US20220031551A2 - Device for supporting at least one arm of a user and for supporting at least one upper arm - Google Patents

Device for supporting at least one arm of a user and for supporting at least one upper arm Download PDF

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Publication number
US20220031551A2
US20220031551A2 US17/218,417 US202117218417A US2022031551A2 US 20220031551 A2 US20220031551 A2 US 20220031551A2 US 202117218417 A US202117218417 A US 202117218417A US 2022031551 A2 US2022031551 A2 US 2022031551A2
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United States
Prior art keywords
actuator
force
arm
arm support
state
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Pending
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US17/218,417
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US20210275380A1 (en
Inventor
Lars Benjamin Finke
Olaf Kroll-Orywahl
Markus Tüttemann
Michael Bremer
Maximilian Anton Merker
Oliver Mizera
Markus Mladek
Fabienne Röschel
Benjamin Schirrmeister
Carsten Vogel
Jonas Bornmann
Michael Lanzinger
Simon Käsmann
Pascal SCHWEDHELM
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Ottobock SE and Co KGaA
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Ottobock SE and Co KGaA
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Publication of US20210275380A1 publication Critical patent/US20210275380A1/en
Assigned to OTTOBOCK SE & CO. KGAA reassignment OTTOBOCK SE & CO. KGAA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Schirrmeister, Benjamin, KROLL-ORYWAHL, OLAF, Merker, Maximilian Anton, SCHWEDHELM, PASCAL, TUETTEMANN, MARKUS, ROESCHEL, FABIENNE, FINKE, LARS BENJAMIN, Mizera, Oliver, BORNMANN, Jonas, BREMER, Michael, KAESMANN, SIMON, LANZINGER, MICHAEL, MLADEK, Markus, VOGEL, CARSTEN
Publication of US20220031551A2 publication Critical patent/US20220031551A2/en
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    • 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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • 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
    • A61F2005/0165—Additional features of the articulation with limits of movement
    • A61F2005/0167—Additional features of the articulation with limits of movement adjustable
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting

Definitions

  • the invention relates to a device for supporting at least one arm of a user, wherein the device comprises at least one arm support element, in each case with an arm shell for mounting on one arm, at least one passive actuator which is configured to exert a force on at least one of the arm support elements, by way of which an upward movement of the arm in the arm shell is supported when the device is in the mounted state, and at least one counter bearing for the force to be applied.
  • the invention also relates to a device for supporting at least one upper arm of a user, wherein the device comprises at least one arm support element with an arm shell for mounting on the upper arm, at least one passive actuator, which has a first end and a second end and is configured to apply a force to the at least one arm support element, and at least one counter bearing for the force to be applied.
  • the counter bearing has a force transmission element and a counter bearing element.
  • the force transmission element serves to dissipate a counter force to the force to be applied by the actuator into the counter bearing element, which is designed, for example, to dissipate the force into the wearer's body, for example into the hip.
  • Counter bearing elements which are configured to dissipate the force, for example, into the ground on which the wearer of the device is standing or walking, are also known from the prior art.
  • This type of device is described, for instance, in US 2016/0081871 A1. It features a counter bearing element that is designed in the form of a strap that can be placed around torso of the user.
  • Two support braces run along the user's back to his shoulder, each of said support braces being connected to a joint above and laterally next to the shoulder of the user, such that the arm can be raised.
  • Spring elements are arranged on the corresponding joints, by means of which an upward force can be exerted on the arm shells, such that the arms are supported, for example when lifting heavy objects or when working above one's head. If the arms are lowered, a pressure must be exerted by the arms onto the arm shells, wherein this pressure exceeds the force applied by the spring elements, thereby causing the arms to lower.
  • WO 2014/0093408 A2 and U.S. Pat. No. 9,427,865 B2 describe similar devices, feature a spring, especially a tension spring, that is connected to a Bowden cable, said spring functioning as a mechanical energy storage device which acts a passive actuator. Said cable is guided by way of a pulley in such a way that, upon a swivelling of the arm, meaning a movement of the arm support element relative to the counter bearing element, the spring is stretched, such that the mechanical energy storage device is charged with energy.
  • these types of device may be hazardous for the user and lead to injuries. This may occur even though the joints of the device that are arranged outside of the shoulder joint are, according to the prior art, arranged as precisely as possible so that their joint axes and swivel axes pass through the corresponding axis of the shoulder joint, such that supposedly all movements that the natural shoulder and hence the arm of the user can execute can be imitated.
  • EP 3 156 193 A1 An active device that supports arms while work is being performed above a user's head is described in EP 3 156 193 A1.
  • the arm shells are connected to one another by a number of different joints and frame elements. This should render as many movements as possible which are executable by a shoulder joint also possible with the mounted device.
  • Further support devices especially devices which support the lifting of heavy objects or work performed above a user's head, are known from WO 2014/195373 A1 and US 2016/339582 A1, for example.
  • US 2017/0173783 A1 describes an operating principle with which this problem does not occur. Unlike with the devices described here, the actuator is not able to apply a force to the arm support element that supports an upward movement of the arm in the arm shell. Rather, a mechanical spring is used exclusively to make a downward movement more difficult. Therefore, if an arm arranged in this device is not lowered, no force is exerted. Especially when lifting heavy objects, this device, unlike the other previously mentioned embodiments, is therefore of no help.
  • the passive actuator may be advantageous to allow forces of different strengths to be applied by the passive actuator.
  • the adjustability of the forces is also advantageous in the event that one and the same device is to be used for different users.
  • a range of possibilities for adjusting the force are known from the prior art. For example, it is possible to replace the actuator with another actuator that is configured to apply a greater or smaller force.
  • the arm support element is preferably arranged, for example, on the force transmission element such that it can be rotated about an axis of rotation, so that an effective lever length can be changed by shifting the force application point. This naturally changes the torque generated.
