WO2007065706A1

WO2007065706A1 - Device for moving limbs

Info

Publication number: WO2007065706A1
Application number: PCT/EP2006/011850
Authority: WO
Inventors: Eberhard Hofer; Rüdiger RUPP; Michael Vosseler; Markus Knestel
Original assignee: Eberhard Hofer; Rupp Ruediger; Michael Vosseler; Markus Knestel
Priority date: 2005-12-09
Filing date: 2006-12-08
Publication date: 2007-06-14
Also published as: EP1959909A1; DE502006006282D1; DE102005059342A1; EP1959909B1; ATE458463T1

Abstract

The invention relates to a device for moving limbs, particularly human extremities. Said device comprises at least one receiving unit (51) that is provided with a hollow space with an opening (52) and a bottom area (53) on which a plurality of actuators (54) are disposed, a regulation and control unit (55), by means of which the individual actuators (54) can be triggered such that cyclical movement patterns are generated, and at least one orthosis unit (56) that encompasses at least one support element (57) and at least one power element (58). The orthosis unit (56) and the receiving unit (51) are connected to each other via at least one joint (59).

Description

The invention relates to a device for moving limbs

Limbs of patients with symptoms of paralysis. One goal is to train the residual voluntary motor skills of e.g.

incompletely paraplegic or patients with a condition after a stroke, with the help of stimuli that correspond to those of a real experienced step. Thereby, stimulation of the sole of the foot and the leg motor stimulates with the correct phase

Walking pattern generated.

Arrangements of the type mentioned are known for example from patent specification WO 00/28927. Such arrangements allow automatic guidance of the legs in the

Treadmill therapy of the patients, whereby a movement pattern of the legs is generated via a driven orthosis, a treadmill and a relief mechanism. To relieve the patient, the orthosis is stabilized on the treadmill in such a way that the patient does not have to be able to walk completely and the entire body weight does not have to be carried by oneself. Automatic machines of this type are very reliable in their function, but as a major disadvantage they require a relatively large amount of space, which limits the usability for different applications or has undesirable effects with regard to the frequency of use and thus the success of rehabilitation. Another disadvantage of such machines is the fact that

Training is only possible in a vertical, standing body position, which is the case with patients described above

Limitations of walking function is disadvantageous in many ways because the workouts are vertical due to this Body position can only be of a relatively short duration, which severely limits the success of rehabilitation. With upright posture of patients with

Symptoms of paralysis occur due to gravity-induced sagging of the blood in the lower extremities, whereby the circulation of certain patients, especially in the early phase of damage to the central nervous system, is impaired to such an extent that there is a risk of fainting. Such conditions primarily endanger the health of the patient and also limit the duration of training, which makes the success of the

Rehabilitation is significantly reduced. So far, attempts have been made with apparatuses of the arrangement as in the patent specification WO

00/61059 shown to solve this problem. This is done

Patient training first in a lying position, then in an inclined position and finally in an upright posture. Furthermore, it is considered to be disadvantageous that with such

Training equipment permanently the presence of a

therapeutic supervisor is required. The object of the present invention is to provide a device for moving limbs with which

in particular, the rehabilitation success can be significantly increased in a simple manner with a space-saving structure. This task is accomplished by a device with the

Features of claim 1 solved.

Advantageous configurations and preferred

Embodiments of the invention are specified in the subclaims. The above object is achieved by a device for moving limbs, in particular human

Extremities, with at least one receiving unit, which has a cavity with an opening and a bottom surface, a plurality of actuators being arranged on the bottom surface, a regulating and control unit with which the individual actuators can be controlled in such a way that cyclical movement patterns are generated, and / or at least one orthotic unit, which contains at least one support element and at least one force element, the orthotic unit and the receiving unit being connected via at least one joint.

