EP3898124A1

EP3898124A1 - Device for supporting and relieving the arms of a user

Info

Publication number: EP3898124A1
Application number: EP19749770.4A
Authority: EP
Inventors: Simon Käsmann; Lars Melzer
Original assignee: Hilti AG
Current assignee: Hilti AG
Priority date: 2018-12-17
Filing date: 2019-08-13
Publication date: 2021-10-27
Also published as: CN113165164A; JP7280360B2; US20220015979A1; JP2022510472A; WO2020126125A1

Abstract

The present invention relates to a device (1) for supporting and relieving the arms (2) of a user, wherein the device (1) comprises, for each side of the body, an upper sub-region (3) and a lower sub-region (4), wherein the sub-regions (3, 4) are connected to a joint (7,) such that the upper sub-region (3) is pivotable about a horizontal rotation axis (8) of the joint (7) in an upper spatial direction (9) and a lower spatial direction (10), wherein the joint (7), in a first state, is pivotable in the upper spatial direction (9) and in the lower spatial direction (10), and, in a second state, is pivotable only in the upper spatial direction (9).

Description

Support and relief device

a user's arms

The present invention relates to a device for supporting and relieving a right th arm and / or a left arm of a user, the device comprising an upper partial area and a lower partial area for each side of the body, the partial areas being able to be connected to a joint, so that the upper section can be pivoted in an upper and a lower spatial direction about a horizontal axis of rotation of the joint. In particular, the support device is characterized in that it can be operated in preferably two different states.

Conventional support devices are known in the prior art, which are also referred to as passive exoskeletons for supporting the upper extremities of a user. The upper extremities of a user are in particular the user's arms. These passive support devices often use the restoring force of elastic elements in order to be able to guarantee the support, for example to compensate for the weight of the upper extremities. In other words, the weight force of elastic elements, such as springs or spring mechanisms, can be taken up. In addition to the weight of the arms, the additional weight of a tool or other object that is held by the user with one hand can also be compensated for.

The principle of action of the conventional support devices, which is based on the absorption or compensation of forces by an elastic element, is associated with the disadvantage that the support force provided by the elastic element continues to act in an end position, so that the arms of the user a desired posture. In addition, in the known support devices known from the prior art, the direction of the support force for many activities does not coincide with the direction of force actually required, which would be required for the execution of a specific activity. Furthermore, when lowering the arms, the support force that usually acts in the spatial direction “upwards” has to be overcome, which is sometimes bothersome or exhausting. The object of the present invention is therefore to overcome the disadvantages of conventional support devices described above and to provide a support device in which the support force does not continue to act over an end position, so that the arms of the user are not pushed out of a desired posture. Furthermore, it would be desirable if, in the support device to be provided, the direction of the support force coincided with the direction of the force required to perform a particular activity. Another concern of the invention is that the annoying overcoming of the preferably upward supporting or compensating force when lowering the arm is no longer necessary.

The object is achieved by the subject matter of independent claim 1. Advantageous embodiments of the subject matter of the independent claim can be found in the dependent claims. In particular, the object is achieved by a support device which can be operated in preferably two different states.

The object is achieved in particular by a device for supporting and relieving a right arm and a left arm of a user, the device comprising an upper partial area and a lower partial area for each body side, the upper partial area comprising an arm strut with an armrest, wherein the partial areas of the support device can be connected to a joint having a horizontal axis of rotation, so that the upper partial area can be pivoted in an upper and a lower spatial direction about a horizontal axis of rotation of the joint. The device is characterized in that the joint can be pivoted in the first spatial direction and in the lower spatial direction in a first state and can only be pivoted in the upper spatial direction in a second state. In other words, the joint can be in a first state and in a second state, the upper part of the support device being pivotable in the first state in the upper and lower spatial directions and in the second state being pivotable only in the upper spatial direction. In the sense of the invention, it is preferred that the changeover from the first to the second state, or vice versa, can be carried out, for example, by voice control, gesture control or by using electromyography (EMG). In a particularly preferred embodiment of the invention, a control device can be provided in the neck area of the user, which is preferably also referred to as a “neck switch device”. In the sense of the invention, it is preferred that the neck control is controlled by means of a head movement of the user. In other words, the change from a first state to a second state of the joint of the support device can be done with a movement of the head of the user, wherein a corresponding control device can be arranged in the neck of the user.

