WO2017093298A1 - Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain - Google Patents

Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain Download PDF

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Publication number
WO2017093298A1
WO2017093298A1 PCT/EP2016/079249 EP2016079249W WO2017093298A1 WO 2017093298 A1 WO2017093298 A1 WO 2017093298A1 EP 2016079249 W EP2016079249 W EP 2016079249W WO 2017093298 A1 WO2017093298 A1 WO 2017093298A1
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WO
WIPO (PCT)
Prior art keywords
rotation
axis
bearing
bearing part
pivot bearing
Prior art date
Application number
PCT/EP2016/079249
Other languages
German (de)
English (en)
Inventor
Jérémy LEFINT
Christopher RIEHS
Conrad HOCHBERG
Urban DAUB
Jannis Breuninger
Tobias ROGGE
Amir EBRAHIMI
Original Assignee
Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e. V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e. V. filed Critical Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e. V.
Priority to EP16805077.1A priority Critical patent/EP3383339B1/fr
Priority to CN201680070695.8A priority patent/CN108601697B/zh
Publication of WO2017093298A1 publication Critical patent/WO2017093298A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • 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
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—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
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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

Definitions

  • the invention relates to a device for supporting the movement of a human shoulder joint.
  • exoskeletons are based on a common maxim, namely to position the drive system required for the movement support as close as possible to the body joint and preferably the dead weight of the drive system directly via a directly attached to the human body, stable structure and / or preferably via suitable, kraftableitende support structures directly on the ground support.
  • the general challenge is not to impair the natural mobility of humans, but rather to support them without significant hindrance.
  • a typical exoskeleton has a multiplicity of joint mechanisms interconnected via rigid structures, whose coordinated degrees of freedom are selected in such a way that they are analogous to the person's natural joint kinematics.
  • the shoulder joint in particular makes the greatest demands on an artificial, articulated reproduction of the natural joint mobility. It should be noted that the mobility of the
  • Glenohumeral joint i. the ball joint between the humerus and the shoulder blade (scapula), and the other by the mobility of the
  • the glenohumeral joint is deflected linearly both along the transverse plane (x-y plane) and along the frontal plane (y-z plane).
  • x-y plane transverse plane
  • y-z plane frontal plane
  • the sagittal plane is also named, which corresponds to the x-z plane in the above coordinate system.
  • Bracket construction provided which is arranged rearwardly and above the shoulder region of the person and at the end of an arrangement of three hinges is mounted with each orthogonally oriented axes of rotation, one of the 360 ° rotational movement of the Glenohumeralgelenkes replicating
  • Ball joint arrangement corresponds.
  • Ball joints containing swivel joints intersect each other in the joint between the humerus and scapula.
  • the arrangement composed of three swivel joints is followed by another swivel joint disposed in the region of the elbow via a further rigid axis, which however has no direct influence on the mobility in the shoulder blade region.
  • the exoskeleton arrangement has corresponding servomotors in each of the rotary joints, by means of which the movement in the shoulder region can be assisted by a motor.
  • Rotary joints kinematic chain and represents in a very similar arrangement and training on the upper body of a wearer to the
  • the joint assembly is additionally articulated about a parallel to the backbone of the support axis of rotation hinged to a back plate for attachment to the carrier, so as to allow translational movements of the shoulder joint along the so-called transverse plane.
  • the publication WO 2015/058249 A1 discloses an exoskeleton arrangement, which is used in particular for the movement support of an arm.
  • the known device has partly motor-driven joints, which are connected to one another via rigid connecting struts and project beyond the shoulder region of the person laterally and also above.
  • the joints each have joint axes which, regardless of the movement and deflection state of the arrangement, always virtually intersect in the humeral head of the shoulder joint and thus center this joint area within the arrangement. This is the
  • the document US 201 1/0251533 A1 discloses a rehabilitation device for mobilizing the upper arm of a person.
  • the device has four motor-driven joints, which are interconnected by means of rigid connections, whose associated joint axes virtually cut, as in the above-described case, virtually in the humeral head.
  • Comparable therapeutic movement apparatus can be found in the publications US 2007/0225620 A1 and WO 2015/099858 A2. In these cases too, the joints arranged around the shoulder joint intersect
  • the invention has for its object a device for
  • Movement-assisting device is intended to allow abductive arm movements overhead without mechanical restriction and without risk of collision between the device and the body. Furthermore, it is important to design the device as light and compact as possible, so that it does not, as in known solutions by a shoulder projecting backdrop construction obvious in appearance and thus finds a high acceptance among potential users.
  • the solution according to the device for motion support of a human shoulder joint which is characterized by the 360 ° rotation of the ball joint between the humerus and shoulder blade (Glenohumeralgelenk) and the Transversalbewegige the shoulder blade itself, has five kinematically coupled pivot bearing, of which a first pivot bearing for exercising a Rotation of a first bearing part about a first axis of rotation