With such an arrangement, the use of a treadmill can be dispensed with, as a result of which the space requirement of such a device is considerably reduced compared to a known arrangement. Due to the practicability of the training in a sitting position, the patients can last longer

Complete training sessions, resulting in higher training successes in less time. This reduces the

Application time of the therapy, after which the training apparatus is available to a new patient more quickly. In addition, a high reproducibility of the movement pattern and greater comfort for the patient can be ensured. Furthermore, the device can be characterized in that cyclical movement patterns in the form of at least one

Wavefront are formed, which are in a longitudinal direction, a transverse direction, and / or a combination of the above

Propagates directions of the ground surface. This allows

Stimulus patterns can also be generated in the diagonal direction by superimposing the longitudinal and transverse directions. With that a

Stimulation of a part of the sole of the foot up to the complete The sole of the foot is generated in which a realistic stimulus pattern of a step is generated without an actual one

Occurrence of the patient on a floor surface, such as on a treadmill. As a result, the device can be optimized in such a way that it can be used in the home, since the space requirement is reduced. Through the

Stimulation of the sole of the foot creates a natural gait pattern without requiring the patient to actually appear. This allows the patient to do training sessions preferably in

complete sitting position, creating the effect of

Blood sagging and the complications associated with it can be prevented.

Furthermore, the device can be characterized in that the orthotic unit can be connected to a further orthotic unit via at least one joint. This gives the advantage of additional limbs of the extremity

can be moved in a controlled manner, which increases the realism of the movement pattern and improves rehabilitation success.

Furthermore, the force element of the device can be controlled with the help of the regulating and control unit in such a way that it generates a relative movement between at least one orthotic unit and a further orthotic unit and / or the receiving unit. This allows the

Controllability and controllability of the force elements

to be provided. Furthermore, the orthotic unit can be at least one

Have fasteners. In this way, the adaptability of the entire device or the orthotic unit to the anatomical conditions of the patient.

Furthermore, the receiving unit of the device can have at least one adaptation means on at least one inner surface, which can be regulated by means of the regulating and control unit in such a way that a predetermined one on the inner surface of the

Adaptation unit essentially vertical force can be generated. The value of the predetermined force can be constant, time-based and / or

event-based variable value can be set. This can ensure that the pressure from the

Adaptation unit is exerted on the surface of the limbs, can be regulated so that the emergence of

Pressure points and other injuries such as abrasion on the patient's limbs can be prevented. In particular, the generation of a constant surface force can prevent the risk of pressure points on the patient's limbs due to volume changes in the limbs during the movement. Furthermore, such ensures

Adaptation means an adaptive fixation of the limb in the receiving unit, depending on the extension / volume of the limb, which creates a large-area connection. In addition, the limb located in the receiving unit can be pressed onto the bottom surface of the receiving unit by the adaptation means. This has the advantage that the

Limb stimulation, which is formed by the movement pattern in the form of at least one wavefront that propagates in the floor surface, can be intensified.

Furthermore, the fastening means of the device can have at least one adaptation means, which can be and the control unit can be controllable in such a way that a predetermined, on a surface of the fastener in the

Essentially vertical force can be generated. The wearing comfort of the entire device for the patient can thus be increased in a particularly simple manner.

Furthermore, the device can be characterized in that the actuators used, the force elements and the adaptation means are pneumatic, hydraulic, mechanical

and / or can be actuated electrically. This can be a high

Variability in the drivability of the device can be ensured, which means that the device is adapted to the respective

Ambient conditions in terms of power supply is customizable.

Furthermore, the device can take up at least one acre in the receiving unit, take up at least one distal extremity section in a first orthotic unit, and at least one proximal one in a second orthotic unit

Pick up limb section. This ensures that the movement of an entire, upper and / or lower extremity can be regulated.

Furthermore, the device can be characterized in that the geometric dimensions of the receiving unit and / or the orthotic unit can be infinitely and / or discretely adjustable. The adaptability of the device to the anatomical conditions of different patients can thus be increased further.