  • At least one end of the actuator usually has to be released.
  • actuators that contain elastic elements there is then a risk that the end will be released without the actuator being completely relaxed. If the released end is then accidentally or prematurely released, the energy of the actuator is suddenly discharged and the now free end of the actuator can swing around uncontrollably and cause personal injury and property damage.
  • the invention thus aims to remedy these disadvantages or at least to reduce them.
  • the invention therefore aims to further develop a device where the force to be applied can be adjusted, without incurring the risk of a free end of the actuator causing damage.
  • the invention solves the task with a device comprising at least one actuating element, the actuation of which allows the actuator to be moved into a first state, in which the actuator exerts the force on the arm support element, and into a second state, in which it exerts a smaller or no force on the at least one arm support element.
  • the device has at least one force transmission element that is configured to transmit a counter force from the at least one arm support element to the counter bearing element.
  • the actuator When the device is not mounted, the actuator is preferably in the second state, so that, especially preferably, no force is exerted on the arm support element.
  • the user of the device can therefore put it on and and move the arm support elements with the arm shells into the most comfortable position for mounting.
  • the arm support elements are usually oriented downwards, so that the respective arm can be easily inserted into the arm shell.
  • the device is in the mounted state. In this case, by actuating the at least one actuating element, the actuator can be brought into the first state in which it applies the support force to at least one of the arm support elements.
  • the actuator preferably exerts a maximum force on the at least one arm support element. Consequently, the first state is preferably defined in such a way that a further increase in force by the actuator is not possible, in particular by actuating the at least one actuating element.
  • the actuator can be moved from the first state into the second state in several steps or continuously by actuating the at least one actuating element, wherein the force exerted by the actuator on the at least one arm support element decreases. It is especially preferable if the actuator can be brought into at least one intermediate state, but preferably several intermediate states, by actuating the at least one actuating element, so that the force exerted by the actuator on the at least one arm support element can be adjusted in steps or continuously.
  • the actuating element is preferably arranged on an underside of the arm shell, on a joint that connects the arm support element and the force transmission element such that they can be swivelled, or laterally on the outside of the arm shell or on the arm support element.
  • the underside of the arm shell refers to the side that faces away from the user's arm in the mounted state. When the arm is not raised, it is arranged between the torso and the arm. Laterally on the outside refers to the side that faces away from the torso in the mounted state when the arm is not raised.
  • the force exerted by the actuator allows the force exerted by the actuator to be freely selected and adapted to meet the personal needs of the wearer of the device. For example, if a force application point, at which the actuator acts on the arm support element, is displaced relative to a swivel axis about which the arm support element can be swivelled, for example, relative to the force transmission element, the corresponding lever also changes so that the applied torque is altered. This is understood as a change in the “force exerted”.
  • the at least one actuator features at least one elastic element that can be relaxed by moving the actuator out of the first state into the second state by actuating the at least one actuating element.
  • the elastic element may be, for example, a spring, such as a tension spring, an elastic element, such as an expander, or another element, which is preferably pre-tensioned in the first state of the actuator and is responsible for the force exerted.
  • a fastening element is preferably located at one end of the elastic element, wherein said fastening element can be moved, especially swivelled or displaced, by actuating the at least one actuating element.
  • this movement of the end of the elastic element is damped, for example by way of a spring element, a damping element and/or a controlled applied frictional force. This prevents the elastic element, which may be, for example, an expander, from springing back uncontrollably.
  • the end of the elastic element is locked in the first position, in which the actuator exerts the maximum force on the arm support element.
  • This preferably occurs automatically when and by reaching the first position.
  • a modified “push-push” mechanism and/or a switch lever can be used, for example.
  • a securing device is preferably provided, for example in the form of a latching device with a latching element and a latching undercut, which ensures that the actuator can only be brought from the first state to the second state and/or vice versa when the device is mounted.
  • the actuating element is preferably self-locking.
  • the actuating element may be, for example, a cable pull, a cord or a strap that is arranged on the fastening element.
  • the fastening element itself is mounted such that it can be displaced along a rod, for example, which may also serve as a force transmission element for the force applied by the actuator.
  • One end of the actuating element can be fixed to another component of the device, for example a strap placed around the torso.
  • Positive-locking elements in the form of press studs or velcro elements are provided for this purpose, for example. When mounting the device, this end of the actuating element is not fixed to another component of the device, for example, or in a position in which the elastic element is relaxed.
  • the end of the actuating element can be released.
  • the force of the elastic element displaces the end of the elastic element where the fastening element and the actuating element are located, so that the elastic element is relaxed and the actuator is in the second state.
  • the device can then be safely removed, without any jerky movements occurring.
  • the actuating element can be actuated by the user of the device once the user has mounted the device.
  • actuating element designed as a tension element
  • a switch lever, a tension lever or another device may be provided for displacing the end of the elastic element. This device is preferably self-locking.
  • the actuating element may be designed as a rotary knob.
  • Such a design of the actuating element is offered, for example, by the company BOA.
  • the counter bearing features at least one counter bearing element and at least two force transmission elements, wherein each arm support element is arranged on one of the force transmission elements such that it can be swivelled about a swivel axis.
  • the counter bearing element can be, for example, a hip strap, which can of course be padded, or another element arranged on the user's body.
  • the two force transmission elements are located on said element, wherein said force transmission elements may be a rod that points upwards. At the end of the rod opposite the counter bearing element, there is a swivel joint with a swivel axis, via which the respective arm support element is arranged on the force transmission element.
  • the force exerted by the actuator runs along a force direction which runs closer to the swivel axis in the second state of the actuator than in the first state of the actuator.
  • the force itself acts, for example, on a lever that is firmly connected to the arm support element or is part of the arm support element, and is spaced apart from the swivel axis of the swivel joint. In this way, the force applied by the actuator applies a torque to the arm support element about the swivel axis, resulting in the supporting force. The longer the lever element on which the force acts, the greater the torque and therefore the resulting force.
