stretched along the back of the hand during a course of the lane, or the arched middle hand is further arched.
Preferably, the number of loops of the flexible support structure that are configured to be wrapped around a single finger is greater than or equal to the number of finger phalanges (phalanges) of the single finger.
This allows each finger bone individually addressed and thus complex hand movements are supported. For example. For example, at least one loop may be provided per finger bone of a finger, which loop wraps around it at the distal end or in the region of the distal end during use of the device.
Preferably, the at least one loop of the flexible support structure adapted to loop around the metacarpal bones of the hand is further adapted to run along a muscle ridge in the area of the palm side of a metacarpus on the thumb and the little finger.
Thus, the entangled metacarpal, for example, can be supported in the power grip by the metacarpal bone of the thumb is guided towards the palm.
Preferably, the tension elements are guided by loops of the flexible support structure.
As a result, a body-near flat guide is made possible, which allows a defined relative movement of the individual finger members to each other.
Preferably, the actuator unit comprises a plurality of traction units, which in particular comprise elements made of a shape memory alloy.
Here, the term "shape memory alloy" as used in the description and the claims, in particular an alloy to understand that in the solid state by changing physical parameters (eg. By heating) targeted in a particular shape and thereby to Performing work can be used.
Preferably, the elements of a shape memory alloy are formed spirally.
By using spring-like elements made of a shape memory alloy, an elastic connection of the tension elements to the actuator unit can be realized and the actuator unit can be made compact.
Preferably, the flexible support structure includes an arm portion adapted to be slipped over a forearm of the user and a pulling direction of the actuator unit extends along the forearm.
As a result, the actuator unit can be set in a flexible and adaptive manner, which prevents hand movements from being obstructed by the actuator unit or prevents or prevents the hand-surrounding part of the device from accessing objects that are difficult to access or from objects that are difficult to access.
Preferably, the first track is configured to pass over a hinge of the body which connects a bone of the first body part to a bone of a second body part.
As a result, can be supported by the tensile force diffraction, extension, abduction, adduction or rotation of the joint by force.
Preferably, the first track is arranged to run, at least in sections, parallel to a tendon and / or a muscle of the body, which allow a voluntary muscle force to be exerted on the first body part.
This allows for adapted to natural movements muscle strength support.
The first pulling element preferably has a first fastening element (for example a loop) which is set up to completely or partially enclose the first body part during use of the device.
This reduces the dependence of the force transmission on the position of the first body part.
Preferably, the device further comprises a second pulling element, which is guided along a second path to the actuator unit and arranged to be attached to the first body part during use of the device by means of the first fastening element.
This increases the possibilities with regard to the supported movement direction (s) with regard to the first body part.
Preferably, the actuator unit is adapted to exert tensile forces independently of each other on the first tension element and the second tension element.
As a result, antagonistic movements of the first body part can be supported.
Preferably, the device further comprises a third pulling element which is guided along a third track to the actuator unit and arranged to be attached to a third body part during use of the device, wherein a third fastening element of the third pulling element is formed as the guide band.
This can reduce the complexity of the structure of the support structure.
Preferably, the guide band is arranged to enclose a second body part.
The guide strip and the / the fastener (s) may, for example, consist of a flexible material or a combination of materials, which are transversely to the tensile direction but flexible in the pulling direction in view of the expected tensile forces substantially inelastic.
Preferably, the guide band is adapted to be worn on the skin or over a garment during use of the device and provided with a polymer layer.
For example. The guide tape can be provided with a slip-resistant silicone layer.
Preferably, the first fastener is adapted to be worn on the skin or over a garment during use of the device and provided with a polymer layer.
For example. the fastening element can be provided with a slip-resistant silicone layer.
Preferably, the guide band has a channel and the first tension element is guided through the channel.
As a result, contact between the tension element and the skin can be avoided.
Preferably, the device further comprises a control system with a sensor unit, wherein the control system is adapted to control the first traction.
Preferably, the sensor unit comprises sensors for detecting a force, a movement, a stretching, a bending, a muscle activity, a pulse rate and / or a metabolic rate.
Preferably, the control system is arranged to minimize user energy costs.
The actuator unit preferably has a helical element made of a shape memory alloy to which the first tension element is fastened.
However, the actuator unit may also include an electric motor, a pneumatic or hydraulic actuator, or artificial muscles of polymer fibers or carbon nanotubes.
Preferably, the flexible support structure is formed at least as part of a textile garment.
For example. For example, the flexible support structure may include a sleeve, vest, pants, trouser leg, stocking, or sock. Furthermore, the guide band and / or the fastening elements can be incorporated into the textile garment.
Preferably, the device is applied to a person's body, voluntary movements of the hand are monitored, and tensile forces are exerted on the tension elements based on the monitored voluntary movements.
As a result, a variety of hand movements of a person can be supported by force.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Fig. 1 eine schematische Ansicht einer beispielhaften Ausgestaltung einer erfindungsgemäßen Vorrichtung;
Fig. 2 eine schematische Ansicht einer beispielhaften Ausgestaltung einer Zugeinheit;
Fig. 3 eine schematische Ansicht einer beispielhaften Ausgestaltung eines Teils der flexiblen Stützstruktur;
Fig. 4 eine schematische Ansicht einer beispielhaften Ausgestaltung einer flexiblen Stützstruktur einer weiteren erfindungsgemäßen Vorrichtung;
Fig. 5 schematische Ansichten einer beispielhaften Ausgestaltung einer flexiblen Stützstruktur einer weiteren erfindungsgemäßen Vorrichtung;
Fig. 6 ein Verfahren zur Muskelkraftunterstützung; und
Fig. 7 ein weiteres Verfahren zur Muskelkraftunterstützung zeigt.