  • first axis of rotation is fixedly connected to a first fastening means, which is suitable for a removably fixed attachment and alignment of the first pivot bearing on the shoulder region of a person, so that the first axis of rotation preferably traverses the shoulder blade of the person or the frontal plane of the person in Traversed area between the spine and the scapula.
  • the first axis of rotation is preferably oriented orthogonal to the scapula plane, the so-called scapular plane, which is normally opposite to the scapular plane
  • Frontal plane is inclined by approximately 30 ° in the direction of the sagittal plane.
  • a second axis of rotation of a second pivot bearing is connected, about which a second bearing part is rotatably mounted.
  • a third axis of rotation of a third pivot bearing is connected, about which a third bearing part is rotatably mounted.
  • a fourth axis of rotation of a fourth pivot bearing is centrally or directly connected to the third bearing part to which a fourth bearing part is rotatably mounted.
  • the fourth bearing part is also rotatably about a fifth axis of rotation of a fifth
  • Fastener is connected solidly, which is for a removable solid
  • Attachment and alignment of the fifth pivot bearing on the humeral region of the shoulder blade of a person is suitable, so that the fifth axis of rotation always traverses the humeral head of the person.
  • the actuator is formed as an integral element of each of the first and / or fifth pivot bearing, so that size, weight and spatial form of the first and / or fifth pivot bearing as small and light as possible.
  • the actuator system comprises an elastic clamping means with a torque-generating bias, for example in the form of a spring or spring arrangement.
  • the actuator system consists of an electromotive drive, preferably in the form of a servo, stepper or synchronous motor, whereby the torques relieved by the first and / or fifth pivot bearing on the shoulder joint individually dosed, for example.
  • a scheme or control can be specified.
  • the device according to the solution does not have three pivot bearings, which span an xyz coordinate system whose axes of rotation in the humeral head of a Person cut, but the second, third and fourth pivot bearings are so medium or directly interconnected, so that the second pivot bearing associated second axis of rotation and the third pivot bearing associated third axis of rotation are oriented parallel to each other and span a plane to which the fourth pivot bearing associated fourth axis of rotation is parellel oriented.
  • parallel orientation may well be understood mathematically exact, but the solution according to the concept should also include those alternative designs in which the second, third and fourth axis of rotation can deviate from the parallelism angle tolerance of maximum plus minus 10 °.
  • first and second pivot bearings are connected to one another in such a way that the first and second axes of rotation are always intersected, preferably oriented orthogonally to one another.
  • the fourth and fifth pivot bearings are connected to one another in such a way that the first and second axes of rotation are always intersected, preferably oriented orthogonally to one another.
  • the fourth and fifth pivot bearings are connected to one another in such a way that the first and second axes of rotation are always intersected, preferably oriented orthogonally to one another.
  • Rotary bearing designed and arranged such that their axes of rotation intersect and are preferably oriented orthogonal to each other.
  • the first and second hinges may be arranged relative to each other, so that their respective associated axes of rotation do not intersect, especially in that case where the first pivot on the attachment means, for example.
  • the person on the back of the upper body is worn, is mounted so that the first pivot
  • the kinematic chain composed of the first to fifth pivot bearings corresponds to a serial arrangement of all five pivot bearings, in which the spacing between the second and third axes of rotation and the spacing between the third and fourth axes of rotation are chosen to be constant and preferably of equal length.
  • the size of the protruding distances is determined by the size and shape of the given second and third bearing part and can basically individually to the physically predetermined size dimensions in the shoulder and
  • the distance between the second and fourth axis of rotation is variable and in particular a transversal movement of the shoulder joint, i. follow linear movements along the Forntalebene.
  • a further embodiment of the device for supporting the movement of a human shoulder joint provides, directly or indirectly, on the third bearing part, a sixth pivot bearing, for exercising a rotation of the fourth bearing part about a sixth axis of rotation which is oriented orthogonally to the fourth axis of rotation.
  • the shape and size specific design of the device according to the invention is compact and physically small and allows in the state of wear on a person an unobtrusive appearance, which is essentially by a
  • the shoulder blade and humerus region is characterized by laterally limited local clasp structure, which does not have the shoulder of the person superior components or
  • FIG. 2 Detail view of a preferred embodiment of
  • FIG. 3 detail of one illustrated in Figures 1 and 2
  • FIG. 5 shows a development of the embodiment illustrated in FIG.
  • FIG. 1 shows a perspective rear view of the upper body of a person P who wears a device V designed in accordance with the solution on both shoulders, which are each mounted on a fastening means 5 detachably fixedly supported on the back of the person P.
  • a device V designed in accordance with the solution on both shoulders, which are each mounted on a fastening means 5 detachably fixedly supported on the back of the person P.