It is preferred in the sense of the invention that the device is referred to as a support device or as an exoskeleton. In the sense of the invention, the first state can preferably be referred to as a deactivated state and the second state of the joint as an activated state. In the second state, the upper part of the device is preferably blocked in the lower spatial direction. The invention achieves the advantage that the nut zer completely retains its freedom of movement in the upper and lower spatial direction in the first state and the arm of the user is supported in the second state in that the movement of the joint in the lower spatial direction is blocked is. As a result, the arm strut of the upper part of the device cannot move downward and the (upper) arm of the user is effectively supported downward.

In the sense of the invention, it is preferred that the joint unlocks in both directions of rotation around a horizontal axis in the deactivated state. In other words, the joint is in the free-running state in both spatial directions. In the sense of the invention, the directions of rotation are preferably also referred to as spatial direction or direction of movement. In the context of the present invention, the two spatial directions are preferably the spatial direction “upward” and the spatial direction “downward”. The spatial directions can be defined in relation to a vertical mental axis, which can preferably be defined by the spine of the user. The spatial direction “upwards” preferably corresponds to a spatial direction along or parallel to this vertical conceptual axis, namely in the direction of the head of the user, that is, in the direction of the highest point of the user. If the user is in a closed room, the room direction "upwards" is preferably towards the ceiling of the room. The spatial direction “downward” preferably corresponds to the spatial direction along or parallel to this vertical virtual axis, specifically in the direction of the user's feet, that is, in the direction of the lowest point of the user. Preferably, the spatial direction points "downwards" towards a floor or a surface on which the user of the support device stands.

Because the joint is unlocked in the deactivated state about the horizontal axis in both directions or directions of movement, the upper part of the support device can be moved in both directions - up and down. This advantageously leads to the fact that the user has unrestricted freedom of movement with respect to movements around the horizontal axis and is not restricted in his freedom of movement is. In the activated state, the proposed exoskeleton with the two operating states offers support to the user in the form of a contact surface by blocking the joint in one direction of movement. The blocked direction of movement is preferably the “downward” direction of movement. The preferred blocking of the direction of movement “downwards” advantageously supports the arm of the user, which is preferably placed on the armrest. In this way, the user can perform overhead work, for example, while the user can rest his arm or arms on the armrest of the arm strut and can carry out the overhead work from the storage position. In other words, the user of the device or the carrier of the exoskeleton can raise his arms further, the arms in the new position advantageously being supported downwards.

It is preferred in the sense of the invention that the upper part of the device is below the upper arm of a user and that the lower part rests on the side trunk of the user. The device has an upper and a lower partial area on each half of the body. Preferably, the device is provided to support both arms of a slot. However, it can also be preferred in the sense of the invention that only one arm is supported or relieved at work with the device struck before. The upper part of the device comprises an arm strut with an armrest on which the arm of the user can be placed. The arm strut can preferably comprise fastening means with which the arm can be fixed to the arm support of the arm strut. The arms of the user and the upper part of the support device are preferably moved together. In other words, the movements of the upper sections and the arms can be coupled to one another. The lower section preferably runs along the side trunk of the user. It is preferred in the sense of the invention that the lower part of the region extends in particular in an upper region of the user's torso. This upper area can, for example, be at the level of the user's chest. The support device can preferably comprise further fastening means for fastening the device to the trunk of the user.