Furthermore, the device can be characterized in that the receiving unit for receiving a foot, a first _

Orthosis unit for receiving a lower leg and a second orthotic unit for receiving a thigh, wherein the force that can be generated by the adjustment means located in the receiving unit on at least a part of the foot surface and the force that in the

Fastening means can be generated on at least part of the surface of an adapter

Thigh, and / or lower leg can be exercised. Furthermore, the device can be characterized in that a further joint can be provided on a second orthotic unit such that the entire device has at least one rotational degree of freedom. As a result, the entire device can be moved around in a particularly simple manner

For example, a vertical axis can be pivoted so that access to the device is made easier, especially for wheelchair users. In addition, the creation of the

Device much easier for a patient, which means that no other operating personnel have to be called in to help.

Furthermore, the device can be characterized in that at least one seat is provided, which can be adjusted with the aid of

Level elements can be adjustable in height. Additionally or alternatively, the seat can have a seat back that over

Adjustment elements can be varied in their inclination. During the movement of the orthotic units towards each other, this becomes

Knee joint as well as the ankle joint actively performed, the

Hip joint is only moved passively. By changing the seat height and / or by varying the inclination of the seat back, the range of motion of the hip angle, for example

can be customized. In summary, the advantages of the invention are to be mentioned here. By combining stimulation of the sole of the foot with the motor movement of the upper and

Lower leg, a realistic gait pattern can be generated. As a result, the present device can be used by patients in a seated position, which extends the duration of the individual training units. On the one hand, this results in the advantage that the rehabilitation success can be achieved more quickly and, on the other hand, the advantage that none

additional therapeutic supervisors must be consulted. Likewise, the comfort experienced by the patient is increased by the high adaptability of the device to the anatomical conditions. Furthermore, the space-saving design means that the device can be used in the home.

Advantageous refinements and further details of the present invention are described below

Various embodiments described with reference to the figures. For example, show schematically:

Figure 1 shows the overall structure of the limb moving device; Figure 2 shows the schematic structure of a

Receiving unit;

Figure 3 shows the basic stimulus pattern generation in an extremity;

Figure 4 is a sectional view of the receiving unit; _^

Figure 5 shows an overview of the device components; Figure 6: shows an illustration of a base unit; Figure 7: shows an illustration of a base unit with the

Footplate option;

Figure 8: shows an image of the base unit with the knob roll option.

In Figure 1, the overall structure of the

Device shown, wherein a receiving unit 51 is connected to a first orthotic unit 56 via a first joint 59. Furthermore, this first orthotic unit 56 is connected to a second orthotic unit 56 via a second joint 59. The mentioned orthotic units 56 each have support elements 57 which function as the load-bearing basic structure of the orthotic units 56. There are two each on the orthotic units 56

Force elements 58 are arranged, the force elements 58 being firmly connected to the respective support element 57 at a first end and being connected to the support element 57 at a second end such that a linear one

The second end can be moved relative to the support element 57. In addition, two force elements 58 are connected to each other at their second ends via, for example, a toothed belt. The toothed belt is deflected via a roller. This pulley is connected to a

Joint 59. The force elements on the first orthotic unit 56 are able to apply tensile forces in order to bend the

Receiving unit 51 relative to the first orthotic unit 56 produce. The force elements on the second orthotic unit 56 are capable of applying tensile forces in order to produce an angling in the first orthotic units 56 to the second orthotic unit.

Furthermore, the support elements 57 of the

Orthotic units 56 are provided with fastening means 60, with each of which an orthotic unit 56 can be attached to a limb of a patient. Force elements 58 are provided on the second orthotic unit 56, the force elements 58 being connected at a first end to the support elements 57 of the orthotic units 56 and at another end via a connecting element to the first orthotic unit 56 via a connecting element such that when a Traction in

respective force element 58 angling the first

Orthotic unit 56 takes place opposite the second orthotic unit 56.

