US20230149245A9 - Neck Switch Device in a Passive Exoskeleton - Google Patents
Neck Switch Device in a Passive Exoskeleton Download PDFInfo
- Publication number
- US20230149245A9 US20230149245A9 US17/414,594 US201917414594A US2023149245A9 US 20230149245 A9 US20230149245 A9 US 20230149245A9 US 201917414594 A US201917414594 A US 201917414594A US 2023149245 A9 US2023149245 A9 US 2023149245A9
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- United States
- Prior art keywords
- lifting rod
- cantilever
- user
- exoskeleton
- bracket
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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- 230000000903 blocking effect Effects 0.000 claims abstract description 38
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000004886 head movement Effects 0.000 claims description 5
- 210000001624 hip Anatomy 0.000 description 4
- 230000000284 resting effect Effects 0.000 description 4
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
Images
Classifications
-
- 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
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1604—Head
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5025—Activation means
Definitions
- the present invention relates to an exoskeleton for supporting at least one arm of a user.
- Exoskeletons that are available on the market and are available for the passive and/or active support of the extremities of a user, in particular the arms, usually include a hip fastening, a first and second supporting strut, and a first and second arm support.
- the first and the second supporting strut are vertically fastened to the left-hand and right-hand side, respectively, of the hip fastening.
- the first arm support is fastened in a rotatable manner via a pivot bearing.
- the second arm strut is fastened in a rotatable manner via a further pivot bearing.
- the arm supports can be fixed in different angular positions relative to the supporting strut, such that the arms of the user can be rested on the deployed arm supports. With the aid of springs, the arm supports can push the arms of the user upward and as a result make it easier to lift a significant load (i.e., one with a great weight).
- the object of the present invention is to solve the abovementioned problem and in particular to provide an improved exoskeleton for supporting at least one arm of a user.
- This object is achieved by an exoskeleton for supporting at least one arm of a user.
- the exoskeleton contains a torso attachment device for releasably connecting the exoskeleton to a torso of a user, at least one bracket, which is connectable to the torso attachment device, a lifting rod, which is connectable to the torso attachment device by means of the at least one bracket and which is reversibly movable in a first and a second direction relative to the bracket, a cantilever for supporting the arm of a user, which is releasably connectable to the arm of a user, and a ratchet mechanism for connecting a first end of the lifting rod to a first end of the cantilever, with the result that it is possible to selectively set a repeated, sectoral rotary movement of the cantilever in a first direction of rotation and a blocking action for the cantilever in a second direction of rotation.
- an exoskeleton which allows a resting possibility for the arms of a user, which is adapted to the elevation of the human shoulder joint when the arm is lifted.
- this ergonomically or anatomically correct resting possibility for the arms of a user better support can be achieved for the user when holding heavy loads.
- a coupling rod having a first and a second end can, the coupling rod being rotatably connected respectively to the cantilever by the first end and to the lifting rod by the second end via a compensating mechanism.
- the coupling rod By way of the coupling rod, the movement of the cantilever relative to the lifting rod are guided and supported. An undesired lateral movement of the cantilever or twisting or torsion of the cantilever with respect to the lifting rod and/or bracket can be prevented as a result.
- the compensating mechanism can be configured in the form of a slot at the second end of the coupling rod and of a pivot bearing on the lifting rod, wherein the pivot bearing is positioned in the slot.
- the compensating mechanism can be implemented in a simple manner.
- the cantilever can be lowered (i.e., moved downward) without exerting a force on further components.
- the compensating mechanism can is configured in the form of a slotted guide between the second end of the coupling rod and the lifting rod. This ensures reliable guidance of the second end of the coupling rod.
- the compensating mechanism can be configured in the form of a sector gear and of a rack, wherein the sector gear is rotatably connected to the lifting rod such that the teeth of the sector gear mesh with the teeth of the rack.
- the sector gear can also be referred to as a partial gear.
- the articulated connection between the cantilever and the lifting rod can be embodied by a spindle or an actuator in order to move the cantilever upward.
- the angular position or the angle of the arm strut with respect to the lifting rod can also be determined via sensors, in order to correctly determine the elevation of the cantilever.
- the lifting rod and the rack can be configured as a piston-cylinder unit.
- the attachment of the lifting rod and the rack to the bracket can be implemented in a space-saving manner.
- a blocking device can be included for adjusting the ratchet mechanism from a release position into a blocking position, wherein, in the release position, the cantilever is pivotable relative to the lifting rod and, in the blocking position, a pivoting movement of the cantilever relative to the lifting rod is blocked.
- the special blocking device enables the ratchet mechanism to be set specifically in a certain position or angular position.
- an actuating mechanism for the blocking device the actuating mechanism being operable by a head movement of the user, to be included.
- the blocking position of the ratchet mechanism can be reached simply by a head movement of the user without the user having to use the hands for this purpose.
- the user's hands therefore remain free, for example, for holding a hand-held power tool.
- FIG. 1 a shows a front view of a human torso with a number of schematically illustrated joint points
- FIG. 1 b shows a further front view of a human torso with a number of schematically illustrated joint points
- FIG. 2 shows a schematic side view of an exoskeleton for supporting an arm of a user in a first and a second position
- FIG. 3 shows a schematic illustration of the exoskeleton connected to an exoskeleton for supporting two arms of the user
- FIG. 4 shows a perspective view of the exoskeleton with a cantilever in the first setting
- FIG. 5 shows a side view of the exoskeleton with a cantilever in the first setting
- FIG. 6 shows a perspective view the exoskeleton with a cantilever in the second setting
- FIG. 7 shows a side view of the exoskeleton with a cantilever in the second setting
- FIG. 8 shows a perspective view of the exoskeleton with a cantilever in a third setting
- FIG. 9 shows a side view of the exoskeleton with a cantilever in the third setting
- FIG. 10 shows a rear view of a human torso with an exoskeleton and a blocking device
- FIG. 11 shows a side view of an actuating mechanism of the blocking device
- FIG. 12 shows a side view of a human head of a user and the actuating mechanism of the blocking device, which actuating mechanism is operable with the head, and also a schematic illustration of a user with an exoskeleton in a release position;
- FIG. 13 shows a side view of the human head of a user and the actuating mechanism of the blocking device, which actuating mechanism is operable with the head, and also a schematic illustration of a user with an exoskeleton in a blocking position.
- FIG. 3 shows a front view of a human upper body OK of a user AW, on which an exoskeleton 10 for supporting or increasing the work performance of the arms 20 of a user AW is arranged.
- the exoskeleton 10 substantially comprises a torso attachment device 30 , a bracket 9 , a lifting rod 7 , a cantilever 4 , and a ratchet mechanism 1 .