  • Even the external appearance of the device according to the invention V differs significantly from known exoskeletal structures for supporting the movement of the shoulder joint in that no
  • FIG. 2 shows a detailed representation of the device V according to the invention attached to the body of the person P in the area of the right shoulder.
  • the device according to the solution V has five pivot bearings L1, L2, L3, L4 and L5, see also a further detailed representation of the device according to the invention in a unique position according to Figure 3, to which reference is made in addition to Figure 2 in an equal manner with the reference to the respective pivot bearings associated rotary axes D1, D2, D3, D4 and D5.
  • the first pivot bearing L1 is releasably fixed to the back of the person P
  • the attachable fastener 5 in the form of a flat support plate so connected, so that the first axis of rotation D1 is fixedly mounted on the fastening means 5.
  • the first bearing part 1 Opposite the axis of rotation D1 is the first bearing part 1, which is annular in the embodiment shown rotatably mounted.
  • the first pivot bearing L1 is also equipped with a small-sized, efficient electric motor 7, which is arranged radially inwardly of the ring-shaped first bearing part 1 and the annular first bearing part 1 about the axis of rotation D1 controlled to deflect.
  • the electric motor 7 is designed as a servomotor, stepping motor or synchronous motor.
  • the motor-driven first rotary joint L1 is capable of transmitting force-supporting torques to the shoulder joint, by the abductive and adductor arm movements, ie vertical raising and lowering of the upper arm laterally to the body with a maximum pivoting range up to the head over the head, are possible.
  • the device V according to the solution has at least one second motor-driven rotary joint, the so-called fifth rotary joint L5, which via a second fastening means 6 (see FIG. 3) is close to the shoulder
  • the first and fifth pivot bearings L1, L5 are identical in shape and size.
  • a series kinematic chain is used which comprises three further pivot bearings L2, L3 and L4.
  • the second pivot bearing L2 comprises a fixed to the annular first bearing part 1, at the Outer circumference connected bearing pin 1 ', which is penetrated by the second axis of rotation D2 and is rotatably mounted on the second bearing part 2. Due to the compact mounting of the second pivot bearing L2 on the first pivot bearing L1, the first and second axes of rotation D1, D2 intersect and, moreover, are oriented orthogonally to one another.
  • the fourth pivot bearing L4 is formed and has a fixedly connected to the annular fourth bearing part 4 at its peripheral edge fourth bearing pin 4 ', through which the fourth axis of rotation D4 extends and around which the third bearing part 3 is rotatably mounted.
  • the second and third bearing part 2, 3 are formed uniformly or identically in the embodiment. Of course, it is possible to adapt the shape and size of the second and third bearing part 2, 3 differently and in particular individually to the ergonomics of the respective carrier.
  • the second and third bearing part 2, 3 respectively faces each other
  • Bearing bolt 8 extends through which the third axis of rotation D3 passes. Due to the rotational mobility of the first and second pivot bearing L1, L2 and the fourth and fifth pivot bearing L4, L5 to the centrally mounted third rotation axis D3, the distance between the second and fourth rotation axis D2, D4 is variable, whereas the distances between the first and third as well as third and fourth axes of rotation each remain constant.
  • the respective second and third bearing part 2, 3 are curved in a swinging manner, so that the third pivot bearing L3 does not or not spatially correspond to the radial dimensions of the first and fifth pivot bearings L1, L5 substantially surpassed.
  • the kinematic articulated chain comprising the second, third and fourth pivot bearings L2, L3, L4, the first and fifth to be attached to the body of the person Pivots L1, L5 connects with each other, opens up the possibility that in transverse movements of the scapula, for example, along the
  • Transverse plane (XY plane)
  • the device worn on the body can follow the natural shoulder blade movement. Both a linear forward movement of the scapula and backward movement is thus realized by the device according to the solution.
  • Figure 4 shows an alternative embodiment for the realization of the solution designed according to the device for motor-assisted movement of the human shoulder joint.
  • the same or equivalent components are provided with the same reference numerals that have already been introduced in the embodiment of Figure 3, so that can be dispensed with a repeated functional description.
  • the first axis of rotation D1 of the first bearing element L1 is fixedly connected to a fastening means 5 which is releasably fixed to the back of a person not further illustrated.
  • a fastening means 5 which is releasably fixed to the back of a person not further illustrated.
  • first and second axes of rotation D1, D2 are aligned orthogonal to each other and intersect, the second pivot bearing L2 'spatially laterally spaced from the first pivot bearing L1 attached.
  • a fixedly connected to the first bearing part 1 first lever arm 9 is provided, on which the second rotational axis D2 'of the second pivot bearing L2' is non-rotatably mounted.
  • a corresponding lateral lever arm 10 is mounted between the fifth pivot bearing L5 and the fourth pivot bearing L4 'which is rotatably connected on the one hand to the fifth axis of rotation D5 and on the other hand rotatably connected to the fourth axis of rotation D4' of the fourth bearing part L4 '.
  • the dashed line of the reference numerals L2 ', D2' and L4 ', D4' is merely to indicate that the second and fourth pivot bearings L2 ', L4' in the embodiment of Figure 4 each have a lateral distance to the first pivot bearing L1 and the fifth pivot bearing L5 exhibit.