1 shows a schematic view of an exemplary embodiment of a device according to the invention;
FIG. 2 is a schematic view of an exemplary embodiment of a tractor unit; FIG.
3 is a schematic view of an exemplary embodiment of part of the flexible support structure;
4 shows a schematic view of an exemplary embodiment of a flexible support structure of a further device according to the invention;
5 shows schematic views of an exemplary embodiment of a flexible support structure of a further device according to the invention;
6 shows a method for muscle strength support; and
Fig. 7 shows another method for muscle strength support.

The same and functionally similar elements are indicated by the same reference numerals in the drawings.

Weg(e) zur Ausführung der ErfindungWay (s) for carrying out the invention

Fig. 1 shows a schematic view of the palm side (left) and a schematic view of the back of the hand (right) of a device 10 for muscle strength support. The device 10 comprises a flexible support structure 12 in the form of a finger glove and a forearm cuff 14 connected to the support structure 12. Attached to the forearm cuff 14 is an actuator unit 16 comprising a plurality of pulling units 18. As shown in Figure 2, the traction units 18 may each comprise a plurality of helical elements 18a made of a shape memory alloy and whose length may be shortened by means of a control signal from a controller (not shown). It should be noted, however, that the invention with respect to the traction units 18 is not limited to spiral shape memory alloy elements 18a; Rather, the required tractive forces can be provided by any artificial muscles (for example by artificial muscles made of twisted plastic fibers or carbon nanotubes) or by electric motors.
As shown in Fig. 1, the traction units 18 are connected at their proximal end to the forearm cuff 14 and at their distal end to a plurality of tension members 20 (for clarity) along their tracks, partly using solid lines and partly are shown using dashed lines. The tension members 20 are formed as ropes or (monofilament) cords, the distal end of each is attached to a fastener in the form of a band-shaped loop 22. The band-shaped loops 22 are integrated / incorporated into the finger glove, so that slipping of the slings 22 in the distal or proximal direction (substantially) is prevented. By moving the tension elements 20, the loops 22 stretch around the looped finger bones, and act upon the looped finger bones with a force. It should be noted that the force is exerted by means of the tension members 20 opposite portions of the loops 22 on the finger bones.
The loops 22 are for this purpose preferably transversely to the pulling direction flexible but nevertheless (essentially) not stretchable. Thus, the loops 22 that are exciting around the finger bones adapt to the user's finger shape without impairing the transmission of the tensile forces. Further, as shown in Fig. 1, each one on a palm side and a back of the hand guided tension member 20 pairs and offset from each other with a sling 22 be connected, so that a support movement in different directions and in particular a supporting the bending and Stretching the hand bone is possible.
As shown in Fig. 1, the webs of the tension members 20a, 20b and 20c on the palm side extend along the center lines of the index finger, the middle finger, the ring finger and the small finger and are adapted to bend the respective finger. The trajectories of the traction elements 20a are modeled on the trajectories of the tendons of the M. flexor digitorum profundus (FDP) and support the diffraction of the distal Phanlangen directly and the diffraction of the intermedial phalanges and the proximal phalanges indirectly. The trajectories of the traction elements 20b are modeled on the orbits of the tendons of the M. flexor digitorum superficialis (FDS) and indirectly support the diffraction of the intermedial phalanges directly and the proximal phalanges. The tracks of the tension members 20c are the tracks of the tendons of the Mm. Interossei (IOs) and support the flexion of the proximal phalanges.
The flexion of the thumb can be assisted by the tension members 20d and 20e while the tension member 20f assists in spreading the thumb. While the tracks of the tension members 20a-20c extend across the midline of the fingers, the tracks of the tension members 20d-20f do not extend beyond the midline of the thumb, but offset from the centerline across the palm of the hand to the wrist. This trajectory improves the power flow of the traction elements 20d-20f and allows a precise force-supporting guidance of the metacarpal bone of the thumb.
The extension of the phalanges of the index finger, the middle finger, the ring finger and the little finger can be assisted by the tension members 20g and 20h. As shown in Fig. 1, the tension members 20g and 20h at the level of the distal ends of the metacarpals each split into two strands, which extend offset to the center line of the phalanges. As a result, the wearing comfort can be improved. Further, the tension member 20i assists the extension and positioning of the thumb at rest.
The tension members 20j, 20k, 20l and 20m are intended for the movements of the wrist and arranged to be actuated independently of the tension members 20a-20i acting directly on the phalanges, i. H. to be charged or tensioned with a force. The tension elements 20j and 20k thereby assist the flexion of the palm, while the tension elements 20l and 20m support the extension of the palm. The abduction and adduction of the palm can be supported by the tension elements 20j and 20l and by the tension elements 20k and 20m, respectively. By a coordinated loading of the tension elements 20j-20l with force, the alignment of the wrist can also be supported.