- the torso attachment device 30 serves to releasably connect the exoskeleton 10 to a torso (i.e., the upper body OK) of a user AW (cf. FIG. 3 ).
- the torso attachment device 30 can in this case be configured in the form of a hard shell, a flexible chest strap or belt.
- the torso attachment device 30 contains a closure VS, arranged in the middle of the chest of the user AW, with which the torso attachment device 30 , configured for example as a chest strap, can be opened and closed.
- the closure VS can be configured for example as a touch-and-close fastener or as a belt buckle or belt fastening.
- the torso attachment device 30 can also be configured in the form of a hip belt and consequently be positioned on the hips or pelvis of the user AW.
- one or two straps can be fastened for fixing the torso attachment device 30 at the shoulders 40 of the user AW or for preventing the torso attachment device 30 from slipping in the arrow direction B.
- These straps can be guided from the front side of the torso attachment device 30 , configured as a chest strap or belt, over the shoulders 40 of the user AW (i.e., in a similar manner to suspenders), to the rear side of the torso attachment device 30 .
- the bracket 9 is configured substantially as a flat metal sheet with four circular cutouts 11 and a first plain bearing 8 a and a second plain bearing 8 b.
- the four cutouts 11 can also be referred to as screw bosses and serve for laterally attaching the bracket 9 to the torso attachment device 30 .
- four screws or rivets can be driven through the four cutouts 11 in the bracket 9 and for fastening to the torso attachment device 30 .
- the first and the second plain bearing 8 a, 8 b of the bracket 9 serve to receive and guide the lifting rod 7 at the bracket 9 .
- FIG. 2 only the first plain bearing 8 a is shown.
- Each of the plain bearings 8 a, 8 b contains a circular opening.
- the first plain bearing 8 a is positioned in the vicinity of a first end 9 a of the bracket 9 and the second plain bearing 8 b is positioned in the vicinity of a second end 9 b of the bracket 9 such that the lifting rod 7 is guided through the respective circular openings of the plain bearings 8 a, 8 b and as a result is connected to the bracket 9 in a movable manner and in a reversible manner in the arrow directions A and B.
- the bracket 9 contains a support plate 12 at the second end 9 b.
- the lifting rod 7 is mounted in a rotatable manner on the support plate 12 when the lifting rod 7 is positioned on the bracket 9 .
- the support plate 12 can also have a concave or curved shape directed toward the lifting rod 7 .
- the lifting rod 7 is configured substantially as a tube with a first end 7 a and a second end 7 b.
- This configuration of the lifting rod 7 may also be referred to as a pipe or sleeve.
- the first end 7 a of the lifting rod 7 extends beyond the first end 9 a of the bracket 9 in the arrow direction A.
- the lifting rod 7 configured as a tube contains a cavity HR, which extends from the second end 7 b approximately as far as the middle 7 c of the lifting rod 7 .
- the cavity HR can also be referred to as a blind hole or cutout.
- a support element 6 can be introduced into the cavity HR of the lifting rod 7 .
- the support element 6 can be configured in a cylindrical manner and be adapted in its shape to the cavity HR of the lifting rod 7 .
- the lifting rod 7 and the support element 6 are reversibly movable with respect to one another in the arrow directions A and B.
- the support element 6 serves substantially to support the lifting rod 7 and to increase stability when the lifting rod 7 is moved relative to the bracket 9 .
- the support element 6 can also be configured with teeth and thus in the form of a rack.
- the lifting rod 7 is connected to the bracket 9 such that the lifting rod 7 extends through the openings of the first and second plain bearings 8 a, 8 b.
- the lifting rod 7 is movable relative to the bracket 9 in a reversible manner in a first arrow direction A and a second arrow direction B.
- the lifting rod 7 can be moved in the arrow direction A and in the arrow direction B relative to the bracket 9 .
- the lifting rod 7 can be rotated about the axis of rotation R in the direction of rotation C or D relative to the bracket 9 by means of the first and second plain bearings 8 a, 8 b.
- the cantilever 4 is configured substantially as a rod with a first end 4 a and a second end 4 b.
- the rod can also be referred to as an arm, support, bar or lever.
- an armrest 5 is positioned on the cantilever 4 .
- the armrest 5 serves to receive and hold an upper arm of a user AW.
- an arm strap having a closure is provided in order to temporarily fix the arm to the armrest 5 .
- the arm strap and the closure are illustrated in FIG. 3 .
- the closure is in this case configured for example as a touch-and-close fastener.
- the ratchet mechanism 1 is configured substantially as a pivot bearing having a blocking action in a predetermined direction of rotation. Furthermore, the ratchet mechanism 1 contains a blocking device 80 , with which the blocking action in the predetermined direction of rotation F is such that the ratchet mechanism 1 is no longer freely rotatable in the direction of rotation F.
- the release device 80 is merely indicated in the figures and is described in more detail below.
- the ratchet mechanism 1 may also be referred to as a ratchet or fine tooth ratchet.
- the ratchet mechanism 1 serves to connect the first end 7 a of the lifting rod 7 to a first end 4 a of the cantilever 4 , with the result that it is possible to selectively set a repeated, sectoral rotary movement of the cantilever 4 about the axis of rotation S in a first direction of rotation E and a blocking action for the cantilever 4 in a second direction of rotation F.
- the cantilever 4 can be pulled freely in the direction of rotation E, for example by the arm of the user AW, which is connected to the cantilever 4 by means of the arm strap, and be blocked in the direction of rotation F with the aid of the blocking action of the ratchet mechanism 1 . Since the ratchet mechanism 1 allows a free rotary movement of the cantilever 4 in the direction of rotation E about the pivot point, a user AW can move their arm upward in the arrow direction A in order for example to hold a power tool at a particular height. The power tool is not illustrated in the figures.
- the cantilever 4 With the aid of the blocking action of the ratchet mechanism 1 in the direction of rotation F, the cantilever 4 can be kept at the height intended by the user AW in order to provide a resting possibility for the arm by way of the cantilever blocked in the direction of rotation F. On account of the resting possibility provided by the cantilever 4 at the height intended by the user AW, holding of a heavy power tool can be substantially improved. Thus, the weight force of the power tool is dissipated via the arms to the cantilever 4 , the lifting rod 7 , the bracket 9 and finally to the torso attachment device 30 .
- the ratchet mechanism 1 is realized by a combination of two stop pawls, which transmit a pivoting movement of a lever only in one direction, while a movement in the opposite direction is automatically blocked.
- the operating principle is similar to that of freewheeling (for instance on a bicycle).