In the sense of the invention, it is preferred that the upper and the lower partial area of the support device form an angle with one another, which is preferably an obtuse angle. The angle that is closed by the partial areas of the device can be in a range between 0 and 180 degrees. It is preferred in the sense of the invention that the arms can be moved completely freely when using the support device. For example, the arms on the body or Hang the user's torso down, which preferably corresponds to an angle of 0 degrees. The user's arms can also be stretched up substantially parallel to the body, which preferably corresponds to an angle of 180 degrees. It is preferred in the sense of the invention that the angle values are given in relation to the spine of the user, which preferably runs vertically and is present centrally in the body of the user. It is very particularly preferred in the sense of the invention that the joint of the support device can be locked in the entire movement range of the user, the movement range preferably covering an angular range from 0 to 180 degrees.

It is preferred in the sense of the invention that the horizontal axis of rotation of the joint is in spatial proximity to the armpit or in the area of the armpit of the user. However, the joint can also be provided at other locations, for example in the region of the user's shoulder or next to the user's shoulder or above the user's shoulder. In other words, the upper and the lower region of the support device can run along a side surface of the body or trunk of the user or can be arranged in spatial proximity to the body flank. Preferably, the upper portion of the support device runs on an underside of the upper arm of the user, which is preferably opposite the side surface of the torso of the user. Preferably, the lower area of the support device is arranged on this side surface of the user's torso at chest level.

In one embodiment of the invention, it is preferred that the joint is set up to switch between a freewheel and a locked spatial direction. In the sense of the invention, these directions of movement are preferably referred to as “permitted direction of rotation” and as “blocked direction of rotation”. It is very particularly preferred that the joint encompasses a ratchet, the joint with the ratchet being set up to switch between a freewheel and a locked spatial direction. In the sense of the invention, it is particularly preferred to use a fine tooth ratchet.

The joint preferably comprises an adapted ratchet, the ratchet being set up to enable the switching between a freewheel and a locked spatial direction. The ratchet used in the context of the present invention is preferably adapted in the sense that it is not possible - as in a conventional ratchet - to choose between two free directions of rotation, but that it is possible to switch between a freewheel and a blocked direction of rotation. In this respect, the principle of operation of the proposed support device differs from conventional passive exoskeletons in that no Fe- The mechanism is used to compensate for any forces, such as the weight of an arm, but that preferably a support for the arm of the user is created by using in the context of the present invention a joint locking in a spatial direction. Thus, the user can move his arms in complete freedom of movement at all times in the deactivated state of the support device. On the other hand, when the support device is activated, the user can move his arms further up, but no longer down in the blocked direction of movement. The device or its upper section advantageously remains in the activated state in a middle rest position in which the arm of the user is supported by the upper section of the device. It is preferred in the sense of the invention that a joint is used in the context of the proposed support device, which preferably comprises an adapted ratchet. While a conventional ratchet can be chosen between two directions of rotation, it is preferred in the sense of the adapted ratchet that the joint of the proposed exoskeleton can be switched between a freewheel and a locked direction. The freewheel preferably corresponds to the deactivated state. It is preferred in the sense of the invention that the joint absorbs forces in one direction in the activated state, while it slips in the other direction with minimal forces. In the deactivated state, which in the sense of the invention is also preferably referred to as Freilaufzu, no teeth are in the interior of the ratchet, so that the joint slips in both directions of rotation in the deactivated state.

In the sense of the invention, it is preferred that the upper partial area can be fastened to the lower partial area via a coupling rod with a partial gear. This connection mechanism, which preferably comprises at least the coupling rod and the partial gear, is designed to compensate for the shoulder movements of the user. When the user's arms are lifted, the user's shoulders or shoulder joints may also be raised. This lifting of the shoulders or shoulder joints takes place in particular when the arms are raised by more than 90 degrees, i.e. if parts of the user's arms are above the shoulder belt. The connecting mechanism preferably ensures that the support device tracks the shoulder or shoulder movement, so that the axes of rotation of the device and the shoulder joint advantageously coincide further.