  • the actuating element By means of the actuating element, it is preferably possible to change this direction of force and to move it closer to the swivel axis in the second state of the actuator. It is particularly advantageous if the direction of force in the second state passes through the swivel axis.
  • the at least one passive actuator is, for example, an elastic element, such as a spring or a tension spring, it is not necessary to displace an end of the element and relax the actuator. Rather, the direction of the actuator or merely the direction of the force applied is changed in such a way that it runs from the force application point, which is located, for example, on the lever specified above, towards the swivel axis. Such a force does not result in a torque about the swivel axis, so that no supporting force is exerted on the arm support element.
  • the actuator features an elastic element, on which at least one tension element is arranged, on which a tensile force can be exerted by actuating the actuating element when the actuator is in the first state.
  • a tension element is, for example, a cable, a wire or a strap.
  • the actuating element may be a winding mechanism, for example, via which the tension element can be wound up.
  • the distance between the actuating element arranged on the arm support element, in particular the arm shell, for example, and the connection between the tension element and the elastic element can thus be reduced. In this way, the connection between the tension element and the elastic element can be moved closer to the swivel axis of the swivel joint through clever arrangement of the individual components and, in the optimum case, be brought into overlap with it.
  • the actuator if the actuator is brought back into the first position, it is sufficient, for example, if the winding mechanism can be released and a tensile force is applied to the tension element in the opposite direction by the elastic element that is still tensioned. As a result, the actuator is moved back into the first state.
  • each arm shell features a closing element with which the arm shell can be closed around the user's arm. This prevents the arm from inadvertently slipping or moving out of the respective arm shell, which would cause an uncontrolled movement of the arm support element.
  • a mechanical lock or unlocking device may be provided, for example. This ensures that the device cannot be be removed when the actuator is in the first state.
  • the device has two arm support elements, each of which has an arm shell for mounting on one arm, and particularly preferably, two force transmission elements. It has been proven especially advantageous if the device also has at least two actuators in order to be able to individually adjust the supporting forces to be applied to the different arm support elements.
  • the actuators can preferably be brought into a first state and a second state via at least one actuating element in each case, especially preferably independently of one another, wherein the actuator exerts a smaller or no force on the arm support element in the second state compared to the first state.
  • embodiments of the invention solve the task with a device comprising at least one deflector element against which the at least one actuator rests and whose type, shape, position and/or orientation relative to the arm support element can be changed in such a way that the force which can be applied by the actuator can be adjusted.
  • the at least one passive actuator is not a motor.
  • the required energy it needs to apply the force is produced by the user or wearer of the device.
  • the force that is to be applied to the arm support element counteracts the force of gravity.
  • the counter movement i.e. lowering the arm, occurs against the applied force, so that energy is supplied to the energy storage device of the passive actuator.
  • this is the only source of energy if one dispenses with an adjustable pre-load of the energy storage device of the passive actuator, which is possible, but not essential.
  • the passive actuator preferably features at least one energy storage system, preferably at least one mechanical energy storage system.
  • this may comprise a spring element, a pressure accumulator, a pneumatic and/or hydraulic system and/or a hydraulic energy storage system.
  • the spring element for example, may be arranged directly on the joint between the compressive force transmission element and the arm support element in the form of a rotational spring or a constant force spring.
  • Elastic elements in the form of elastic cables, such as rubber cables, are also conceivable, one end of which is arranged on a part of the arm support element.
  • the elastic element is stretched or compressed, such that energy is either supplied to or withdrawn from the mechanical energy storage system.
  • other elements such as gas springs or compression springs, are also conceivable, for which a deflection is used to transform the compressive force coming from the compression spring into a tensile force.
  • a transmission element may be arranged at one or both ends of the passive actuator which transmits the force generated by the actuator to the respective component.
  • This may be, for example, a Bowden cable or a tensile force transmission element, for example in the form of a wire or a cable, or a compressive force transmission element, for example in the form of a rod.
  • the combination of the actual actuator, for example in the form of the elastic element, and the transmission elements arranged on one or two of its ends, is understood as a “passive actuator” within the meaning of the present invention. Consequently, it is sufficient for the invention for the actuator itself or the Bowden cable or the transmission element, which is connected to one end of the actuator and transmits its force to a component of the device, rests on the at least one deflector element.
  • the transmission element itself can be designed to be elastic or inelastic, irrespective of the design of the passive actuator.
  • the force transmission element however, which is part of the counter bearing, is never part of the passive actuator.
  • the design according to the invention allows the force applied by the passive actuator to be adjusted, without changing the position of the arm.
  • one of the properties of the deflector element is changed.
  • this allows a tension of the passive actuator to be changed. If the changed part of the contour is, for example, longer than the original part, the passive actuator is no longer tensioned, so that a greater force is exerted.
  • the direction of the force applied by the actuator can be changed.
  • the position of the deflector element can be changed. This also allows the distance to be bridged by the passive actuator from its first end to its second end to be increased or decreased, so that the force applied by the actuator is also increased or decreased.
  • the direction of one or both sections of the passive actuator from the deflector element to the first and/or to the second end can also be modified and adapted in this way, whereby the force applied by the actuator to the arm support element can also be changed.
  • the type of deflector element can be changed.
  • the pre-load of the actuator can also be changed or adjusted in such a way that the change in pre-load that can be caused by the change in a property of the at least one deflector element is compensated for, so that the pre-load remains almost or completely the same overall.
  • the at least one deflector element can be moved along a predetermined track, preferably a straight line, especially preferably along a component of the device.
  • the deflector element can be, for example, a peg, pin or another component which can be moved along a slot, for example.
  • the slot may be designed to be straight, curved or in a free form. An oval, circular or polygonal shape of the slot is possible.