- the blocking device 80 In order that the blocking device 80 can bring about the blocking action of the ratchet mechanism 1 in a particular direction of rotation (in this case the direction of rotation F), it is possible for the blocking device 80 to bring the two stop pawls into connection with each other such that they act on each another in a blocking manner and do not permit any movement.
- the ratchet mechanism 1 can also be realized by a push-through ratchet with a continuous square hole. In this case only a single (stop) pawl is necessary, wherein the effective direction of rotation is achieved by pushing through a square stub on one side of the ratchet or the other.
- the exoskeleton 10 furthermore contains a coupling rod 2 , which is configured substantially as a bar with a first end and a second end (cf. FIGS. 4 to 9 ).
- the coupling rod 2 is connected to the cantilever 4 in a rotatable manner by the first end and is connected to the lifting rod 7 again in a rotatable manner by the second end via a compensating mechanism 50 .
- the coupling rod 2 serves substantially as a support and guide when the cantilever 4 moves relative to the lifting rod 7 .
- the compensating mechanism 50 can be configured in the form of a slot 51 at the second end of the coupling rod 2 and of a pivot bearing on the lifting rod 7 .
- the pivot bearing is in this case positioned in the slot 51 and movable along the slot 51 and in a manner guided by the slot 51 .
- the compensating mechanism 50 can be configured in the form of a slot 51 at the second end of the coupling rod 2 , of a sector gear 3 , of a rack 13 , and of a pivot bearing 14 .
- the optional support element 6 is in the form of the rack 13 according to the embodiment, shown in FIGS. 4 to 9 , of the exoskeleton 10 according to the invention. According to an advantageous embodiment of the exoskeleton 10 according to the invention, it is also possible for both a support element 6 and a rack 13 to be positioned alongside one another on the support plate 12 .
- the cylindrically configured rack 13 projects into the interior of the lifting rod 7 such that the longitudinal extent of the rack 13 and the longitudinal extent of the lifting rod 7 are oriented parallel to one another.
- the lifting rod 7 has a cutout 7 d, which provides access to the teeth of the rack 13 .
- the rack 13 is connected to the second end 7 b of the lifting rod 7 and in particular to the support plate 12 at the second end 7 b of the lifting rod 7 so as to be rotatable about the axis of rotation R in the direction of rotation C or D by means of a pivot bearing (not shown).
- the rack 13 is connected to the support plate 12 such that the rack 13 cannot be moved in the arrow direction A or B bracket. As a result, there is no relative movement between the rack 13 and the bracket 9 .
- the combination or the cooperation of the lifting rod 13 and the lifting rod 7 may be referred to as a piston-cylinder unit.
- the rack 13 is implemented as a piston and the lifting rod 7 and in particular the cavity HR of the lifting rod 7 are implemented as a cylinder for receiving the piston configured as a rack.
- the lifting rod 7 contains a holding device 15 having an axis 16 , which serves to receive and hold the sector gear 3 .
- the sector gear 3 can be rotated relative to the lifting rod 7 such that the teeth 3 a of the sector gear 3 can mesh with the teeth 13 of the rack 13 .
- the sector gear 3 furthermore contains a lever element 3 b, at the free end of which the pivot bearing 14 is positioned. The pivot bearing 14 is positioned in the slot 51 and freely movable along the slot 51 and guided along the slot 51 .
- the cantilever 4 can, as a result of its rotary mounting at the pivot point DP with respect to the bracket 9 , be brought reversibly into a first, second or third position.
- FIGS. 4 and 5 show the exoskeleton 10 with the cantilever 4 in the first position.
- FIGS. 6 and 7 show the cantilever 4 in the second position.
- FIGS. 8 and 9 illustrate the cantilever 4 in the third position.
- the second end 4 b of the cantilever 4 is inclined downward in the arrow direction B.
- the second end 4 b of the cantilever 4 is substantially horizontal.
- the first end 4 a of the cantilever 4 points upward in the arrow direction A.
- the lifting rod 7 is likewise pulled upward in the direction A by means of the ratchet mechanism 1 . Since the lifting rod 7 is mounted so as to be movable in the arrow direction A or B with respect to the bracket 9 , the pivot point SP can compensate the travel Ay for compensating the anatomical movement of the human shoulder 40 during the lifting of an arm.
- a release device 60 is provided for adjusting the ratchet mechanism 1 from a release position into a blocking position.
- the cantilever 4 In the release position, the cantilever 4 is pivotable relative to the lifting rod 7 and, in the blocking position, a pivoting movement of the cantilever 4 relative to the lifting rod 7 is immovable or blocked.
- the release device 60 contains an actuating mechanism 70 which is operable by a head movement of the user AW.
- the actuating mechanism 70 in turn contains a base plate 71 , a steering element 72 , a cable pull lever 73 , a cable 74 (core for Bowden cable), a holding bushing 75 and an actuating element 76 .
- the cable 74 may also be referred to as the core of a Bowden cable.
- the actuating mechanism 70 may also be referred to in its entirety as a cable pull or Bowden cable, wherein the cable 74 serves as a core for the cable pull or Bowden cable.
- the base plate 71 is connected to the torso attachment device 30 via a web 77 .
- the base plate 71 can also be connected only or directly to the neck of a user AW.
- the base plate 71 contains a first end 71 a and a second end 71 b.
- a pivot bearing 78 is provided at the first end.
- the steering element 72 is substantially configured as a triangular plate having a first, second and third attachment element 72 a, 72 b, 72 c.
- the steering element 72 may also be referred to as a transverse link.
- the first attachment element 72 a is connected rotatably to the pivot bearing 78 of the base plate 71 .
- the second attachment element 72 b is connected to the holding bushing 75 and the third attachment element 72 c is connected in turn to the actuating element 76 .
- the cable pull lever 73 contains a first and a second end 73 a, 73 b, wherein the first end 73 a is likewise connected to the first attachment element 72 a of the steering element 72 .
- the second end 73 b of the cable pull lever 73 is connected to a first end 74 a of the cable 74 .
- a second end of the cable 74 is connected in turn to the blocking device 80 of the ratchet mechanism.
- the second end of the cable 74 is not shown in the figures.
- the holding bushing 75 serves as an attachment point for a flexible tube in which the cable 74 is movably guided.
- the flexible tube may also be referred to as a hose, a sheath, a Bowden cable sheath or tension sheath.
- the holding bushing 75 is connected to the second attachment element.
- the actuating element 76 is configured in the form of a bent plate and has a first and second side surface 79 a, 79 b.
- the first side surface 79 a is connected to the third attachment element 72 c.
- the third attachment element 72 c is merely indicated in the figures.