The force elements 58 shown in FIG. 1 are artificial, pneumatic muscles which can exert a tensile force by contraction in the longitudinal direction. This tensile force sets the toothed belt, which connects two force elements 58, in motion. The static friction between the toothed belt and the deflection roller generates a rotary movement of the deflection roller. Due to the

Connection between the deflection roller and the respective joint 59, the joint executes such a rotational movement that a pivoting movement of the receiving unit 51 relative to the first orthotic unit 56 and a pivoting movement of the

Orthotic units 56 to each other is performed. In order to be able to reverse this first movement, further force elements 58 are arranged, which by contraction in Longitudinal direction can produce a movement opposite to the first.

In an embodiment not shown, the force elements can be designed as mechanical, pneumatic, hydraulic and / or electrical force elements. Such an arrangement is conceivable that electrical force elements are located within the joints 59 and carry out the movements described above.

The support elements 57 are formed from profiled aluminum. In further embodiments of the invention, not shown, the profiles of the support elements 57 can be square, circular or U-shaped. In another

Embodiment, the support elements 57 can be formed from plastic.

The fastening means 60 are molded from plastic and include an adjustable locking mechanism.

With the help of a regulating and control unit 55

Force element valves 64 are controlled such that the pressure at the pneumatic force elements 58 can be varied via force element pressure lines 63 such that

Contraction movements of the force elements are generated. The lines are supplied with compressed air via a

Pressure accumulator 65. In another, not shown

Embodiment may be one instead of the accumulator 65

Pressure supply source can be connected to the device. The regulation of the force element valves 64 takes place as a function of sensor signals from the force element sensors 62 and

Angle of rotation encoder 72. Via an actuator sensor 66 Actuator valves 68 are controlled in such a way that the pressure and thus the extent in the actuators 54 can be varied. The actuator sensor 66 delivers a signal to the regulating and control unit 55, which controls the actuator valves 68. Furthermore, an adaptation means sensor 69 and a

Adaptation means valve 70 is provided, which via a

Pressure line 71 is connected to the adaptation means 61 and can be operated in a regulated manner via the regulating and control unit 55. The regulating and control unit 55, the force element valves 64 and the pressure accumulator 65 are provided in a housing 76 which is connected to a seat 73 at its upper end via level elements 77. With the help of the regulating and control unit 55, the level elements 77 can be controlled in such a way that the seat 73 can vary its height in relation to the contact surface of the device on which the entire device rests. The housing is in contact with the contact surface in FIG

Connection. The displacement elements 78 are designed in the form of rollers. In a further embodiment, not shown, the displacement elements 78 can be wheels, runners and / or

Be sliding elements. With the housing 76 is a

Control / display instrument 74 in connection with which the patient can specify parameters to the regulating and control unit 55, and / or information relating to the training or

Can read equipment states. This enables the patient to be shown the current training success for self-control in the form of a feedback function. The patient can exert a force on the orthotic units 57 through his own, voluntary or involuntary movement of the muscles. This results in setpoint deviations in the force elements 58 and joints 59, which are detected via the force element sensors 62 and the rotation angle sensors 72 and are assessed as positive or negative participation of the patient. Depending on this evaluation the patient receives feedback, on an operating / display instrument, about the correctness and / or quality of his cooperation. The device also contains the possibility of recording relevant data on the course of the training and, if necessary, reading it out using telemetric methods.

The receiving unit 51 stands over another

Sliding element 78 with the footprint in

Connection. This allows movement of the first

Orthotic unit 56 with respect to the second orthotic unit 56, the friction between the receiving unit 51 and the

Footprint can be significantly reduced. In a further embodiment of the invention, not shown, a linear guide mechanism can be used instead of the displacement element 78

be provided with which the receiving unit 51 can be guided linearly in a controlled manner relative to the contact surface. This can prevent the device from tipping sideways.

The joints 59 are with rotation angle sensors 72 in

Connection, which in turn outputs a sensor signal to the regulating and control unit 55, for detecting the position or the state of movement of the said joints 59.