3 shows an exemplary embodiment of a guide of a tension element 20 along an inner side of the flexible support structure 12. The band-shaped guide straps 24 are provided with guide elements in the form of channels 24a, through which the tension elements 20 extend. Alternatively, the tension element 20 can also be guided between the upper or lower arm and the guide belt 24 through the guide belt 24. The channels 24a restrict the trajectory of the traction elements 20 transversely to the direction of displacement and thereby form a guide which guides the traction elements 20 along defined tracks. As shown in FIG. 3, in addition to rectilinear channels 24a, curved channels 24a may also be provided. Furthermore, to protect the human skin between the tension members 20 and the skin surface, a continuous (textile) protective layer may be provided, so that direct contact between tension members 20 and the skin is avoided.
As shown in FIG. 1, loops 22 serving as guide straps 24 may be provided not only in the region of the distal ends of the phalanges for bending the fingers, but also in the region of the proximal ends of the phalanges, for example in the region of the proximal ends of the phalanges proximal phalanges in order to achieve a defined and close-fitting guidance of the tension elements 20, even with bent phalanges.
4 shows a schematic view of an exemplary embodiment of a flexible support structure 12 of a further device 10 according to the invention for assisting the movement (in particular bending) of a forearm of the user. As shown in FIG. 4, the flexible support structure 12 includes a tension member 20 having a fastener in the form of a loop 22 surrounding a user's forearm. The tension element 20 is guided through channels 24a of the guide bands 24 surrounding the lower and upper arms, which effect a close-to-the-body guidance of the tension element 20 even when the forearm is bent. Alternatively, the tension element 20 can also be guided between the upper or lower arm and the guide belt 24 through the guide belt 24.
Fig. 5 shows a schematic view of an exemplary embodiment of a flexible support structure 12 of another device 10 according to the invention for supporting the movement of the legs and trunk of the user. As shown in Fig. 5, the flexible support structure 12 comprises tension members 20 having fastening elements in the form of loops 22 surrounding a user's lower legs. The tension elements 20 are guided by the thigh surrounding guide bands 24, which cause a close-to-body guidance of the tension members 20, even with bent lower legs. Further, the flexible support structure 12 comprises tension members 20 which enclose the upper body and the lower body of the user and by which the stretching of the spine can be assisted.
Fig. 6 outlines the use of the device 10 in a method for muscle strength support. In this case, after the application 28 of the device 10 will gewillkürte movements of a body part, such as. The hand, z. If a voluntary movement is detected or a sensed force value exceeds a predetermined threshold, tensile forces may be applied to a portion of the traction elements 20 to assist the musculature, i. H. to reduce the force to be provided by the musculature in a given situation by providing it through the device 10.
Fig. 7 outlines the use of the device 10 in a further method for muscle strength support. In this case, after applying the device 10 gewillkürte movements of a body part, such as. The hand, z. B. monitored by electromyography (EMG) or by force sensors. When a voluntary movement is detected or a sensed force value exceeds a predetermined threshold, tensile forces may be applied to a portion of the traction elements 20 to assist the musculature, i. H. to reduce the force to be provided by the musculature in a given situation by providing it through the device 10. In this case, the tensile forces to be exerted by the device 10 on a part of the tension elements 20 are determined on the basis of a control strategy which is optimized until the energy costs of the user, ie. H. the sum of energy to be spent by the user over a given time horizon is minimal.
The illustrated device 10 is thus designed as a portable support system that supports or relieves corresponding muscles of the user. In this context it should be noted, however, that the device 10 shown (modified according to the changed anatomical conditions) for the force support of all body parts, such. As the arms, the legs, the feet, or even the back can be used by the function of the human muscles and the cooperating connective tissue is adequately replicated by the device 10.
The replication of the function of the human muscles and of the connective tissue interacting therewith by the device 10 is thereby, as described in connection with FIGS. 1-7 by way of example, achieved by the interaction of the actuator unit 16, the tension elements 20 and the guide straps 24. The actuator unit 16 can also be directly or indirectly connected to the tension elements 20 and configured such that the tension elements 20 and the actuator unit 16 can be integrated separately into the flexible support structure 12 during application 28 of the device 10 or attached to the forearm cuff 14 can.