- the actuating mechanism 76 can be operated (cf. FIGS. 12 and 13 ) such that the ratchet mechanism 1 can be moved from a release position into a blocking position.
- the cantilever 4 In the release position, the cantilever 4 is pivotable relative to the lifting rod 7 and, in the blocking position, a pivoting movement of the cantilever 4 relative to the lifting rod 7 is blocked.
- a transmitter and an actuator may be provided instead of the cable 74 or instead of the Bowden cable.
- the actuator may also be referred to as an actuating mechanism.
- the sensor is positioned here on the actuating mechanism 70 and identifies a movement of the head of the user AW.
- a corresponding signal is transmitted from the sensor to the actuator by means of a radio transmission unit.
- the actuator is positioned on the ratchet mechanism 1 . When the actuator receives the signal from the sensor, the ratchet mechanism 1 is moved from a release position into a blocking position.
- the radio transmission unit can transmit a signal here by means of Bluetooth or other radio technology.
Abstract
An exoskeleton for supporting an arm of a user includes a torso attachment device, a bracket which is connectable to the torso attachment device, a lifting rod which is connectable to the torso attachment device via the bracket and which is reversibly movable in a first direction and a second direction relative to the bracket, a cantilever for supporting the arm of the user which is releasably connectable to the arm of the user, a ratchet mechanism that connects a first end of the lifting rod to a first end of the cantilever, and a blocking device. The ratchet mechanism is adjustable by the blocking device from a release position into a blocking position where, in the release position, the cantilever is pivotable relative to the lifting rod and where, in the blocking position, a pivoting movement of the cantilever relative to the lifting rod is blocked.
Description
- The present invention relates to an exoskeleton for supporting at least one arm of a user.
- Exoskeletons that are available on the market and are available for the passive and/or active support of the extremities of a user, in particular the arms, usually include a hip fastening, a first and second supporting strut, and a first and second arm support. The first and the second supporting strut are vertically fastened to the left-hand and right-hand side, respectively, of the hip fastening. At the upper end of the first supporting strut, the first arm support is fastened in a rotatable manner via a pivot bearing. Likewise, at the upper end of the second supporting strut, the second arm strut is fastened in a rotatable manner via a further pivot bearing. The arm supports can be fixed in different angular positions relative to the supporting strut, such that the arms of the user can be rested on the deployed arm supports. With the aid of springs, the arm supports can push the arms of the user upward and as a result make it easier to lift a significant load (i.e., one with a great weight).
- As a result of the anatomy of the human shoulder, as is schematically shown in
FIG. 1 a, when the arms are lifted, the shoulder joint is elevated at the same time. In exoskeletons according to the prior art, the pivot bearings between an upper supporting strut and arm support remain in one position, however, and do not follow the elevation of the human shoulder joint. This can result in a troublesome relative movement between the exoskeleton and the arms. This has the result that either the arms are forced onto a path of motion that is not desired by the user or the attachment points between the exoskeleton and human body slip. Movement restrictions and low wearing comfort are the result. An exoskeleton of this kind according to the prior art is shown for example in the patents U.S. Pat. Nos. 9,205,017 BB and 9,737,374 BB. - The object of the present invention is to solve the abovementioned problem and in particular to provide an improved exoskeleton for supporting at least one arm of a user.
- This object is achieved by an exoskeleton for supporting at least one arm of a user.
- According to the invention, the exoskeleton contains a torso attachment device for releasably connecting the exoskeleton to a torso of a user, at least one bracket, which is connectable to the torso attachment device, a lifting rod, which is connectable to the torso attachment device by means of the at least one bracket and which is reversibly movable in a first and a second direction relative to the bracket, a cantilever for supporting the arm of a user, which is releasably connectable to the arm of a user, and a ratchet mechanism for connecting a first end of the lifting rod to a first end of the cantilever, with the result that it is possible to selectively set a repeated, sectoral rotary movement of the cantilever in a first direction of rotation and a blocking action for the cantilever in a second direction of rotation. As a result, an exoskeleton is provided, which allows a resting possibility for the arms of a user, which is adapted to the elevation of the human shoulder joint when the arm is lifted. As a result of this ergonomically or anatomically correct resting possibility for the arms of a user, better support can be achieved for the user when holding heavy loads.
- According to an advantageous embodiment of the present invention, a coupling rod having a first and a second end can, the coupling rod being rotatably connected respectively to the cantilever by the first end and to the lifting rod by the second end via a compensating mechanism. By way of the coupling rod, the movement of the cantilever relative to the lifting rod are guided and supported. An undesired lateral movement of the cantilever or twisting or torsion of the cantilever with respect to the lifting rod and/or bracket can be prevented as a result.
- According to an advantageous embodiment of the present invention, the compensating mechanism can be configured in the form of a slot at the second end of the coupling rod and of a pivot bearing on the lifting rod, wherein the pivot bearing is positioned in the slot. As a result, the compensating mechanism can be implemented in a simple manner. Furthermore, as a result of the slot at the end of the coupling rod, the cantilever can be lowered (i.e., moved downward) without exerting a force on further components.
- According to an advantageous embodiment of the present invention, the compensating mechanism can is configured in the form of a slotted guide between the second end of the coupling rod and the lifting rod. This ensures reliable guidance of the second end of the coupling rod.
- According to an advantageous embodiment of the present invention, the compensating mechanism can be configured in the form of a sector gear and of a rack, wherein the sector gear is rotatably connected to the lifting rod such that the teeth of the sector gear mesh with the teeth of the rack. The sector gear can also be referred to as a partial gear. As a result, effective guidance for avoiding an undesired lateral movement of the cantilever or twisting or torsion of the cantilever with respect to the lifting rod and/or bracket can be achieved in a simple manner. With the aid of the slot at the end of the coupling rod, the cantilever can be lowered (i.e., moved downward) without exerting a force on the sector gear.
- According to an advantageous embodiment of the present invention, rather than the compensating mechanism, the articulated connection between the cantilever and the lifting rod can be embodied by a spindle or an actuator in order to move the cantilever upward. Rather than a mechanical coupling between the cantilever and the lifting rod, the angular position or the angle of the arm strut with respect to the lifting rod can also be determined via sensors, in order to correctly determine the elevation of the cantilever.
- According to an advantageous embodiment of the present invention, the lifting rod and the rack can be configured as a piston-cylinder unit. As a result, the attachment of the lifting rod and the rack to the bracket can be implemented in a space-saving manner.
- According to an advantageous embodiment of the present invention, a blocking device can be included for adjusting the ratchet mechanism from a release position into a blocking position, wherein, in the release position, the cantilever is pivotable relative to the lifting rod and, in the blocking position, a pivoting movement of the cantilever relative to the lifting rod is blocked. The special blocking device enables the ratchet mechanism to be set specifically in a certain position or angular position.