  • the at least one deflector element is preferably arranged on the peg or pin.
  • This at least one deflector element is preferably arranged such that it can be detached, so that it can be replaced with other deflector elements if necessary. It is especially preferable if the at least one deflector element is arranged such that it can be rotated about the pin or peg, wherein it is particularly preferable if it can be fixed in different orientations relative to the pin. In a fixed state, the orientation relative to the pin therefore cannot be changed, so that once the force has been set, said force preferably depending on the orientation of the deflector element relative to the pin, it cannot be accidentally or inadvertently changed.
  • a lock or locking device may be provided that can be brought into a locked state, in which the orientation of the deflector element relative to the pin cannot be changed. It can also be brought into a released state, in which the orientation can be changed.
  • FIG. 1 the schematic representation of a part of a device according to a first example of an embodiment of the present invention
  • FIG. 2 the schematic representation of an alternative embodiment
  • FIGS. 3 to 5 further embodiments
  • FIG. 6 the schematic representation of a further embodiment of the present invention
  • FIG. 7 the device from FIG. 6 with the actuator in the second state
  • FIG. 8 the schematic representation of a further example of an embodiment
  • FIG. 9 the representation from FIG. 8 with the actuator in the second state
  • FIG. 10 the schematic representation of a securing device
  • FIGS. 11 to 16 schematic representations of different embodiments.
  • FIGS. 17 to 19 schematic representations of an upper arm supporting device according to an example of an embodiment of the present invention in various positions
  • FIGS. 20 and 21 an upper arm supporting device according to an example of an embodiment of the present invention in the mounted state
  • FIGS. 22 to 33 schematic representations of a section of an upper arm supporting device according to various examples of embodiments of the present invention
  • FIG. 34 a schematic section of an upper arm supporting device according to an example of an embodiment of the present invention.
  • FIGS. 35 to 38 further schematic representations of a section of an upper arm supporting device according to various examples of embodiments of the present invention.
  • FIG. 1 depicts a part of a device according to a first example of an embodiment of the present invention. It shows an arm support element 2 , on which an arm shell 4 is located.
  • the arm support element 2 is arranged via a swivel joint 6 on a force transmission element 8 such that it can be swivelled, said force transmission element being arranged with its lower end 10 on a counter bearing element 12 .
  • the counter bearing element 12 is an abdominal strap or a hip strap that is placed around the body of the wearer of the device.
  • a passive actuator 14 is located on the force transmission element, wherein said actuator is depicted as an elastic element in the example of an embodiment shown. It is connected via a Bowden cable 16 to a lever element 18 , on which the arm support element is 2 is situated. An end 20 of the passive actuator 14 is arranged with a fastening element 22 on the force transmission element 8 such that it can be displaced.
  • the fastening element 22 features an actuating element 24 in the form of a band or a strap, via which a tensile force can be exerted on the fastening element 22 and thus the end 20 of the passive actuator 14 .
  • Positive-locking elements such as velcro elements, press studs or other fastening elements are arranged on the counter bearing element 12 in various fastening positions 26 , so that the actuating element 24 can be fixed in different positions on the counter bearing element 12 .
  • the passive actuator can be brought from the first state shown in FIG. 1 into the second state and vice versa and, on the other hand, a pre-load exerted by the passive actuator can be adjusted.
  • FIG. 2 shows an alternative embodiment.
  • the Bowden cable 16 arranged on the passive actuator 14 is guided via a pulley 28 and is arranged with one end on a tension lever 30 .
  • the fastening element is provided in the form of a loop.
  • the tension lever 30 is in the first position, in which the passive actuator 14 is tensioned. If the tension lever 30 is moved along the arrow 32 , the passive actuator 14 is relaxed and thus transferred into the second state.
  • FIGS. 3, 4 and 5 depict further examples of embodiments for corresponding actuating elements.
  • the fastening element 22 is mounted on the force transmission element 8 such that it can be displaced, wherein an end 20 of the passive actuator 14 is located on said fastening element.
  • a tension lever 30 which is arranged on the force transmission element 8 such that it can be swivelled about a swivel axis 34 , the fastening element 22 can be displaced and the passive actuator 14 thus brought into the first state or the second state.
  • FIG. 4 depicts a further embodiment.
  • the force transmission element 8 is composed of sub-elements 36 which are mounted on each other such that they can be swivelled about a swivel axis 34 .
  • the two sub-elements 36 form a straight embodiment of the force transmission element 8 , by way of which a passive actuator 14 arranged parallel to the force transmission element is stretched and thus tensioned.
  • the force transmission element 8 is bent in so that the length of the passive actuator 14 is shortened, thereby relaxing the actuator.
  • the actuator 14 is thus in the first state in the left-hand part of FIG. 4 and in the second state in the right-hand part.
  • FIG. 5 depicts another embodiment with four sub-elements 36 arranged in the force transmission element 8 , said sub-elements being mounted such that they can be swivelled about two joint axes 34 .
  • a clamping element 38 is located between them, by means of which the distance between the two swivel axes 34 can be changed.
  • a passive actuator arranged parallel to the force transmission element 8 is in the second state. If the distance between the two swivel axes 34 is reduced, the extension in FIG. 5 from top to bottom of the force transmission element 8 is increased and the passive actuator 14 arranged parallel is tensioned and thus transferred into the first state.
  • FIG. 6 shows another alternative configuration.
  • the passive actuator acts on the lever element 18 , which is connected to the arm support element 2 .
  • the arm support element 2 is arranged on the force transmission element 8 such that it can be swivelled.
  • the actuating element 24 is located on the arm shell 4 and configured to wind up a tension element 40 .
  • the tension element 40 is arranged on the passive actuator 14 via a connector 42 .
  • the actuator 14 is in the first state.
