WO2018082906A1

WO2018082906A1 - Device for supporting an arm

Info

Publication number: WO2018082906A1
Application number: PCT/EP2017/076322
Authority: WO
Inventors: Stefan Schick; Annedore KURZWEG
Original assignee: Otto Bock Healthcare Gmbh
Priority date: 2016-11-07
Filing date: 2017-10-16
Publication date: 2018-05-11
Also published as: DE102016121203A1

Abstract

The invention relates to a device (1) for supporting at least one arm of a user, said device comprising - a least one main part (2) which can be positioned on the user's torso, - at least one support device for supporting the arm, which can be pivoted about a pivot axis relative to said main part (2), - at least one passive actuator and - at least one force transmission device (16) configured to transmit a force from the passive actuator to the support device, said passive actuator being located on the main part (2).

Description

description

Device for supporting an arm

The invention relates to a device for supporting at least one arm of a user, wherein the device comprises at least one base body for placement on a trunk of the user, at least one support device for supporting the arm, which is pivotable about a pivot axis relative to the base body, at least one passive actuator and at least one power transmission device configured to transmit a force from the passive actuator to the support device. Such a device is known, for example, from WO 2014/093408 A2.

Such devices are used, for example, for users who need to work with their arms raised, for example, because they have to perform overhead work. The main body, which may be formed for example in the form of straps and / or plates, is placed on the torso of the user. The support device usually supports the upper arm of the user and is pivotally mounted on the base body in order to follow a movement of the shoulder joint can. About the power transmission device, a force is applied to the support means, which counteracts the force of gravity. This makes it easier for the user of the device to work overhead with arms outstretched, since he does not have to overcome the effect of gravity purely by virtue of his muscular strength. In WO 2014/093408 A2 and US Pat. No. 9,427,865 B2, a spring, in particular a tension spring, is provided as a mechanical energy store. This is connected to a Bowden cable which forms the power transmission device. The Bowden cable is guided over at least one deflection roller, so that during pivoting of the arm, which means a movement of the support means relative to the main body, the spring and thus charged the mechanical energy storage with energy, or compressed the spring and thus the energy storage of the actuator are discharged can. - -

The disadvantage, however, is that in spite of the force exerted on the user's arm, counteracting the force of gravity, relatively large efforts are still necessary for the user, especially when rapid and / or short movements are to be performed. The invention is therefore based on the object to mitigate these disadvantages or to remedy completely.

The invention solves this problem by a device according to the preamble of claim 1, which is characterized in that the passive actuator is arranged on the base body. In the cited documents of the prior art, the tension or compression spring, which forms the energy storage of the actuator, arranged on the support means and thus in the vicinity of the arm. This has several advantages. In particular, the power transmission device can be made small and the route to be transmitted short. However, the invention is based on the finding that this configuration means that, in particular, short and / or fast movements can only be carried out with relatively great effort for the user. In these movements, the arm must not only be held against the force of gravity, but in particular must be accelerated and decelerated quickly and briefly. While the device according to the prior art carries its own weight itself and thus the mass and the weight of the device seems to be insignificant, this is no longer the case with movements which require an acceleration of the arm. Since the part of the device which is connected to the arm and thus also carries out the movement to be performed by the arm, must be accelerated and braked, it has proven to be advantageous to make this mass as small as possible.

This is inventively achieved in that the passive actuator is arranged on the base body. This is usually located on the torso of the user and must therefore not be accelerated or decelerated with a fast accelerated or decelerated movement of the arm. The accelerated mass is therefore reduced and the movements easier. A passive actuator in the sense of the present invention is in particular not a motor. - -

The energy required is applied by the user or wearer of the device. In general, the force applied to the support means is applied counteracting gravity. When lifting the arm and its associated support means energy is thus removed from an energy storage of the passive actuator. In the opposite movement so the lowering of the arm, this is done against the applied force. Energy is supplied to the energy store of the passive actuator. For a passive actuator in the sense of the present invention, this is the only energy source, apart from an adjustable bias of the energy storage of the passive actuator.

The passive actuator preferably has at least one energy store, preferably at least one mechanical energy store. This may for example have a spring element, a pressure accumulator, a pneumatic and / or hydraulic system and / or an electrical energy storage

In a preferred embodiment, the passive actuator has a gear that is designed such that the force transmitted to the support device depends on an angle of the support device relative to the base body. In this way it is possible to achieve an angle-dependent force curve of the force transmitted by the device to the arm. The angle is preferably the angle between the longitudinal extension of the arm, advantageously the upper arm, and for example a horizontal or vertical line. If the reference direction is the vertical direction, that is to say the direction in which gravity acts, then preferably the greatest force should be exerted on the arm when it assumes a 90 ° angle with this reference line. The arm is then stretched horizontally away from the body. Since the greatest force must be expended by the user to hold this position, unless he wears a device, it is advantageous to apply at this angle the maximum force on the supporting device supporting the arm. If the angle is reduced or increased, the user will only need to use less force so that even less support is needed. Alternatively or additionally, the angular dependence of the applied force can also be adjusted depending on the activity to be performed by the user of the device. For example, if the user spends much of the time in a particular posture, that is, at a certain angle of the arms relative to the reference line, it may be advantageous to provide the maximum applied force for that angle. This can be easily adjusted via a change in the transmission of the passive actuator.