- According to an advantageous embodiment of the present invention, it to be possible for an actuating mechanism for the blocking device, the actuating mechanism being operable by a head movement of the user, to be included. By this means, the blocking position of the ratchet mechanism can be reached simply by a head movement of the user without the user having to use the hands for this purpose. The user's hands therefore remain free, for example, for holding a hand-held power tool.
- Further advantages will become apparent from the following description of the figures. The figures illustrate various exemplary embodiments of the present invention. The figures, the description and the claims contain numerous features in combination. A person skilled in the art will expediently also consider the features individually and put them together to form useful further combinations.
- In the figures, identical and similar components are denoted by identical reference signs.
-
FIG. 1 a shows a front view of a human torso with a number of schematically illustrated joint points; -
FIG. 1 b shows a further front view of a human torso with a number of schematically illustrated joint points; -
FIG. 2 shows a schematic side view of an exoskeleton for supporting an arm of a user in a first and a second position; -
FIG. 3 shows a schematic illustration of the exoskeleton connected to an exoskeleton for supporting two arms of the user; -
FIG. 4 shows a perspective view of the exoskeleton with a cantilever in the first setting; -
FIG. 5 shows a side view of the exoskeleton with a cantilever in the first setting; -
FIG. 6 shows a perspective view the exoskeleton with a cantilever in the second setting; -
FIG. 7 shows a side view of the exoskeleton with a cantilever in the second setting; -
FIG. 8 shows a perspective view of the exoskeleton with a cantilever in a third setting; -
FIG. 9 shows a side view of the exoskeleton with a cantilever in the third setting; -
FIG. 10 shows a rear view of a human torso with an exoskeleton and a blocking device; -
FIG. 11 shows a side view of an actuating mechanism of the blocking device; -
FIG. 12 shows a side view of a human head of a user and the actuating mechanism of the blocking device, which actuating mechanism is operable with the head, and also a schematic illustration of a user with an exoskeleton in a release position; and -
FIG. 13 shows a side view of the human head of a user and the actuating mechanism of the blocking device, which actuating mechanism is operable with the head, and also a schematic illustration of a user with an exoskeleton in a blocking position. -
FIG. 3 shows a front view of a human upper body OK of a user AW, on which anexoskeleton 10 for supporting or increasing the work performance of thearms 20 of a user AW is arranged. - The
exoskeleton 10 substantially comprises atorso attachment device 30, abracket 9, alifting rod 7, acantilever 4, and aratchet mechanism 1. - The
torso attachment device 30 serves to releasably connect theexoskeleton 10 to a torso (i.e., the upper body OK) of a user AW (cf.FIG. 3 ). Thetorso attachment device 30 can in this case be configured in the form of a hard shell, a flexible chest strap or belt. Furthermore, thetorso attachment device 30 contains a closure VS, arranged in the middle of the chest of the user AW, with which thetorso attachment device 30, configured for example as a chest strap, can be opened and closed. The closure VS can be configured for example as a touch-and-close fastener or as a belt buckle or belt fastening. - According to an alternative embodiment (not shown in the figures) of the
exoskeleton 10 according to the invention, thetorso attachment device 30 can also be configured in the form of a hip belt and consequently be positioned on the hips or pelvis of the user AW. In addition, one or two straps can be fastened for fixing thetorso attachment device 30 at theshoulders 40 of the user AW or for preventing thetorso attachment device 30 from slipping in the arrow direction B. These straps (not illustrated in the figures) can be guided from the front side of thetorso attachment device 30, configured as a chest strap or belt, over theshoulders 40 of the user AW (i.e., in a similar manner to suspenders), to the rear side of thetorso attachment device 30. - As shown in
FIGS. 4 to 9 , thebracket 9 is configured substantially as a flat metal sheet with fourcircular cutouts 11 and a first plain bearing 8 a and a second plain bearing 8 b. The fourcutouts 11 can also be referred to as screw bosses and serve for laterally attaching thebracket 9 to thetorso attachment device 30. For this purpose, four screws or rivets can be driven through the fourcutouts 11 in thebracket 9 and for fastening to thetorso attachment device 30. Furthermore, the first and the second plain bearing 8 a, 8 b of thebracket 9 serve to receive and guide the liftingrod 7 at thebracket 9. - In
FIG. 2 , only the first plain bearing 8 a is shown. - Each of the
plain bearings first end 9 a of thebracket 9 and the second plain bearing 8 b is positioned in the vicinity of asecond end 9 b of thebracket 9 such that the liftingrod 7 is guided through the respective circular openings of theplain bearings bracket 9 in a movable manner and in a reversible manner in the arrow directions A and B. Furthermore, thebracket 9 contains a support plate 12 at thesecond end 9 b. As shown inFIG. 4 , the liftingrod 7 is mounted in a rotatable manner on the support plate 12 when the liftingrod 7 is positioned on thebracket 9. Alternatively, the support plate 12 can also have a concave or curved shape directed toward the liftingrod 7. - According to an advantageous embodiment, the lifting
rod 7, as shown inFIGS. 4 to 8 , is configured substantially as a tube with a first end 7 a and asecond end 7 b. This configuration of the liftingrod 7 may also be referred to as a pipe or sleeve. As is apparent in particular fromFIG. 4 , the first end 7 a of the liftingrod 7 extends beyond thefirst end 9 a of thebracket 9 in the arrow direction A. It is apparent fromFIG. 2 that the liftingrod 7 configured as a tube contains a cavity HR, which extends from thesecond end 7 b approximately as far as the middle 7 c of the liftingrod 7. The cavity HR can also be referred to as a blind hole or cutout. - According to an advantageous embodiment, a
support element 6 can be introduced into the cavity HR of the liftingrod 7. Thesupport element 6 can be configured in a cylindrical manner and be adapted in its shape to the cavity HR of the liftingrod 7. The liftingrod 7 and thesupport element 6 are reversibly movable with respect to one another in the arrow directions A and B. Thesupport element 6 serves substantially to support the liftingrod 7 and to increase stability when the liftingrod 7 is moved relative to thebracket 9. As will be described below, thesupport element 6 can also be configured with teeth and thus in the form of a rack. - As already mentioned above, the lifting
rod 7 is connected to thebracket 9 such that the liftingrod 7 extends through the openings of the first and secondplain bearings rod 7 is movable relative to thebracket 9 in a reversible manner in a first arrow direction A and a second arrow direction B. In other words: the liftingrod 7 can be moved in the arrow direction A and in the arrow direction B relative to thebracket 9. Moreover, the liftingrod 7 can be rotated about the axis of rotation R in the direction of rotation C or D relative to thebracket 9 by means of the first and secondplain bearings - The