Furthermore, not shown in FIG. 1, the

Fastening means 60 adapting means which are adjustable for adjusting the fastening means 60 on the limbs of the respective patient. The adjustment means regulations 75 for the adjustment means have a measuring and an actuator with which the pressure in the adjustment means can be constantly adjusted by the patient. The pressure is not checked via the regulating and control unit 55. In another, not shown In the exemplary embodiment, the pressure in the adaptation means can be regulated by the regulating and control unit 55.

Figure 2 shows a longitudinal section through the receiving unit 51. The receiving unit 51 has an opening 52 through which a foot can be inserted. In the bottom surface 53 of the

Recording unit 51, actuators 54 are provided which run transversely to the longitudinal direction of the recording unit 51. The actuator valves 68 can be controlled via the regulating and control unit 55 in such a way that pressure fluctuations can occur in the individual actuators 54. By varying the scope of each actuator 54, a force pulse on one

certain point of the floor area are generated. A foot located in the receiving unit 51, which rests on the bottom surface 53, thereby experiences a force pulse. Due to the separate controllability of the individual actuators 54, a force as a function of place and time can be variably applied to the sole of the foot

Patients are applied. The actuators 54 are in the form of high-strength hoses placed next to one another

executed. Several, adjacent and / or non-adjacent actuators 54 can optionally be controlled simultaneously or individual actuators 54 independently of one another. In a further, not shown embodiment of the

Recording unit 51, the actuators 54 in the form of

Mini cylinders can be executed.

An adaptation means 61 is provided on the inner surface of the receiving unit 51 in the regions that do not form the bottom surface 53. The adaptation means 61 is via a

Adaption medium pressure line 71 with a J. O

Adjustment means valve 70 connected, which is connected to the regulating and control unit 55. With help of a

Adjustment means sensor 69, the pressure in the

Adaptation means 61 can be regulated arbitrarily, so that a

constant pressure can be exerted on the foot located in the receiving unit 51. Furthermore, however, it is also possible to regulate the adaptation means 61 in such a way that the pressure of the adaptation means is inconsistent. In a further embodiment, not shown, further actuators of the same type as the actuators 54 are positioned in the longitudinal direction of the receiving unit 51. By

Activation with the aid of the regulating and control unit 55 of these actuators arranged in the longitudinal direction can be local and

time-dependent force profile in the transverse direction of the receiving unit 51, in the bottom surface 53 of which are generated. By combining the control of the transverse and the longitudinally positioned

Actuators can be generated from a combination of a longitudinal and / or transverse location and time-dependent force curve.

In a further, not shown embodiment of the present invention, the

Recording unit 51, a pressure measuring film can be provided in order to be able to record the actual pressure at any point on the sole of the foot.

Figure 3 shows schematically the generation of a

physiological stimulus pattern to generate a step in the sole of the foot. The actuators 54 are in the form of

juxtaposed, high-strength hoses across the

Longitudinal foot direction arranged. By actuating the actuators 54, a location and time-dependent force function can be applied to the Sole of the foot can be applied. In principle, any force curve can be realized, but preferably the force spreads in the form of a wavefront from the heel area to the area of the toes over the entire sole of the foot. The actuators 54 are arranged in the form of hoses lying side by side, two adjacent hoses having different lengths.

FIG. 4 shows the sectional view of the receiving unit 51 along a section line B-B, which is shown in FIG. 2. In the

The actuators 54 are arranged on the bottom surface and can be controlled via the actuator valves 68 as a function of a sensor signal that is received by a regulating and control unit 55. An adjustment means 61 generates a force on a foot or hand that is located between the actuators 54 and a surface of the adjustment means 61. As a result, the force generated by the actuator 54 can be further increased, for example on a sole of the foot or on the palm of a hand. The invention further includes the following aspects.