The user's shoulder movements can be, for example, that the shoulders rise when a user is working. This lifting of the shoulder is preferably also referred to as shoulder elevation in the sense of the invention. The support is preferably Tongue device configured to synchronize an elevation of a user's shoulders with the device. In particular, the structure of the proposed support device enables the pivot joint of the device to be moved upwards by a height difference Ah when the upper extremity is raised. This advantageously ensures that a height offset is compensated for. This compensation of the shoulder movement enables the support device to follow movements of the human body better, so that a significantly more effective support for the user is made possible than is the case with conventional systems without elevation compensation.

It is preferred in the sense of the invention that the elevation of the shoulder (s) from a certain angular position of the upper extremities, i.e. the poor, begins. In this angular position, a vertically standing component of the support device is preferably extended such that the joint of the support device tracks the shoulder joint. This is preferably effected by the provision of a mechanism coupled to the angular position of the arm, which can comprise, for example, at least one coupling rod and a partial gear. As a result, the natural movement sequence for the upper extremities is advantageously preserved and the connection points between the human body and the support device remain.

It is preferred in the sense of the invention that a rack is guided within a sleeve rotatable about a vertical axis. The rack can be deflected by means of a partial gear, so that the sleeve and the connected ratchet move in the direction of the slide bearing. This shift preferably takes place in the spatial direction “upwards”. The movement of the partial gear is preferably carried out by a mechanical coupling to the movement of the armrest of the support device. For example, the coupling rod can comprise an opening, which can be designed as an elongated hole, for example. The provision of the opening enables the arm strut to be lowered without having to exert any force on the partial gear. A lever of the partial gearwheel can preferably be provided at one end of the opening, as a result of which a further lifting of the armrest above the partial gearwheel leads to a displacement of the toothed rack. The joint can preferably be guided upwards by a spindle or an actuator. As an alternative to the mechanical coupling, the angular position of the arm strut can be determined using a suitable sensor system in order to compensate for an elevation of the shoulders of a user of the support device.

The coupling rod preferably runs essentially parallel to the lower portion of the support device, while an angle that the coupling rod with the upper portion area includes, may vary depending on the state in which the support device is operated or depending on the angle between the upper and lower part of the area. The coupling rod is preferably connected to the partial gear. In the sense of the invention, it is particularly preferred that the coupling rod is connected to the lower partial region of the support device via the partial gearwheel. The lower section preferably comprises a connecting plate and a toothed rack, which are essentially parallel to one another. The rack can comprise a sleeve, with slide bearings being provided on the rack above and below the sleeve. It is preferred in one embodiment of the invention that the lower portion of the support device comprises at least one slide bearing in order to ensure a height adjustment of the upper portion. Preferably, the number of plain bearings in the context of the present invention can be varied as needed.

In the sense of the invention, it is preferred that the proposed support device can in particular relieve the user of overhead work. It can in particular lead to relief of the upper extremities during activities above the shoulder level, with the provision of a support surface for the upper arms in particular creating a relief option for the user. In the deactivated state, this contact surface follows the movements of the upper extremities without offering any support. In the activated state, the proposed support device provides the upper arm with support from below while continuing to follow upward movements in order to always provide support in the opposite direction in the new position.

The proposed support device can preferably comprise means for activating the support device. The activation can take place, for example, by taking a head posture typical of overhead work by the user. The taking of this head posture can be used by the activating means to activate the functions of the support device. It was completely surprising that with the activation means, a possibility can be created to control the proposed support device by activating or deactivating individual functions of the support device. In this sense, the activation means can also be referred to as the neck circuit of the support device. In order for the user to be able to look at an overhead work location, the head is usually tilted backwards, the wording “backwards” in the sense of the invention preferably being understood as “in the neck”. In other words, when working overhead, many users intuitively put their heads back in order to have an optimal view of their work place for the hands. This Movement of the head in the neck can advantageously be used to activate individual functions of the support device or to control the support device. In particular, the invention enables a translation of the head movement into the activation of the joint of the support device. In particular, the activation can represent a mechanical activation using the neck switch. For example, a Bowden cable can be deflected via a two-part lever construction, which ensures that the joint of the support device is switched. Likewise, it can be preferred in the sense of the invention that an inclination of the head is determined by a position sensor which is installed, for example, in a helmet or in glasses of the user of the support device. By providing suitable actuators, the joint of the support device can be switched by moving the head of the user, for example on his neck.