  • the tensile force exerted on the lever element 18 by the passive actuator 14 causes a torque about the swivel axis about which the arm support element 2 is arranged on the force transmission element 8 .
  • FIG. 7 depicts the representation with the actuator 14 in the second state.
  • the actuating element 24 has wound up part of the tension element 40 , thereby exerting a tensile force on the connector 42 .
  • the upper part of the passive actuator 14 which acts on the lever element 18 , is now directed immediately towards the swivel axis about which the support element 2 can be swivelled relative to the force transmission element 8 .
  • the force exerted therefore does not cause a torque.
  • an application point 44 is designed to be displaced in an elongated hole provided for this purpose. This renders it possible to set an amount of the supporting force.
  • FIG. 8 shows an alternative embodiment to the representation in FIGS. 6 and 7 .
  • the tension element 40 is also connected to the actuating element 24 on the arm shell 4 .
  • the tension element 40 now acts at the application point 44 , at which the passive actuator 14 also acts.
  • the passive actuator 14 is in the first state. If the tensile force exerted by the tension element 40 is now reduced, another spring, not depicted here, ensures that the application point 44 is displaced towards the swivel axis. This reduces the applied force and the passive actuator 14 is in the second state. This is shown in FIG. 9 .
  • FIG. 10 shows schematic views of a securing device as can be used with a device of the type described here.
  • FIG. 10 shows a schematic top view of the actuating element 24 , which can, for example, be designed as a rotary knob or a so-called “BOA” element.
  • the actuating element 24 is shown in a side view.
  • the actuating element 24 is configured to wind up or unwind the tension element 40 shown in the respective right-hand part of FIG. 10 and thus to bring the actuator from the first state into the second state.
  • the upper part of FIG. 10 schematically depicts the situation in which the device is mounted and the arm shell 4 closed, the latter not being depicted in FIG. 10 for reasons of clarity.
  • the arm shell 4 is closed via a strap, the connector 46 of which is schematically depicted.
  • the connector 46 in shown in the closed state. It is secured via a pin 48 , which extends vertically to the drawing plane in the upper left-hand representation in FIG. 10 .
  • the connector 46 pushes a protective cap 50 , which can also be arranged on the arm shell, into the position shown at the top left, so that the actuating element 24 can be accessed. In this situation, the actuating element 24 can be actuated and the tension element 40 moved.
  • a ball 52 is located on the tension element 40 which is also moved as soon as the tension element 40 is wound up or unwound by the actuating element 24 .
  • the pin 48 is also depicted in the right-hand part of FIG. 10 . It is situated on a carrier element 54 . In the upper part of FIG. 10 , it can be seen that the pin 48 engages in the schematically depicted part of the connector 46 , thereby preventing the connector 46 from being moved.
  • FIG. 10 A different situation is depicted in the lower part of FIG. 10 .
  • the right-hand part of the lower half of FIG. 10 shows that the ball 52 has been moved to the right by actuating the actuating element 24 and winding up the tension element 40 .
  • the ball 52 comes into contact with a securing element 56 , which has an inclined contact surface.
  • the ball 52 is moved to the left by actuating the actuating element 24 and, due to the inclined contact surface, pushes the securing element 56 and thus also the carrier element 54 and the pin 48 therein downwards. As a result, it disengages from the connector 46 .
  • the connector 46 can be moved downwards, as shown by the arrow in the lower part of FIG. 10 , and the arm shell 4 , not depicted here, opened. This displaces the protective cap 50 into the positions depicted in the lower part of FIG. 10 , so that the actuating element 24 is no longer accessible and can no longer be moved.
  • the actuating element 24 can only be actuated when the protective cap 50 is in the position shown in the upper part of FIG. 10 . However, this is only possible once it has been displaced by the connector 46 and said connector is preferably locked by the pin 48 . Consequently, the actuator 14 can only be brought into the first state by the actuating element 24 when the connector 46 is closed and the arm shell 4 is thus securely in contact with the arm of the wearer. Otherwise, in the preferred embodiment shown, it is not possible to raise the passive actuator to the first state and thus the applied force to its maximum level.
  • the interaction of the ball 52 and the securing element 56 in the embodiment shown also ensures that the connector 46 can only be removed, and thus the arm shell 4 opened, when the ball 52 is in the position shown in the lower part of FIG. 10 , i.e. has reached an end position.
  • This is preferably the second state, in which the force exerted by the passive actuator on the arm support element is minimal.
  • FIG. 11 depicts a section of the device according to another example of an embodiment of the present invention.
  • the arm support element 2 is arranged on the force transmission element 8 via the joint 6 such that it can be swivelled.
  • the lever element 18 is connected to the arm support element 2 , wherein the passive actuator 14 acts on said lever element at the application point 44 .
  • the lever element 18 can be detached from the arm support element 2 or at least folded down in the direction of the arrow 32 . This relaxes the passive actuator 14 and thus no longer transmits any supporting force to the arm support element 2 .
  • the joint 6 can be held in place by means of the tension band arranged on the force transmission element 8 .
  • FIG. 12 depicts a section of the device according to another example of an embodiment of the present invention.
  • the device is in the first state in the left-hand part of FIG. 12 and in the second state in the right-hand part.
  • the force transmission element 8 the arm support element 2 and the swivel joint 6 between them with the swivel axis about which the two elements can be swivelled around each other.
  • the lever element 18 is also depicted on which the passive actuator 14 acts at an application point 44 .
  • a coupling joint 60 which is lockable, is located between the lever element 18 and the arm support element 2 .
  • the coupling joint 60 is locked, so that the arm support element 2 cannot be swivelled relative to the lever element 18 .
  • the force transmitted by the actuator 14 to the lever element 18 resulting in the desired torque longitudinally about the swivel axis 6 , is transmitted to the arm support element 2 via the locked coupling joint 60 .