  • Lever arms 9, 10 can in particular the lateral total distance between the first pivot bearing L1 and fifth pivot bearing L5 increased or adjusted individually.
  • Lever arms 9, 10 can in particular the lateral total distance between the first pivot bearing L1 and fifth pivot bearing L5 increased or adjusted individually.
  • kinematic chain comprising the second, third and fourth pivot bearing L2 ', L3, L4' with the associated axes of rotation D2 ', D3, D4', is formed mechanically equivalent to the respective pivot bearings of the embodiment illustrated in Figure 3.
  • the second, third and fourth rotation axis D2 ', D3, D4' are arranged parallel to each other and each have a lateral distance from each other, which is determined by composite bearing parts.
  • FIG. 5 illustrates a development of the exemplary embodiment described in FIG. 3 with identical reference symbols to those which can be seen in FIG.
  • the exemplary embodiment shown in FIG. 5 has another, so-called sixth pivot bearing L6, which is arranged opposite to the end on the third bearing part 3, the third pivot bearing L3.
  • the sixth pivot bearing L6 is arranged and formed on the third bearing part L3 such that the sixth pivot axis D6 is oriented orthogonal to the fourth pivot axis D4 * of the fourth pivot bearing L4 * .
  • the sixth pivot bearing L6 provides a rotational connection between the third bearing part 3 and the fourth pivot bearing L4 * , so that the fourth pivot bearing L4 * and the associated fifth pivot bearing L5 are pivotable together about the sixth pivot axis D6.
  • This kinematic part chain comprising the sixth, fourth and fifth pivot bearing (L6, L4 * , L5), allows lifting the upper arm of a person without the rest
  • FIG. 6 illustrates a development of the exemplary embodiment described in FIG. 4 with identical reference symbols to those which can be seen in FIG. 6
  • the sixth bearing L6 is so on the lateral lever arm 10th
  • the sixth pivot bearing L6 associated sixth axis of rotation D6 is oriented orthogonal to a comparison with the embodiment in Figure 4 supplemented fourth axis of rotation D4 * of the fourth pivot bearing L4 * , wherein the supplemented fourth pivot bearing L4 * in contrast to the embodiment of FIG is combined with the sixth pivot bearing L6, so that the supplemented fourth pivot bearing L4 * and the associated fifth pivot bearing L5 together the sixth axis of rotation D6 are pivotable.
  • the exemplary embodiment illustrated in FIG. 6 provides, as it were, the fourth pivot bearing L4 'with the rotation axis D4' in FIG. 4, which is oriented parallel to the rotation axis D2 'and D3.
  • the pivot bearing L4 ' shown in Figure 4 fourth pivot bearing L4' and is interchangeable with this in arrangement and function.
  • the kinematic sub-chain comprising the sixth, supplemented fourth and fifth pivot bearing (L6, L4 ', L5) allows lifting of the upper arm of a person without the other components of the device, concerning the two bearing parts 2, 3, the lateral lever arms 9, 10th and the pivot bearings L2 ', L3, L4' to deflect the first rotational axis D1 of the first pivot bearing L1 upwards and thus raise.
  • the first pivot bearing L1 is arranged close to the spinal column of the person on the fastening means 5. In this way, the first axis of rotation D1 passes through the frontal plane of the person in the area near the spine. This also opens up the possibility of using another
  • force-supporting unit 1 1, bspw in the form of a cylinder-piston unit, preferably a pneumatically or hydraulically driven cylinder unit, which is supported on one side on the fastening means 5 and articulated on the lateral lever arm 9 for purposes of force application.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne un dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain, présentant un premier palier rotatif (L1) pour exercer une rotation d'une première pièce (1) de palier autour d'un premier axe de rotation (D1), un deuxième palier rotatif (D2) pour exercer une rotation d'une deuxième pièce (2) de palier autour d'un deuxième axe de rotation (D2), le deuxième axe de rotation (D2) étant relié directement ou indirectement à la première pièce (1) de palier, un troisième palier rotatif (L3) pour exercer une rotation d'une troisième pièce (3) de palier autour d'un troisième axe de rotation (D3), le troisième axe de rotation (D3) étant relié directement ou indirectement à la deuxième pièce (2) de palier, un quatrième palier rotatif (L4) pour exercer une rotation d'une quatrième pièce (4) de palier autour d'un quatrième axe de rotation (D4), le quatrième axe de rotation (D4) étant relié directement ou indirectement à la troisième pièce (3) de pallier et un cinquième palier rotatif (L5) pour exercer une rotation de la quatrième pièce (4) de palier autour d'un cinquième axe de rotation (D5), a) le premier axe de rotation (D1) étant relié de manière fixe dans l'espace à un premier moyen de fixation (5) qui est approprié pour une fixation fixe amovible et une orientation du premier palier rotatif (D1) à la zone de l'épaule d'une personne, b) le cinquième axe de rotation (D5) étant relié de manière fixe dans l'espace à un deuxième moyen de fixation (6), qui est approprié pour une fixation fixe amovible et une orientation du cinquième palier rotatif (D5) à la partie de l'humérus de l'omoplate d'une personne de telle sorte que l'axe de rotation (D5) traverse la tête de l'humérus de la personne, c) le deuxième et le troisième axe rotatif (D2, D3) étant orientés parallèlement l'un par rapport à l'autre et formant un plan (E) auquel le quatrième axe de rotation (D4) est orienté parallèlement et d) au moins le premier et/ou le cinquième palier rotatif présentant un système d'actionnement soutenant la rotation.
PCT/EP2016/079249 2015-12-03 2016-11-30 Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain WO2017093298A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16805077.1A EP3383339B1 (fr) 2015-12-03 2016-11-30 Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain
CN201680070695.8A CN108601697B (zh) 2015-12-03 2016-11-30 用于对人类肩关节进行运动支持的设备