Further advantages result from the following description of the figures. The figures, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into useful further combinations.

In the figures, identical and similar components are numbered with the same reference symbols. Show it:

Fig. 1 is a schematic representation of a preferred embodiment of the invention, in particular special representation of the deactivated and the activated state

Fig. 2 is a schematic side view of a preferred embodiment of the support device

Fig. 3 detailed view of a preferred embodiment of the ratchet

Fig. 4 shows another schematic side view of a preferred embodiment of the support device

Execution examples:

Figure 1 shows on the left half of the picture the deactivated state and in the right half of the activated state of a preferred embodiment of the proposed support device (1). A user is shown who wants to use his arms (2) to perform overhead work with a tool device, for example. In the schematic representation of Figure 1 is in particular the upper portion (3) and the lower portion (4) of the support device (1). The upper section (3) is preferably on an inside of the upper arm (2) of the user, the term “inside” preferably referring to the fact that when the arms (2) are not raised, one side of the arm faces the trunk. This side of the arm (2) facing the trunk is preferably referred to in the sense of the invention as the inside, while the side of the trunk facing the upper arm is referred to as the side surface of the trunk. The lower section (4) of the support device (1) is preferably present on this side surface of the user's torso. In other words, the lower part of the support device (1) is designed to be carried by a user in the area of the trunk, in particular at chest height.

The upper region (3) of the support device (1) preferably comprises an arm strut (5) and an armrest (6) (shown in FIG. 2). The arms (2) of the user can be placed on the armrests (6) when using the support device (1). The upper right section (3) and the lower section (4) of the support device (1) are preferably connected to one another via a joint (7). The articulation (7) is preferably arranged in an axis of rotation (8) that enables the upper part (3) to be pivoted horizontally relative to the lower part (4) of the support device (1). A horizontal axis of rotation preferably runs through a pivot point (8) or the pivot point (8) is preferably part of this horizontal axis of rotation. The pivotability, in particular of the upper partial area (3) of the support device (1) preferably leads to the fact that in particular the upper partial area (3) can move in an upper spatial direction (9) and a lower spatial direction (10). It is preferred in the sense of the invention that the upper portion (3) of the support device (1) can rotate about the horizontal axis (8) or the corresponding pivot point (8). In the sense of the invention, it can furthermore be preferred that the upper partial region (3) and the lower partial region (4) of the support device (1) can additionally be rotated about a vertical axis, which preferably runs essentially parallel to the longitudinal axis of the body. The pivotability is indicated in Figure 1 in particular by the arrows in the area of the arms (2) of the user. The up arrow represents a movement of the upper part (3) of the support device (1) up and the down arrow indicates a movement of the upper part (3) of the support device (1) down. In the deactivated state of the exoskeleton (1), both directions of movement (9, 10) of the joint (7) are admitted, ie both spatial directions (9, 10) are permitted directions of rotation in the deactivated state (1 1).

The activated state of the support device (1) is shown in the right half of the figure. When activated, the user's arms (2) move upwards, i.e. possible in the upper spatial direction (9). Thus, the upper direction of rotation (9) of the upper portion (3) of the support device (1) in the activated state is a permitted direction of rotation (1 1). The link (7) locks in the activated state in a lower direction of rotation (10). The lower direction of rotation (10) therefore represents a blocked direction of rotation (12) in the activated state. The permitted direction of rotation (11) and the blocked direction of rotation (12) are indicated by arrows in FIG.