The improvement of damaged everyday motor skills and abilities is considered the primary goal in the rehabilitation of patients with neurogenic disorders, such as spinal lesion or

Stroke. The restoration of walking ability is of central importance, the high importance of this ability is obvious. However, early, intensive mobilization is also of central therapeutic and functional importance in other patient groups, such as orthopedic or geriatric patients who have had a long immobilization phase. At the moment, physiotherapy measures are mainly important for the success of rehabilitation. The most extensively examined is the locomotion training using a treadmill at incomplete

Paraplegic and stroke patients. Since there are initially usually considerable problems in arbitrarily initiating walking movements, these are either caused by a person

Gait robot, an active standing board or manually supported. Automatic locomotion therapy should be preferred due to the strain on the therapist, the non-reproducible gait pattern and the time limit.

Although locomotion therapy has now become the state of the art in the rehabilitation of neurological patients, the nervous biochemical functional mechanisms are still insufficiently clarified. It is widely assumed that nervous processes are reorganized. Specifically, there is speculation about the reaction of a spinal pattern generator (CPG). On the basis of extensive animal experimental results, the rough ones

Functional mechanisms of this neural network, which is fundamentally linked to the generation of cyclical movements, are described. During the CPG in

If the physiological state receives an input from the brain and produces a rhythmic output, reactivation in the

pathological condition, repeated and intense sensory stimulation. It has been shown that a physiological, step-phase-related load on the lower extremities is a decisive factor for the activation of the CPG.

Depending on the skills and performance of the patient, his limbs are either only passive or active or assistively moved. The devices are based on one

rotary drive that computer-controlled different

Movement tractors, for example, to relax the muscles or to reduce spastic reactions. Electrical and / or pneumatic drives can be used to generate independent movements in several joints.

So that the exercise bike has physiological movements

can perform a model-based

Trajectory generation and control implemented. Knowledge of a sufficiently precise model of the electric drives and the pneumatic muscles is used for this.

Furthermore, the mechanism, the device and the method for generating physiological, relevant

Force signals for the stimulation of the lower extremities, through therapeutic functions, patient safety, comfortable

Handling and modular structure can be characterized by, the device components, base unit, option

Base plate, knobbed roll option, computer and power supply can be labeled.

Furthermore, the base unit can be replaced by a

Thigh orthosis 1, drives 2, 3 at the fastening points 4, 5 and the fastening points 6 for the extension arm 7

Drive belt or rods 8, 9 and encoder 10 with bearing (11) to the boom 12 for the lower leg orthosis 13 to the

Attachment points 14 of the lower leg orthosis 13

to be marked.

Furthermore, the device with the footplate option can be operated by means of the electric or pneumatic drive 21 one of the lower leg orthoses 13 in the fastening points 20, 22 fastened movably mounted 23, 27 base plate 26

made generation of a mechanical pressure or

Vibration stimuli of the lower extremities captured by

Force sensors 24, 25 may be labeled.

Furthermore, the device with the option knob roller by means of electrical or pneumatic drives 32, 33 with drive belt or rod 34 via one on the

Lower leg orthosis 13 in the fastening points 30, 31 fastened rotatably mounted 35, with knob 36 monitored knob roller suspension 37, consisting of 44

Knob roller 42 with a crossbar 38 attached drive 43 and spring 40 and the force sensors 39, 41, made generation of a mechanical stimulus for physiological

Lower extremity pressure should be marked.

Furthermore, the device can be implemented by implementing controls, regulations and trajectory generation

Generation of physiologically reproducible movement trajectories and monitoring of patient safety with a computer with a connected user interface.

Furthermore, the device can be characterized by the space-saving provision and distribution of the energy supply for the electrical and / or pneumatic drives in accordance with the signals generated by the computer.

