EP3547969A1 - Dispositif et procédé pour soutenir la force musculaire - Google Patents

Dispositif et procédé pour soutenir la force musculaire

Info

Publication number
EP3547969A1
EP3547969A1 EP17840550.2A EP17840550A EP3547969A1 EP 3547969 A1 EP3547969 A1 EP 3547969A1 EP 17840550 A EP17840550 A EP 17840550A EP 3547969 A1 EP3547969 A1 EP 3547969A1
Authority
EP
European Patent Office
Prior art keywords
muscle strength
tension member
actuator unit
force
support structure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP17840550.2A
Other languages
German (de)
English (en)
Inventor
Robert Weidner
Jens Peter WULFSBERGER
Zhejun Yao
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Exoiq GmbH
Original Assignee
Exoiq GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Exoiq GmbH filed Critical Exoiq GmbH
Publication of EP3547969A1 publication Critical patent/EP3547969A1/fr
Pending legal-status Critical Current

Links

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
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
    • A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0155—Additional features of the articulation with actuating means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0179—Additional features of the articulation with spring means
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—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
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
    • A61H2230/06—Heartbeat rate
    • A61H2230/065—Heartbeat rate used as a control parameter for the apparatus
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus

Definitions

  • the present invention relates to devices and methods for assisting muscular strength.
  • the invention relates to a device and a method for supporting the hand muscles.
  • 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.
  • 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.
  • a device that can support the variety of all possible handles and hand movements is not known in the art.
  • 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.
  • the flexible support structure may comprise an outer layer (eg a polymer layer) covering the tension elements.
  • flexible elements eg. Textile elements
  • 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 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.
  • 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.
  • the term "palm side / back of the back of the support structure” 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).
  • a connection point for example a wire, a thread, a leash, a cable, a band, or a rubber band.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a glove is considered, the only certain areas of the one or more fingers and the carpal during use in tightly encloses stretched state.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the entangled metacarpal for example, can be supported in the power grip by the metacarpal bone of the thumb is guided towards the palm.
  • the tension elements are guided by loops of the flexible support structure.
  • the actuator unit comprises a plurality of traction units, which in particular comprise elements made of a shape memory alloy.
  • 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.
  • the elements of a shape memory alloy are formed spirally.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a first fastening element for example a loop
  • 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.
  • 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.
  • the actuator unit is adapted to exert tensile forces independently of each other on the first tension element and the second tension element.
  • 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.
  • 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.
  • 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.
  • the guide tape can be provided with a slip-resistant silicone layer.
  • 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.
  • the fastening element can be provided with a slip-resistant silicone layer.
  • the guide band has a channel and the first tension element is guided through the channel.
  • the device further comprises a control system with a sensor unit, wherein the control system is adapted to control the first traction.
  • 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.
  • 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.
  • the actuator unit may also include an electric motor, a pneumatic or hydraulic actuator, or artificial muscles of polymer fibers or carbon nanotubes.
  • the flexible support structure is formed at least as part of a textile garment.
  • the flexible support structure may include a sleeve, vest, pants, trouser leg, stocking, or sock.
  • the guide band and / or the fastening elements can be incorporated into the textile garment.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • the tension elements 20 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.
  • 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.
  • 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 Phan GmbH 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.
  • 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.
  • 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.
  • 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.
  • the alignment of the wrist can also be supported.
  • FIG. 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.
  • 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.
  • curved channels 24a may also be provided.
  • a continuous (textile) protective layer may be provided, so that direct contact between tension members 20 and the skin is avoided.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a body part such as. The hand, z.
  • 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.
  • a body part such as. The hand
  • z. B. monitored by electromyography (EMG) or by force sensors.
  • EMG electromyography
  • 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.
  • 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.
  • 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.

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Abstract

L'invention concerne un dispositif pour soutenir la force musculaire. Le dispositif comprend une structure de soutien flexible qui est conçue pour être portée sur le corps d'un utilisateur pendant l'utilisation du dispositif, ainsi qu'une unité d'actionnement qui est conçue pour appliquer une force de traction sur un premier élément de traction de la structure de soutien flexible afin de soutenir la force musculaire lors d'un mouvement d'une première partie du corps. Le premier élément de traction s'étend le long d'un premier trajet à travers une bande de guidage de la structure de soutien flexible jusqu'à l'unité d'actionnement, ledit élément de traction délimitant un segment du premier trajet dans une direction transversale à la direction longitudinale du trajet. Le premier élément de traction est en outre conçu pour être fixé sur une première partie du corps pendant l'utilisation du dispositif.
EP17840550.2A 2016-11-30 2017-11-22 Dispositif et procédé pour soutenir la force musculaire Pending EP3547969A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016123153.3A DE102016123153A1 (de) 2016-11-30 2016-11-30 Vorrichtung und verfahren zur muskelkraftunterstützung
PCT/DE2017/101006 WO2018099512A1 (fr) 2016-11-30 2017-11-22 Dispositif et procédé pour soutenir la force musculaire

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EP3547969A1 true EP3547969A1 (fr) 2019-10-09

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EP (1) EP3547969A1 (fr)
JP (1) JP2019535438A (fr)
KR (1) KR20190090837A (fr)
CN (1) CN110062612A (fr)
AU (1) AU2017368718A1 (fr)
BR (1) BR112019011076A2 (fr)
CA (1) CA3043430A1 (fr)
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CA3043430A1 (fr) 2018-06-07
WO2018099512A1 (fr) 2018-06-07
AU2017368718A1 (en) 2019-07-11
US11369541B2 (en) 2022-06-28
CN110062612A (zh) 2019-07-26
US20190282426A1 (en) 2019-09-19
DE102016123153A1 (de) 2018-05-30
JP2019535438A (ja) 2019-12-12
KR20190090837A (ko) 2019-08-02

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