Figure 2 shows a schematic side view of a preferred embodiment of the support device (1). In particular, the structure of the partial area (3, 4) of the support device (1) is shown. Shown are the arm strut (5) and the armrest (6), which form the upper portion (3) of the support device (1). You can also see the other components of the lower section (4) and the joint (7) that connects the sections (3, 4) to each other. The joint (7) can in particular comprise a ratchet (17) which can preferably be designed as a fine tooth ratchet. The lower section (4) in particular comprises a toothed rack (19), which preferably runs essentially parallel to a connecting plate (18) and a coupling rod (13). The coupling rod (13) is preferably connected to the arm strut (5) of the upper portion (3) of the support device (1). The connec tion plate (18) may preferably be connected to the rack (19) with plain bearings (15). On the rack (19) there is also a sleeve (16) which can be connected to a partial gear (14).

Figure 3 shows a detailed representation of a preferred embodiment of the ratchet. In the state shown in FIG. 3, the joint (7) or the ratchet is in the activated state.

It is preferred in the sense of the invention that the joint (7) or the ratchet (17) absorbs forces in one direction in the activated state, while it slips in the other direction with minimal forces. The force absorption in one direction preferably corresponds to that Blocking the corresponding spatial direction. In particular, the joint (7) blocks the downward direction of rotation (10) in the activated state, so that a movement of the upper partial region (3) of the support device (1) downwards is prevented in the activated state. As a result, the lower direction of rotation or movement (10) in the activated state of the support device (1) corresponds to the blocked direction of rotation (12). The slipping of the joint (7) speaks ent preferably the free or permitted direction of movement (1 1). In the deactivated state, both the upper direction of rotation (9) and the lower direction of rotation (10) are permitted directions of rotation (1 1). In particular, no teeth are engaged in the interior of the ratchet (17) in the deactivated state, so that the joint (7) can slip in both directions of rotation (9, 10) in the deactivated state. The permitted directions of rotation (11) are preferably also referred to as free-wheeling in the sense of the invention.

Figure 4 shows a further schematic side view of a preferred embodiment of the support device (1).

Reference list

1 device / support device

2 arms of a user

3 upper section

4 lower section

5 arm strut

6 armrest

7 joint

8 horizontal pivot or horizontal axis of rotation

9 upper spatial direction

10 lower spatial direction

1 1 permitted direction of rotation

12 blocked direction of rotation

13 coupling rod

14 partial gear

15 plain bearings

16 sleeve

17 ratchet

18 connecting plate

19 rack

Claims

1. Device (1) for supporting and relieving the arms (2) of a user, the device (1) for each side of the body comprising an upper section (3) and a lower section (4), the upper section (3) Arm strut (5) with an armrest (6), the subareas (3, 4) being connectable with a joint (7) having a horizontal axis of rotation (8), so that the upper subarea (3) is connected to an upper one Spatial direction (9) and a lower spatial direction (10) can be pivoted about a horizontal axis of rotation of the joint (7),

characterized in that

the joint (7) in a first state in the upper spatial direction (9) and in the lower right spatial direction (10) can be pivoted and in a second state can only be pivoted in the upper spatial direction (9).

2. Device (1) according to claim 1

characterized in that

the upper part (3) is below the upper arm (3) of a user and the lower part (4) is against the side trunk of the user.

3. Device (1) according to claim 1 or 2

characterized in that

there is a horizontal pivot point (8) in spatial proximity to the crook of the arm or in the area of the armpit of the user.

4. Device (1) according to one of the preceding claims

characterized in that

the joint (7) is set up to switch between a freewheel and a blocked spatial direction (12).

5. Device (1) according to one of the preceding claims

characterized in that

the upper section (3) can be attached to the lower section (4) by means of a coupling rod (13) with a partial gear (14).

6. Device (1) according to one of the preceding claims

characterized in that

the lower section (4) comprises at least one slide bearing (15) in order to ensure a height adjustment of the upper section (3).