In Figure 6, reference numeral 1 denotes one

Thigh orthosis. The reference number 2 designates an (el., Pneumatic) drive, which is connected to a computer, for rotating the lower leg orthosis. The reference number 3 denotes an optional (el., pneumatic) drive, which is connected to a computer, for rotating the lower leg orthosis. Reference numeral 4 denotes attachment points for driving the lower leg orthosis. Reference numeral 6 denotes

Attachment points for attaching the arm 7 to a thigh orthosis. Reference numeral 7 designates one

Extension of the thigh orthosis. Reference numeral 8 denotes an optional drive belt or a drive rod.

Reference numeral 9 denotes a drive belt or one

Drive rod. Reference numeral 10 denotes a rotary encoder which is connected to a computer. Reference number 11

denotes a bearing with a rotational degree of freedom. The reference numeral 12 denotes the boom of one

Lower leg orthosis. The reference numeral 13 denotes a lower leg orthosis. Reference numeral 14 denotes the

Attachment points of the arm of the lower leg orthosis.

In Figure 7, reference numeral 1 denotes one

Thigh orthosis. The reference numeral 2 designates an (el., Pneumatic) drive which is connected to a computer for

Rotation of the lower leg orthosis. The reference number 3

denotes an optional (el., pneumatic) drive, which is connected to a computer for rotating the lower leg orthosis. Reference numeral 4 denotes attachment points for driving the lower leg orthosis. Reference numeral 6 denotes

Reference numeral 9 denotes a drive belt or one

Drive rod. Reference numeral 10 denotes a rotary encoder which is connected to a computer. Reference number 11 denotes a bearing with a rotational degree of freedom. The reference numeral 12 denotes the boom of one

Attachment points of the arm of the lower leg orthosis. Reference numeral 20 denotes an attachment point of the footplate drive. The reference numeral 21 denotes an (el., Pneumatic) drive of the footplate, which is connected to a computer. Reference numeral 22 denotes fastening points of the guide of the footplate. Reference numeral 23 denotes the leadership of the

Footplate. Reference numeral 24 denotes a force sensor which is connected to a computer. Reference numeral 25 denotes an optional force sensor, which is connected to a computer.

Reference numeral 26 denotes the base plate. Reference numeral 27 denotes a single-valued bearing.

In Figure 8, reference numeral 30 denotes the attachment points of the drive of the stimulus option. Numeral 31 denotes the attachment points of the drive of the stimulus option. Reference numerals 32 and 33 denote (el., Pneumat.) Drive of the stimulus option, which is connected to a computer. Numeral 24 denotes a drive belt or a drive rod. Reference numeral 35 denotes a rotary encoder which is connected to a computer. Reference numeral 36 denotes a bearing with a rotational degree of freedom. Reference numeral 37 denotes one

Knob roller suspension. Reference numeral 38 denotes a cross bar which is fixedly connected to the foot stimulation option.

Reference numeral 39 denotes a force sensor which is connected to a computer. Numeral 40 denotes a spring. Reference numeral 41 denotes an optional force sensor which is connected to a computer. Numeral 42 denotes a knob roller. Reference numeral 43 denotes an (el., Pneumat.) Drive of a knob roller, which is connected to a computer. Numeral 44 denotes a single-valued bearing.

Claims

2, ό

Claims

1. Device for moving limbs, especially human extremities, with

- At least one receiving unit (51), the one

Has a cavity with an opening (52) and a bottom surface (53), a plurality of actuators (54) being arranged on the bottom surface (53),

a regulating and control unit (55) with which the individual actuators (54) can be controlled in such a way that cyclical movement patterns are generated, and

at least one orthotic unit (56) which contains at least one support element (57) and at least one force element (58), the orthotic unit (56) and the

Receiving unit (51) via at least one joint (59) in

Connect.

2. Device according to claim 1, characterized in that the cyclical movement pattern is formed in the form of at least one wavefront which extends in the longitudinal direction

and / or transverse direction of the bottom surface (53).

3. Device according to at least one of the preceding

Claims, characterized in that the

Orthotic unit (56) is connected to a further orthotic unit (56) via at least one joint (59).