Preferably, the power transmission device has at least one Bowden cable, at least one hydraulic and / or pneumatic line, a steering linkage or at least one other rod and / or a cable, which is preferably guided over at least one deflection roller. The transmission preferably has at least one rotatably mounted cam, over whose circumference extends the Bowden cable. The use of cams as pulleys for a Bowden cable has long been known from the prior art. In the side surface, so the edge, the respective cam may be recessed for this purpose, a groove in which the Bowden cable is guided. The cam can be rotationally symmetrical, that is circular. However, this is not always an advantage. In order to achieve an angle-dependent course of the applied force, the cam can also be a non-circular cam. Thus, for example, oval or irregularly shaped cams are possible in order to set a force curve individually adapted to the respective needs of the user as a function of the angle of the support device with the reference line.

Under a cam is understood in the context of the present invention, an element that does not have a fixed, but over an adjustable scope with an adjustable circumferential contour. This can be achieved for example by an elastic and / or flexible element which forms the peripheral contour of the cam and is mounted at several bearings on elements of the cam. These may be, for example, the ends of rods or pins over which the elastic and / or flexible element is guided. If the elements of the cam are shifted relative to each other, changes - - The position of the bearings relative to each other and thus also the circumferential contour of the cam.

A storage position about which the cam plate is rotatably mounted is particularly preferably adjustable, in particular displaceable. In this way, even when mounted orthopedic device and gearbox used the force curve of the applied force depending on the angle between the arm or the support means for supporting the arm and the reference line set at least in a certain range. For this example, the storage position can be changed by, for example, the cam has a slot through which a fastening bolt or other fastener, such as a screw, is passed. Since it is a slot, the bearing position is particularly easy to change in this way. Alternatively or additionally, the cam can also be rotated about the bearing position in order to change the force curve of the force applied to the support means. In addition, deflection rollers may be present, which deflect the Bowden cable. Also, their position, size and / or geometric shape can be changed and adjusted to adjust the force curve.

Advantageously, the power transmission device has at least one hydraulic line and / or at least one pneumatic line. These can also be used as a power transmission device.

In the present case, a mechanical energy store is understood to mean, in particular, a mechanical spring element. It may be a compression spring, a tension spring or another spring made of a suitable spring material, such as a spring steel or carbon. As a mechanical energy storage in particular pressure accumulator understood. For example, mechanical energy can be stored in the form of pressure in a pneumatic pressure chamber. A particular advantage of the solution according to the invention is that no motors are required or external energy is required. - - must be guided. In particular, it is not necessary to provide electrical energy, for example in the form of batteries or accumulators or fuels, for the purpose of driving an engine and, if necessary, to refill it. Rather, a mechanical energy store in the context of the present invention has the advantage of being charged in a pivoting movement of the support means relative to the main body in a first direction with energy, which it emits in a movement of the support member relative to the base body in the opposite direction again. Advantageously, when lowering the arm of the user, the support device is pivoted against the force transmitted by the power transmission device and applied by the mechanical energy storage force, so that mechanical energy is stored in the mechanical energy storage. When lifting the arm, however, the applied force is yielded, so that at least part of the mechanical energy stored in the mechanical energy storage can be delivered.

It has proven to be advantageous if a bias voltage of the mechanical energy store is adjustable. The mechanical energy store preferably has at least one spring element, for example a compression spring and / or a tension spring. In this case, for example, by an adjusting device, such as an adjusting screw, the bias of the mechanical energy storage can be changed simply by the fact that the bias of the respective spring element is adjusted and changed. While this does not alter the angular dependence of the applied force applied to the support means, the applied force may be increased or decreased in total, depending on whether the bias of the mechanical energy storage is increased or decreased.

Preferably, the device has two support means for supporting one arm each. It advantageously has two passive actuators and two power transmission devices, so that each arm can be supported separately and acted upon by an individual force. The force profiles of the forces applied to the two support devices can be identical or different for both arms. The latter is especially true then advantageous if, for example, with only one hand particularly strenuous and exhausting activities are performed, while the second hand is used for example only for holding a tool or for applying an object. In this case, too much applied force could be perceived as unpleasant.

Preferably, the passive actuator is configured such that the force transmitted to the support means depends on a direction in which the support means moves relative to the main body. In addition, the force preferably also depends on the already described angle of the support device relative to the base body. In general, the range of motion in which the support means is movable relative to the base body, limited and know a first end position and a second end position. It has proven to be advantageous if the amount of energy which is removed from the energy store of the passive actuator during a movement from the first end position to the second end position corresponds to the amount of energy which is supplied to the energy store during the reverse movement.