cantilever 4 is configured substantially as a rod with afirst end 4 a and asecond end 4 b. The rod can also be referred to as an arm, support, bar or lever. As illustrated inFIGS. 4 to 9 , anarmrest 5 is positioned on thecantilever 4. Thearmrest 5 serves to receive and hold an upper arm of a user AW. In order to temporarily fix the arm to thearmrest 5, an arm strap having a closure is provided. The arm strap and the closure are illustrated inFIG. 3 . The closure is in this case configured for example as a touch-and-close fastener. - The
ratchet mechanism 1 is configured substantially as a pivot bearing having a blocking action in a predetermined direction of rotation. Furthermore, theratchet mechanism 1 contains a blockingdevice 80, with which the blocking action in the predetermined direction of rotation F is such that theratchet mechanism 1 is no longer freely rotatable in the direction of rotation F. Therelease device 80 is merely indicated in the figures and is described in more detail below. - The
ratchet mechanism 1 may also be referred to as a ratchet or fine tooth ratchet. Theratchet mechanism 1 serves to connect the first end 7 a of the liftingrod 7 to afirst end 4 a of thecantilever 4, with the result that it is possible to selectively set a repeated, sectoral rotary movement of thecantilever 4 about the axis of rotation S in a first direction of rotation E and a blocking action for thecantilever 4 in a second direction of rotation F. In other words: thecantilever 4 can be pulled freely in the direction of rotation E, for example by the arm of the user AW, which is connected to thecantilever 4 by means of the arm strap, and be blocked in the direction of rotation F with the aid of the blocking action of theratchet mechanism 1. Since theratchet mechanism 1 allows a free rotary movement of thecantilever 4 in the direction of rotation E about the pivot point, a user AW can move their arm upward in the arrow direction A in order for example to hold a power tool at a particular height. The power tool is not illustrated in the figures. With the aid of the blocking action of theratchet mechanism 1 in the direction of rotation F, thecantilever 4 can be kept at the height intended by the user AW in order to provide a resting possibility for the arm by way of the cantilever blocked in the direction of rotation F. On account of the resting possibility provided by thecantilever 4 at the height intended by the user AW, holding of a heavy power tool can be substantially improved. Thus, the weight force of the power tool is dissipated via the arms to thecantilever 4, the liftingrod 7, thebracket 9 and finally to thetorso attachment device 30. - The
ratchet mechanism 1 is realized by a combination of two stop pawls, which transmit a pivoting movement of a lever only in one direction, while a movement in the opposite direction is automatically blocked. The operating principle is similar to that of freewheeling (for instance on a bicycle). In order that the blockingdevice 80 can bring about the blocking action of theratchet mechanism 1 in a particular direction of rotation (in this case the direction of rotation F), it is possible for the blockingdevice 80 to bring the two stop pawls into connection with each other such that they act on each another in a blocking manner and do not permit any movement. - In addition to the embodiment with two stop pawls, one with a spring-loaded gridded rocker is also possible. The
ratchet mechanism 1 can also be realized by a push-through ratchet with a continuous square hole. In this case only a single (stop) pawl is necessary, wherein the effective direction of rotation is achieved by pushing through a square stub on one side of the ratchet or the other. - According to a further advantageous configuration, the
exoskeleton 10 furthermore contains acoupling rod 2, which is configured substantially as a bar with a first end and a second end (cf.FIGS. 4 to 9 ). Thecoupling rod 2 is connected to thecantilever 4 in a rotatable manner by the first end and is connected to the liftingrod 7 again in a rotatable manner by the second end via a compensatingmechanism 50. Thecoupling rod 2 serves substantially as a support and guide when thecantilever 4 moves relative to the liftingrod 7. - According to an advantageous embodiment (not shown in the figures) of the
exoskeleton 10 according to the invention, the compensatingmechanism 50 can be configured in the form of aslot 51 at the second end of thecoupling rod 2 and of a pivot bearing on the liftingrod 7. The pivot bearing is in this case positioned in theslot 51 and movable along theslot 51 and in a manner guided by theslot 51. With the aid of the compensatingmechanism 50 configured as a slot and pivot bearing, a movement of thecoupling rod 2, when thecantilever 4 is rotated relative to the liftingrod 7, can be compensated. - According to a further embodiment, shown in
FIGS. 4 to 9 , of theexoskeleton 10 according to the invention, the compensatingmechanism 50 can be configured in the form of aslot 51 at the second end of thecoupling rod 2, of asector gear 3, of a rack 13, and of apivot bearing 14. - The
optional support element 6 is in the form of the rack 13 according to the embodiment, shown inFIGS. 4 to 9 , of theexoskeleton 10 according to the invention. According to an advantageous embodiment of theexoskeleton 10 according to the invention, it is also possible for both asupport element 6 and a rack 13 to be positioned alongside one another on the support plate 12. - The cylindrically configured rack 13 projects into the interior of the lifting
rod 7 such that the longitudinal extent of the rack 13 and the longitudinal extent of the liftingrod 7 are oriented parallel to one another. - As is apparent in particular from
FIG. 4 , the liftingrod 7 has acutout 7 d, which provides access to the teeth of the rack 13. The rack 13 is connected to thesecond end 7 b of the liftingrod 7 and in particular to the support plate 12 at thesecond end 7 b of the liftingrod 7 so as to be rotatable about the axis of rotation R in the direction of rotation C or D by means of a pivot bearing (not shown). In this case, the rack 13 is connected to the support plate 12 such that the rack 13 cannot be moved in the arrow direction A or B bracket. As a result, there is no relative movement between the rack 13 and thebracket 9. - On account of the possibility of the rack 13 and the lifting
rod 7 being able to move relative to one another in the arrow direction A or B and because the rack 13 is introduced into the interior of the liftingrod 7, the combination or the cooperation of the lifting rod 13 and the liftingrod 7 may be referred to as a piston-cylinder unit. In this case, the rack 13 is implemented as a piston and the liftingrod 7 and in particular the cavity HR of the liftingrod 7 are implemented as a cylinder for receiving the piston configured as a rack. - Furthermore, the lifting
rod 7 contains a holdingdevice 15 having anaxis 16, which serves to receive and hold thesector gear 3. By way of the holdingdevice 15 having theaxis 16, thesector gear 3 can be rotated relative to the liftingrod 7 such that theteeth 3 a of thesector gear 3 can mesh with the teeth 13 of the rack 13. Thesector gear 3 furthermore contains alever element 3 b, at the free end of which the pivot bearing 14 is positioned. Thepivot bearing 14 is positioned in theslot 51 and freely movable along theslot 51 and guided along theslot 51. - The
cantilever 4 can, as a result of its rotary mounting at the pivot point DP with respect to thebracket 9, be brought reversibly into a first, second or third position. -