  • the coupling joint 60 is unlocked, so that the arm support element 2 can be swivelled relative to the lever element 18 . Consequently, the force applied by the passive actuator, which is not shown in the right-hand part of FIG. 12 for reasons of clarity, is not transmitted to the arm support element 2 , so that in this case the actuator has been brought into the second state.
  • FIG. 13 shows a similar construction with which the lever element 18 can be moved out of a first position, depicted by dashed lines and in which the actuator 14 is in the first state, into a second position, in which the lever element 18 is depicted by solid lines.
  • the passive actuator 14 is in the second state, in which it is relaxed compared to the first state, so that a significantly lower force or no force at all is transmitted to the lever element 18 .
  • the coupling joint 60 is in overlap with the swivel joint 6 . Again, a lockable and unlockable connection is made between the lever element 18 and the arm support element 2 .
  • FIG. 14 shows another configuration.
  • the lever element 18 is connected to the arm support element 2 and can be swivelled together with the latter about a swivel axis of the swivel joint 6 relative to the force transmission element 8 .
  • the lever element 18 cannot be moved relative to the arm support element 2 .
  • the application point 44 at which the passive actuator 14 acts on the lever element 18 is designed in such a way that it can be displaced along a rail 62 .
  • the distance between the application point 44 and the swivel axis of the swivel joint 6 can be varied, thereby allowing the lever arm of the force applied by the actuator 14 to the lever element 18 to be shortened or lengthened relative to this swivel axis. This also varies the applied torque and thus ultimately the supporting force applied by the actuator 14 to the arm support element 2 . If, in the example of an embodiment shown in FIG. 14 , the application point 14 is displaced up to the right-hand end stop, it is situated directly on the swivel axis of the swivel joint, so that a torque can no longer by transmitted.
  • FIGS. 15 and 16 show a configuration of the device from FIG. 14 in which the actuating element is designed in such a way that it is actuated automatically by the device and brings the actuator into the first state or the second state, depending on the position of the arm support element 2 relative to the force transmission element 8 .
  • FIG. 15 depicts the situation in which an arm is raised. It can be seen that the arm support element 2 is directed upwards from the lever element 18 . Due to the force applied by the actuator 14 , the application point 44 slides into the position shown until it strikes a stop ring 64 .
  • stop ring 64 Of course, other types of stop are also possible. It is only important that the movement of the application point 44 along the rail 62 in this direction is limited by a stop. For example, in the form of the stop ring 64 shown, the stop can be displaced along the rail 62 and locked to or on this rail 62 .
  • the application point can be locked in at least one desired position, preferably in every desired position, so that it cannot slide along the rail 62 without releasing the lock. Locking can be achieved, for example, by clamping jaws, a scissor clamp, magnetically or by a locking element, for example a pin that can be inserted into a locking bore.
  • FIG. 16 shows the situation when the arm is lowered. It can be seen that the arm support element 2 is directed downwards from the swivel joint 6 . In this case, the application point 44 is displaced in the opposite direction by the force applied by the actuator 14 , as shown in FIG. 16 . Here, too, there is a stop which limits the displacement and movement of the application point 44 . In the example of an embodiment shown, the application point 44 in this situation is not only closer to the swivel axis of the swivel joint, which would in principle be sufficient to define a second state, but it is in overlap with the swivel axis, so that the applied torque disappears.
  • FIGS. 17-39 With reference to embodiments for an upper arm supporting device, reference is made to FIGS. 17-39 .
  • FIG. 17 schematically depicts an arm support element 102 and a force transmission element 104 , which are arranged about a swivel axis 134 of a joint such that they can be swivelled relative to each other.
  • a passive actuator 108 which has a transmission element 109 belonging to it, is configured to apply a force.
  • the first end 111 of the passive actuator 114 is fixed to the swivel axis 134 .
  • the passive actuator 114 rests against a deflector element 128 , which is designed as a circular deflector disc in the example of an embodiment shown.
  • the deflector element 128 can be displaced and fixed in different positions by means of a threaded rod 115 , which can be rotated via an actuating device 124 , for example in the form of a knurled screw. On the one hand, this increases or decreases the distance to be bridged by the passive actuator 114 between the first end 111 and its second end, which is not depicted. This causes the force generated in the shown position of the arm support element 102 relative to the force transmission element 108 to vary. In addition, the direction in which the lower part of the passive actuator in FIG. 17 , which extends downwards from the deflector element 128 , also changes. This also causes the force applied to the arm support element 102 to vary.
  • FIG. 18 shows the device from FIG. 17 with a lowered arm support element 102 .
  • the deflector element 128 is arranged on a force application lever 125 , which is connected to the arm support element 102 such that it is torque-proof. Since the arm support element 102 has been swivelled about the swivel axis 134 relative to the force transmission element 104 , the force application lever 125 and thus the deflector element 128 fixed to it have also been displaced.
  • the passive actuator 114 has been energetically charged: in the present example, it has been stretched. The force that it exerts has thus been increased in comparison to the situation in FIG. 17 .
  • the transmission element 109 through which the force is transmitted now runs along the swivel axis 134 , so that the lever arm with which the force is transmitted to the force application lever 125 is reduced. So, while the actuator 114 itself exerts a greater force, this results in less torque being exerted on the arm support element 102 about the swivel axis 134 .
  • FIG. 18 shows an end position of the device.
  • the arm support element 102 rests against the force transmission element 108 in the region of the swivel axis 134 .
  • the actuator and in particular its transmission element 109 do not pass through the swivel axis 134 , but close to it.
  • FIG. 19 depicts the device from FIGS. 17 and 18 in a third position.
  • the arm support element 102 has been raised about the swivel axis 134 .
  • the force application lever 125 and the deflector element 128 fixed to it also move. In the example of an embodiment shown, this causes a relaxation of the actuator 108 , thereby reducing the force it applies.