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015224156.4 2015-12-03
DE102015224156.4A DE102015224156A1 (de) 2015-12-03 2015-12-03 Vorrichtung zur Bewegungsunterstützung eines menschlichen Schultergelenkes

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WO2017093298A1 true WO2017093298A1 (fr) 2017-06-08

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PCT/EP2016/079249 WO2017093298A1 (fr) 2015-12-03 2016-11-30 Dispositif pour soutenir le mouvement d'une articulation d'épaule d'un être humain

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EP (1) EP3383339B1 (fr)
CN (1) CN108601697B (fr)
DE (1) DE102015224156A1 (fr)
WO (1) WO2017093298A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019102356A1 (de) 2019-01-30 2020-07-30 Biersack Technologie GmbH & Co. KG Exoskelett für einen Menschen
IT201900010026A1 (it) * 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparato in grado di attuare un giunto distale e di trasferire le reazioni vincolari in un esoscheletro di spalla sotto-attuato
EP3778138A4 (fr) * 2018-03-29 2022-01-12 Boe Technology Group Co., Ltd. Dispositif d'aide à la puissance de récupération d'exosquelette
EP3504033B1 (fr) 2017-06-06 2023-03-29 Ottobock SE & Co. KGaA Dispositif de support d'au moins un bras d'un utilisateur

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EP3383339A1 (fr) 2018-10-10

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