4. Device according to at least one of the preceding

Claims, characterized in that the force element (58) can be controlled with the aid of the regulating and control unit (55) in such a way that it has a relative movement between at least one orthotic unit (56) and another Orthosis unit (56) or the receiving unit (51) generated.

5. Device according to at least one of the preceding

Claims, characterized in that the

Orthotic unit (56) continues at least one

Fastening means (60).

6. Device according to at least one of the preceding

Claims, characterized in that the

Receiving unit (51) has at least one adaptation means (61) on at least one inner surface, which can be controlled by means of the regulating and control unit (55) in such a way that a predetermined force, which is essentially perpendicular to the inner surface of the adaptation means (61), is generated .

7. Device according to at least one of the preceding

Claims, characterized in that the

Fastening means (60) has at least one adaptation means which can be controlled by means of the regulating and control unit (55) in such a way that a predetermined force which is substantially perpendicular to a surface of the fastening means (60) is generated.

8. Device according to at least one of the preceding

Claims, characterized in that the actuators

(54), the force elements (58) and the adaptation means (61) can be actuated pneumatically, hydraulically, mechanically and / or electrically. 9. Device according to at least one of the preceding

Claims, characterized in that the joint (59) is a hinge joint.

10. The device according to at least one of the preceding claims, characterized in that the

Recording unit (51) for receiving at least one of the

Akren, a first orthotic unit to accommodate a distal extremity section and a second

Orthotic unit for receiving a proximal

Extremity section serves.

11. The device according to at least one of the preceding claims, characterized in that the geometric dimensions of the receiving unit (51) and / or

Orthosis unit (56) are infinitely and / or discretely adjustable.

12. The device according to at least one of the preceding claims, characterized in that the

Recording unit (51) for recording a foot, a first orthosis unit for recording a lower leg and a second orthosis unit for recording a

Thigh serves

the force generated by the adjustment means (61) located in the receiving unit (51) on at least a part of the foot surface and the force generated by that in the fastening means (60)

Adaptation means is generated, is exerted on at least part of the surface of a thigh and / or lower leg.

13. The device according to at least one of the preceding claims, characterized in that on a second ZO

Another joint is provided in the orthotic unit such that the entire device has at least one rotational degree of freedom. 14. Device according to at least one of the preceding

Claims, characterized in that a seat (73) is further provided which is adjustable in height with the aid of leveling elements. 15. Limb movement device,

especially human extremities, with

at least one receiving unit (51) which has a cavity with an opening (52) and a bottom surface (53), a plurality of actuators (54) being arranged on the bottom surface (53),

a regulating and control unit (55) with which the individual actuators (54) can be controlled in such a way that cyclical movement patterns are generated,

Receiving unit (51) are connected via at least one joint (59),

characterized in that the cyclical

Movement pattern in the form of at least one wavefront is formed, which extends in the longitudinal direction and / or

Propagates transverse direction of the bottom surface (53).

16. Apparatus for moving limbs,

especially human extremities, with

at least one receiving unit (51) which has a cavity with an opening (52) and a bottom surface (53) A plurality of actuators (54) are arranged on the bottom surface (53),

Receiving unit (51) are connected via at least one joint (59),

characterized in that the cyclical

Propagates transverse direction of the floor surface (53) and that the orthotic unit (56) is connected to a further orthotic unit (56) via at least one joint (59).

17. limb movement device,

especially human extremities, with

- At least one receiving unit (51), the one

Receiving unit (51) via at least one joint (59) in

Connected

characterized in that the cyclical Movement pattern in the form of at least one wavefront is formed, which extends in the longitudinal direction and / or

Transversely propagates the floor surface (53), the orthotic unit (56) being connected to a further orthotic unit (56) via at least one joint (59), the actuators (54), the force elements (58) and the

Adaptation means (61) pneumatic, hydraulic,

are mechanically and / or electrically operable.