  • FIGS. 20 and 21 show a device according to FIGS. 17 to 19 in the mounted state.
  • An arm of the user is arranged in an arm shell 132 , which is positioned on an arm support element 102 .
  • the force transmission element 108 is situated in a sleeve and is thus only partially depicted. However, the transmission element 109 can be seen, which is part of the passive actuator and is guided across the deflector element 128 . It is fixed in the region of the swivel axis 134 , as can be seen more clearly in FIGS. 17 to 19 .
  • FIGS. 20 and 21 also feature a counter bearing element 104 which is designed as a hip strap.
  • FIG. 22 shows a device according to FIGS. 17 to 19 that differs in one detail.
  • the first end 111 of the passive actuator 108 which is part of the transmission element in the example of an embodiment shown, is not fixed to the swivel axis 134 , but to the arm support element 102 . This does not affect the function.
  • FIG. 23 shows an enlarged section of a device according to an example of an embodiment of the present invention.
  • the passive actuator 114 features an elastic band on which a transmission element 109 is arranged, said element also forming part of the actuator 108 .
  • the force application lever 125 has several pegs 136 , each of which constitute a deflector element 128 .
  • the transmission element 109 is guided across at least one of these pegs 136 and fixed to the arm support element 102 .
  • FIG. 24 shows a similar configuration.
  • the deflector element 128 is now not designed as a circular disc, but has a free form.
  • the passive actuator 114 also rests here against the outer circumference of the deflector element 128 .
  • the deflector element 128 features a slot 116 , through which a pin, not depicted here, attached to the swivel axis 134 is passed.
  • the deflector element 128 can thus be displaced relative to the swivel axis 134 by displacing the pin along the slot 116 .
  • the deflector element 128 can be rotated about the pin and therefore about the swivel axis 134 .
  • the distance between the first end 111 , which is formed by the transmission element 109 in the example of an embodiment shown, and the second end, not depicted, of the passive actuator 114 as well as the direction of the second part of the actuator 114 can be changed.
  • An alternative embodiment is depicted by a dashed line in which the first end 111 of the actuator 114 is arranged on the force transmission element 108 .
  • a deflector element 128 is shown as an example, the slot 116 of which is designed as a freely formed recess. This representation serves to illustrate that the shape of the slot 116 does not have to have a fixed width, nor does it have to follow a possibly curved line Both features are advantageous, but not essential.
  • FIG. 25 shows a further configuration according to the present invention.
  • the passive actuator 114 is arranged with its first end 111 at a force application point 144 and extends across a deflector element 128 , which is positioned on a slide 120 .
  • this slide can be displaced along the double arrow 138 , i.e. along the force transmission element 108 .
  • this changes the direction of the part of the passive actuator 114 that extends between the force application point 144 , i.e. the first end 111 of the actuator 108 , and the deflector element 128 .
  • FIG. 26 shows a further configuration of the present invention.
  • the arm support element 102 which is only schematically depicted, is again arranged on the force transmission element 108 such that it can be swivelled.
  • the deflector element 128 is shown in FIG. 20 as a series of discs.
  • the right-hand part of FIG. 20 shows a side view, in which the individual discs 122 can be clearly seen. In the example of an embodiment shown, they are arranged concentrically and in the shape of a circle. This is advantageous, but not essential.
  • the passive actuator 114 extends along the outer contour of one of the discs 122 . If the force is to be adjusted and changed, the actuator is guided across the outer edge, i.e. the contour, of a different disc 122 .
  • FIG. 27 shows a further configuration of the device.
  • the arm support element 102 is also arranged on the force transmission element 108 about a swivel axis 134 .
  • a force application lever 125 is located on the force transmission element 108 , the first end 111 of the passive actuator 114 being arranged on said lever.
  • the force application lever 125 is arranged on the force transmission element 108 such that it can be swivelled about an axis 126 .
  • the point at which the first end 111 of the passive actuator 114 is arranged on the force application lever 125 can be displaced along the double arrow 138 . On the one hand, this changes the pre-load of the actuator 114 and the direction in which it applies its force.
  • the force exerted by the actuator 114 on the force application lever 125 is transmitted to the arm support element 102 via a tension connection 129 , which in this case forms the transmission element 109 .
  • FIG. 28 shows another configuration of a device according to an example of an embodiment of the present invention in two different arrangements.
  • Both representations show the arm support element 102 , which is arranged on the force transmission element 108 such that it can be rotated about the swivel axis 134 .
  • the deflector element 128 is designed as a circular disc and arranged on the arm support element 102 such that it can be rotated about an axis of rotation 130 .
  • the first end 111 of the actuator 114 is fixed to the deflector element 128 .
  • the two representations in FIG. 28 differ in a rotation of the deflector element 128 about the axis of rotation 130 . Whereas in the right-hand representation in FIG.
  • the first end 111 of the actuator 114 is positioned in such a way that, starting from this point and moving in a clockwise direction, the actuator rests against the deflector element 128 , this is different in the left-hand representation in FIG. 22 . There, a part of the actuator extends anti-clockwise on the deflector element 128 .
  • FIG. 29 shows another configuration. Both representations in FIG. 29 are very similar to the representations in FIG. 28 and differ essentially in where the first end 111 of the passive actuator 108 , which in this case is formed by one end of the transmission element 109 , is attached. In the left-hand representation in FIG. 113 , the first end 111 is located on the force transmission element 108 . In the right-hand representation in FIG. 29 , it is fixed to the swivel axis 134 .
  • FIG. 30 depicts a configuration of a device according to a further example of an embodiment of the present invention.
  • the deflector element 128 is positioned on the force application lever 125 , which is part of the arm support element 102 and is connected to said element such that it is torque-proof.
  • the entire arm support element 102 is designed such that it can be displaced along the double arrow 38 relative to the force transmission element 103 and the swivel axis 134 .