BezugszeichenlisteLIST OF REFERENCE NUMBERS

10 device
12 support structure
14 cuff
16 actuator unit
18 train unit
18a element
20 tension element
22 fastener / loop
24 guide band
24a channel
26 joint
28-32 process steps

Claims

A muscle strength support apparatus (10) comprising:

a flexible support structure (12) configured to be worn on the body of a user during use of the device (10); and

an actuator unit (16) arranged to exert a pulling force on a first pulling element (20) of the flexible supporting structure (12) in order to support the muscular force during a movement of a first body part; in which

the first tension member (20) extends along a first path through a guide band (24) of the flexible support structure (12) to the actuator unit (16) defining a portion of the first path in a direction transverse to the web longitudinal direction;

the first tension member (20) is adapted to be attached to the first body part during use of the device (10) by means of a first fastening element (22); and

the guide band (24) is positioned along the power transmission direction after the first fastener (22).
The muscle strength support apparatus (10) of claim 1, wherein the first track is configured to pass over a hinge of the body that connects a bone of the first body portion to a bone of a second body portion.
The muscle strength support device (10) according to claim 1 or 2, wherein the first track is arranged to run at least in sections parallel to a tendon and / or a muscle of the body which allow to apply a voluntary muscular force to the first body part.
The muscle strength support device (10) of any one of claims 1 to 3, wherein the first tension member (20) includes a first fastener (22) configured to completely or partially enclose the first body portion during use of the device (10).
The muscular assist device (10) of claim 4, further comprising:

a second tension member (20) guided along a second path to the actuator unit (16) and adapted to be attached to the first body portion during use of the apparatus (10) by means of the first attachment member (22).
Muscle force support device (10) according to claim 5, wherein the actuator unit (16) is arranged to exert tensile forces independently of each other on the first tension member (20) and the second tension member (20).
The muscular assist device (10) of any one of claims 4 to 6, further comprising:

a third tension member (20) guided along a third track to the actuator unit (16) and adapted to be attached to a third body portion during use of the device (10), a third attachment member (22) of the third tension member (20 ) is formed as the guide band (24).
The muscle strength support device (10) according to any one of claims 1 to 7, wherein the guide band (24) is arranged to enclose a second body part.
The muscle strength support device (10) according to any one of claims 1 to 8, wherein the guide band (24) has a channel and the first tension member (18) is passed through the channel.
The muscular assist device (10) of any one of claims 1 to 9, further comprising:

a control system having a sensor unit, wherein the control system is configured to control the first draft; and

the control system is arranged to minimize the energy costs of the user while using the device (10).
The muscle strength support apparatus (10) of claim 10, wherein the sensor unit comprises sensors for detecting a force, a movement, a stretch, a bend, a muscle activity, a pulse rate, and / or a metabolic rate.
The muscle strength support device (10) according to any one of claims 1 to 11, wherein the actuator unit comprises a shape memory alloy spiral shaped member (18a) to which the first tension member (20) is attached.
The muscle strength support device (10) according to any one of claims 1 to 12, wherein the flexible support structure (12) is formed at least as part of a textile garment.
The muscle strength support device (10) according to any one of claims 1 to 13, wherein the flexible support structure (12) on the inside and / or outside is at least partially provided with a polymer layer.
The muscular assist device (10) of claims 13 and 14, wherein the flexible support structure (12) is formed as a glove and one or more finger cots of the glove are configured to enclose one or more fingers of the user's hand.
Muscle force assisting apparatus (10) according to any one of claims 1 to 15, wherein the flexible support structure (12) comprises an arm portion adapted to be slipped over a forearm of the user and a pulling direction of the actuator unit (16) along the forearm extends.
Method for assisting muscle strength, comprising:

Applying (28) a device (10) according to one of claims 1 to 16;

Monitoring (30) voluntary movements; and

Applying (32) a tensile force to the first tension member (20) based on the monitored voluntary movements.