FIGS. 4 and 5 show theexoskeleton 10 with thecantilever 4 in the first position. -
FIGS. 6 and 7 show thecantilever 4 in the second position. -
FIGS. 8 and 9 illustrate thecantilever 4 in the third position. - In the first position, the
second end 4 b of thecantilever 4 is inclined downward in the arrow direction B. - In the second position, the
second end 4 b of thecantilever 4 is substantially horizontal. - In the third position, the
first end 4 a of thecantilever 4 points upward in the arrow direction A. - If the user AW moves the arm, which is connected to the
cantilever 4, upward in the arrow direction A, the liftingrod 7 is likewise pulled upward in the direction A by means of theratchet mechanism 1. Since the liftingrod 7 is mounted so as to be movable in the arrow direction A or B with respect to thebracket 9, the pivot point SP can compensate the travel Ay for compensating the anatomical movement of thehuman shoulder 40 during the lifting of an arm. - According to a further embodiment, as illustrated in
FIGS. 10 to 13 , arelease device 60 is provided for adjusting theratchet mechanism 1 from a release position into a blocking position. In the release position, thecantilever 4 is pivotable relative to the liftingrod 7 and, in the blocking position, a pivoting movement of thecantilever 4 relative to the liftingrod 7 is immovable or blocked. - As
FIGS. 10 and 11 show, therelease device 60 contains anactuating mechanism 70 which is operable by a head movement of the user AW. Theactuating mechanism 70 in turn contains abase plate 71, asteering element 72, acable pull lever 73, a cable 74 (core for Bowden cable), a holdingbushing 75 and anactuating element 76. Thecable 74 may also be referred to as the core of a Bowden cable. - The
actuating mechanism 70 may also be referred to in its entirety as a cable pull or Bowden cable, wherein thecable 74 serves as a core for the cable pull or Bowden cable. - As
FIG. 10 likewise shows, thebase plate 71 is connected to thetorso attachment device 30 via aweb 77. Alternatively, thebase plate 71 can also be connected only or directly to the neck of a user AW. Thebase plate 71 contains afirst end 71 a and asecond end 71 b. A pivot bearing 78 is provided at the first end. - The
steering element 72 is substantially configured as a triangular plate having a first, second andthird attachment element steering element 72 may also be referred to as a transverse link. Thefirst attachment element 72 a is connected rotatably to the pivot bearing 78 of thebase plate 71. Thesecond attachment element 72 b is connected to the holdingbushing 75 and thethird attachment element 72 c is connected in turn to theactuating element 76. - The
cable pull lever 73 contains a first and a second end 73 a, 73 b, wherein the first end 73 a is likewise connected to thefirst attachment element 72 a of thesteering element 72. The second end 73 b of thecable pull lever 73 is connected to a first end 74 a of thecable 74. A second end of thecable 74 is connected in turn to the blockingdevice 80 of the ratchet mechanism. The second end of thecable 74 is not shown in the figures. - The holding
bushing 75 serves as an attachment point for a flexible tube in which thecable 74 is movably guided. The flexible tube may also be referred to as a hose, a sheath, a Bowden cable sheath or tension sheath. As already mentioned above, the holdingbushing 75 is connected to the second attachment element. - The
actuating element 76 is configured in the form of a bent plate and has a first andsecond side surface first side surface 79 a is connected to thethird attachment element 72 c. Thethird attachment element 72 c is merely indicated in the figures. - By means of a head movement of the user AW in the direction N, the
actuating mechanism 76 can be operated (cf.FIGS. 12 and 13 ) such that theratchet mechanism 1 can be moved from a release position into a blocking position. In the release position, thecantilever 4 is pivotable relative to the liftingrod 7 and, in the blocking position, a pivoting movement of thecantilever 4 relative to the liftingrod 7 is blocked. - According to a further embodiment, it may also be possible for a transmitter and an actuator to be provided instead of the
cable 74 or instead of the Bowden cable. The actuator may also be referred to as an actuating mechanism. The sensor is positioned here on theactuating mechanism 70 and identifies a movement of the head of the user AW. A corresponding signal is transmitted from the sensor to the actuator by means of a radio transmission unit. The actuator is positioned on theratchet mechanism 1. When the actuator receives the signal from the sensor, theratchet mechanism 1 is moved from a release position into a blocking position. The radio transmission unit can transmit a signal here by means of Bluetooth or other radio technology. - List of reference characters:
- 1: Ratchet mechanism
- 2: Coupling rod
- 3: Sector gear
- 3 a: Teeth of the sector gear
- 3 b: Lever element
- 4: Cantilever
- 4 a: first end of the cantilever
- 4 b: second end of the cantilever
- 5: Armrest
- 6: Support element
- 7: Lifting rod
- 7 a: first end of the lifting rod
- 7 b: second end of the lifting rod
- 7 c: Middle of the lifting rod
- 7 d: Cutout in the lifting rod
- 8 a: first plain bearing
- 8 b: second plain bearing
- 9: Bracket
- 9 a: first end of the bracket
- 9 b: second end of the bracket
- 10: Exoskeleton
- 11: Cutouts on bracket
- 12: Support plate
- 13: Rack
- 13 a: Teeth of the rack
- 14: Pivot bearing
- 15: Holding device
- 16: Axis of the holding device
- 20: Arm of the user
- 30: Torso attachment device
- 40: Shoulders of the user
- 50: Compensating mechanism
- 51: Slot
- 70: Actuating mechanism
- 71: Base plate
- 71 a: first end of the base plate
- 71 b: second end of the base plate
- 72: Steering element
- 72 a: first attachment element
- 72 b: second attachment element
- 72 c: third attachment element
- 73: Cable pull lever
- 73 a: first end of the cable pull lever
- 73B: second end of the cable pull lever
- 74: Cable
- 74 a: first end of the cable
- 75: Holding bushing
- 76: Actuating element
- 77: Web
- 78: Pivot bearing
- 79 a: first side surface
- 79 b: second side surface
- 80: Blocking device
- HR: Cavity of the lifting rod
- DP: Pivot point
- OK: Upper body
- AW: User
- VS: Closure
- R: Axis of rotation of the lifting rod
- C, D: Directions of rotation of the lifting rod
- S: Axis of rotation of the cantilever
- E, F: Directions of rotation of the cantilever
Claims (8)
1.-8. (canceled)
9. An exoskeleton for supporting an arm of a user, comprising:
a torso attachment device for releasably connecting the exoskeleton to a torso of the user;
a bracket which is connectable to the torso attachment device;
a lifting rod which is connectable to the torso attachment device via the bracket and which is reversibly movable in a first direction and a second direction relative to the bracket;
a cantilever for supporting the arm of the user which is releasably connectable to the arm of the user;
a ratchet mechanism, wherein the ratchet mechanism connects a first end of the lifting rod to a first end of the cantilever; and
a blocking device, wherein the ratchet mechanism is adjustable by the blocking device from a release position into a blocking position, wherein in the release position the cantilever is pivotable relative to the lifting rod, and wherein in the blocking position a pivoting movement of the cantilever relative to the lifting rod is blocked.