  • the first end 111 of the transmission element 109 which is again part of the actuator 108 , is fixed to the arm support element 102 .
  • Displacing the arm support element 102 along a direction of the double arrow 138 changes in particular the direction in which the actual actuator 114 runs. This direction extends from the deflector element 128 to the second end 110 of the passive actuator 108 .
  • the length of the force application lever 125 and therefore the effective length of the force applied by the actuator changes.
  • the deflector element 128 is positioned on the force application lever 125 and features an oval outer contour, along which the transmission element 109 as part of the actuator is guided.
  • the deflector element 128 can be rotated about an axis of rotation 130 and fixed in different orientations relative to the force application lever 125 . This allows the pre-load of the actuator 108 , the direction in which the actuator 114 extends towards its second end 110 and the length of the effective force application lever 125 to be adjusted.
  • FIG. 32 shows a configuration in which the actual actuator 108 , which may be a spring element or an elastic element for example, is situated between its first end 111 and the deflector element 128 .
  • the transmission element now forms the second end 110 of the passive actuator.
  • FIG. 33 depicts a configuration of a deflector element 128 that is designed as a deflector disc. It is preferably rotationally symmetrical and has an axis of symmetry 142 , which runs from left to right in FIG. 33 .
  • the deflector element 128 features two jaws 145 , which can be moved towards and away from each other along the double arrow 138 . On their side facing the other jaw 145 , they each have a quenched element 146 with a sloping side 148 .
  • the deflector element 128 is therefore designed as a deflector disc with a circumferential groove 150 . In the example of an embodiment shown, the transmission element 109 runs in this groove 150 .
  • the device according to FIG. 34 features an actuator 114 whose first end 111 is arranged on the force application lever 25 , which is connected to the arm support element 102 such that it is torque-proof.
  • the arm support element 102 with the force application lever 125 arranged on it can be displaced along the double arrow 138 , thereby changing the effective lever length. Since this would also displace an arm shell arranged on the arm support element 102 , the arm support element is designed to be adjustable in length.
  • the actuator 114 is positioned with its first end 111 on the force application lever 125 .
  • the second end 110 is positioned on a component provided for this purpose such that it can be displaced along the double arrow 138 .
  • the force application device 125 is positioned on the force transmission element 108 such that it can be swivelled about a swivel axis 152 , wherein the swivel axis 152 does not coincide with the swivel axis 134 .
  • the arm support element 102 is moved via a projection 154 which is arranged on the force application lever 125 and engages with the arm support element 102 .
  • the device according to FIG. 37 has a special feature in the form of a movement device 156 by means of which the force transmission element 108 , the arm support element 102 and/or the force application lever 125 are connected such that they can be moved relative to each other.
  • This movement device 156 allows movement but does not have a fixed swivel axis, so that the movement is freer and can respond better to mechanical loads.
  • the force application lever 125 is equipped with an outer thread to which the first end 111 of the actuator 114 is fixed.
  • the thread can be rotated by means of the actuation device 124 , wherein the actuator 114 is wound up or unwound.
  • the force application point is also displaced and the pre-load of the actuator changed.

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US17/218,417 2018-11-05 2021-03-31 Device for supporting at least one arm of a user and for supporting at least one upper arm Pending US20220031551A2 (en)

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DE102018127553.6A DE102018127553B4 (de) 2018-11-05 2018-11-05 Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
DE102018127553.6 2018-11-05
PCT/EP2019/080059 WO2020094549A1 (de) 2018-11-05 2019-11-04 Vorrichtung zum unterstützen wenigstens eines armes eines benutzers

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US11730621B2 (en) * 2017-09-07 2023-08-22 Bo Yuan Exoskeleton
EP3670105A1 (de) * 2018-12-17 2020-06-24 Hilti Aktiengesellschaft Überkopf-exoskelett
FR3113854B1 (fr) * 2020-09-08 2022-09-09 Human Mechanical Tech Exosquelette comprenant un élément élastique
DE102021202433B3 (de) * 2021-03-12 2022-09-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Extremitätenunterstützungsvorrichtung und Verfahren zum Heben, Halten und/oder Tragen einer Last und/oder zum Ausführen von Überkopftätigkeiten
CA3220710A1 (en) * 2021-06-02 2022-12-08 Mathieu RAMANANARIVO Exoskeleton to be worn by a subject

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US2661000A (en) * 1951-06-25 1953-12-01 William E Gazeley Surgical splint
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WO2012099995A2 (en) 2011-01-18 2012-07-26 Doyle Mark C Adaptive arm support systems and methods for use
US9737374B2 (en) * 2012-12-11 2017-08-22 Levitate Technologies, Inc. Adaptive arm support systems and methods for use
WO2014195373A1 (de) 2013-06-07 2014-12-11 J. Schmalz Körpergetragene hebehilfe
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JP6358427B2 (ja) 2014-06-13 2018-07-18 国立大学法人 筑波大学 装着式動作補助装置
WO2016065350A1 (en) * 2014-10-24 2016-04-28 Levitate Technologies, Inc. Arm support systems
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DE102016121203A1 (de) * 2016-11-07 2018-05-09 Otto Bock Healthcare Gmbh Vorrichtung zum Unterstützen eines Armes
DE102016123797A1 (de) * 2016-12-08 2018-06-14 Bayerische Motoren Werke Aktiengesellschaft Exoskelett

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DE102018127553B4 (de) 2020-11-05
WO2020094549A1 (de) 2020-05-14
US20210275380A1 (en) 2021-09-09
JP2022506185A (ja) 2022-01-17
DE102018127553A1 (de) 2020-05-07
CN113164275A (zh) 2021-07-23
EP3876877A1 (de) 2021-09-15
KR20210089692A (ko) 2021-07-16
JP7434312B2 (ja) 2024-02-20
BR112021007822A2 (pt) 2021-07-27

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