10. The exoskeleton according to claim 9 further comprising a coupling rod having a first end and a second end, wherein the coupling rod is rotatably connected to the cantilever by the first end and to the lifting rod via a compensating mechanism by the second end.
11. The exoskeleton according to claim 10 , wherein the compensating mechanism comprises a slot at the second end of the coupling rod and a pivot bearing on the lifting rod and wherein the pivot bearing is disposed in the slot.
12. The exoskeleton according to claim 10 , wherein the compensating mechanism comprises a slotted guide disposed between the second end of the coupling rod and the lifting rod.
13. The exoskeleton according to claim 10 , wherein the compensating mechanism comprises a sector gear and a rack and wherein the sector gear is rotatably connected to the lifting rod such that teeth of the sector gear mesh with teeth of the rack.
14. The exoskeleton according to claim 13 , wherein the lifting rod and the rack are configured as a piston-cylinder unit.
15. The exoskeleton according to claim 9 further comprising an actuating mechanism for the blocking device, wherein the actuating mechanism is operable by a head movement of the user.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18212840.5A EP3670104A1 (en) | 2018-12-17 | 2018-12-17 | Passive exoskeleton with ratchet mechanism operable by a neck movement |
EP18212840.5 | 2018-12-17 | ||
WO18212840.5 | 2018-12-17 | ||
PCT/EP2019/082398 WO2020126322A1 (en) | 2018-12-17 | 2019-11-25 | Neck circuit in a passive exoskeleton |
Publications (2)
Publication Number | Publication Date |
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US20220071831A1 US20220071831A1 (en) | 2022-03-10 |
US20230149245A9 true US20230149245A9 (en) | 2023-05-18 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/414,594 Pending US20230149245A9 (en) | 2018-12-17 | 2019-11-25 | Neck Switch Device in a Passive Exoskeleton |
Country Status (5)
Country | Link |
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US (1) | US20230149245A9 (en) |
EP (2) | EP3670104A1 (en) |
JP (1) | JP2022512337A (en) |
CN (1) | CN113165166A (en) |
WO (1) | WO2020126322A1 (en) |
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EP3670103A1 (en) * | 2018-12-17 | 2020-06-24 | Hilti Aktiengesellschaft | Device for adapting shoulder elevation in a passive exoskeleton |
US20220015979A1 (en) * | 2018-12-17 | 2022-01-20 | Hilti Aktiengesellschaft | Device for Supporting and Relieving the Arms of a User |
US20230013131A1 (en) * | 2021-07-16 | 2023-01-19 | Adonis Medical Technologies Ltd. | Dynamic shoulder brace |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US374A (en) | 1837-09-08 | Abraham | ||
US9737A (en) | 1853-05-17 | Improvement in track-clearers to harvesters | ||
US1257297A (en) * | 1917-07-30 | 1918-02-19 | Frederick B Brown | Arm and shoulder brace. |
US2661000A (en) * | 1951-06-25 | 1953-12-01 | William E Gazeley | Surgical splint |
US3596655A (en) * | 1968-11-20 | 1971-08-03 | Joseph D Corcoran | Traction cradle device |
GB2225239A (en) * | 1988-09-12 | 1990-05-30 | Protectair Ltd | Orthopaedic brace |
WO2009076725A1 (en) * | 2007-12-19 | 2009-06-25 | Mark Sorrenti | Shoulder brace |
JP5515116B2 (en) * | 2010-06-03 | 2014-06-11 | 国立大学法人東京農工大学 | Power assist suit |
JP6027025B2 (en) | 2011-01-18 | 2016-11-16 | レヴィテイト テクノロジーズ, インコーポレイテッドLevitate Technologies, Inc. | Adaptive arm support system and method of use |
EP3395506B2 (en) | 2012-12-11 | 2023-04-26 | Levitate Technologies, Inc. | Adaptive arm support systems and methods for use |
JP6145866B2 (en) * | 2013-03-11 | 2017-06-14 | ジャパンマリンユナイテッド株式会社 | Work support device |
US10058994B2 (en) * | 2015-12-22 | 2018-08-28 | Ekso Bionics, Inc. | Exoskeleton and method of providing an assistive torque to an arm of a wearer |
JP2017185101A (en) * | 2016-04-07 | 2017-10-12 | 株式会社イノフィス | Upper body support device |
KR101911147B1 (en) * | 2016-11-25 | 2018-10-23 | 한국산업기술대학교산학협력단 | Upper limb rehabilitation training apparatus |
KR101896181B1 (en) * | 2017-04-25 | 2018-09-07 | 서울대학교산학협력단 | Shoulder Moving Assist Device |
JP6416353B1 (en) * | 2017-09-28 | 2018-10-31 | Johnan株式会社 | Upper limb holding device |
CN107932478B (en) * | 2017-11-15 | 2019-10-08 | 北京林业大学 | A kind of upper limb picking auxiliary ectoskeleton |
EP3670103A1 (en) * | 2018-12-17 | 2020-06-24 | Hilti Aktiengesellschaft | Device for adapting shoulder elevation in a passive exoskeleton |
-
2018
- 2018-12-17 EP EP18212840.5A patent/EP3670104A1/en not_active Withdrawn
-
2019
- 2019-11-25 US US17/414,594 patent/US20230149245A9/en active Pending
- 2019-11-25 EP EP19805709.3A patent/EP3898125A1/en active Pending
- 2019-11-25 WO PCT/EP2019/082398 patent/WO2020126322A1/en unknown
- 2019-11-25 CN CN201980079898.7A patent/CN113165166A/en active Pending
- 2019-11-25 JP JP2021532346A patent/JP2022512337A/en active Pending
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WO2020126322A1 (en) | 2020-06-25 |
US20220071831A1 (en) | 2022-03-10 |
JP2022512337A (en) | 2022-02-03 |
EP3670104A1 (en) | 2020-06-24 |
CN113165166A (en) | 2021-07-23 |
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