Preferably, only the movement about a pivot axis, which is preferably an axis of a hinge of the device, supported by the applied force. Movements about other pivot axes or other movements are preferably unaffected.

With the aid of the accompanying drawings, an embodiment of the present invention will be explained in more detail below. It shows

FIG. 1 shows a schematic representation of a device according to a first exemplary embodiment of the present invention in a side view,

FIG. 2 shows the device from FIG. 1 in a rear view, - -

FIG. 3 shows the device from FIGS. 1 and 2 in a three-dimensional view;

FIG. 4 shows a schematic representation of a part of a device according to a further exemplary embodiment of the present invention,

Figure 5 - another schematic representation and

Figure 6 - an illustration of the device in the worn state.

Figure 1 shows an orthopedic device 1 according to a first embodiment of the present invention. It has a base body 2, which in the illustrated embodiment has a back element 4, a lap belt 6 and a shoulder belt 8. In each case via a joint 10, a telescopic arm 12 is connected to the main body 2. This is formed by the hinge 10 up and down pivotally. The telescopic arm 12 is part of the support means provided for supporting the arm. For this purpose, each support shells or other elements are attached to the telescopic arms 12, which comprise at least a portion of an arm of the carrier and so transmit a force which is applied to the telescopic arm 12 on the arm.

A part of the back element 4 is designed as a spring housing 14 in which the mechanical energy store of the passive actuator is located, which is not shown in FIG. In the upper part of the back element 4 there is a power transmission device 16, by which a force can be transmitted from the mechanical energy storage, for example via a Bowden cable on a guide roller 18, where the linear force is converted into a torque acting on the telescopic arm 12. The Bowden cable is attached to the designated attachment point 20.

Figure 2 shows the device of Figure 1 in a rear view. It can be seen two power transmission devices 16, two telescopic arms 12 and two joints 10 to which the telescopic arm 12 relative to the base body 2 pivotally - - is trained. The two spring housing 14 are arranged side by side. In each case there is a mechanical energy storage. About the bottom of the spring housing 14 arranged adjusting screws 22, the bias of a mechanical energy storage, which is located within the spring housing 14 set.

Figure 3 shows the device in a three-dimensional view obliquely from above. It can be seen particularly well, the deflection rollers 18, which convert a force transmitted via the power transmission means 16 in a torque acting on each one of the telescopic arms 12.

FIG. 4 schematically shows elements which are located within the back element 4. In the lower area, the two adjusting screws 22 are shown, which engage via hook elements 24 in a lower end of a tension spring 26. This tension spring 26 forms the mechanical energy storage in the present case.

At the upper end of the respective tension spring 26 is an eyelet 28 to which a first end of a Bowden cable 30 is attached. This is guided via a deflection roller 32 to a gear 34, which consists of a first cam 36 and a second cam 38. Both are rotatably mounted on the same shaft 40. It can be seen that the second cam 38 is not circular, but oval in the embodiment shown. As a result, the force to be expended or released during the rotation of the second cam 38 depends on the angle of this second cam 38. A second, not shown, Bowden cable leads from the first cam 36, which shows the attachment point 20, out of the back element 4 by a guide element 42.

In particular, within the housing shown in FIGS. 1 to 3 and in FIGS. 4 and 5 for reasons of clarity, the second Bowden cable 46 has an actual Bowden cable wire which is guided in a bow case. As a result, the tensile force transmitting element, ie - - The Bowden cable wire, protected. In Figures 1 to 3, the power transmission element is shown ungs 16, which may be formed as a Bowden cable. In this case, the bowden cable casing is visible and shown in the said figures. The guide element 42 is preferably designed as a clamping element or fastening element for the Bowden cable casing.

FIG. 5 shows the illustration from FIG. 4 in a rear view. A bearing position 44, on which the first cam disc and the second cam disc 38 are mounted, can advantageously be changed for the second cam disc 38, so that the angle profile of the force applied or released by the respective tension spring 26 can be changed. FIG. 5 shows the second Bowden cable 46, which leads to the deflection roller 18 on the joint 10.

In Figure 6, the device 1 is shown in the worn state. The lap belt 6 and the shoulder straps 8 enclose the respective body parts of the user and the main body 2 is arranged on the back of the user. About the joint 10 of the telescopic arm 12 is arranged, on which an arm cup 48 is located. This will support the arm.

_ _

LIST OF REFERENCE NUMBERS

1 device

2 main body

4 back element

6 lap belt

8 shoulder strap

10 joint

12 telescopic arm

14 spring housing

16 power transmission device

18 pulley

20 attachment point

22 adjusting screw

24 hook element

26 tension spring

28 eyelet

30 Bowden cable

32 pulley

34 gearbox

36 first cam

38 second curves disc

40 wave

42 guide element

44 storage position

46 second Bowden cable

48 arm cup

Claims

claims

1 . Device (1) for supporting at least one arm of a user, wherein the device

at least one main body (2) for placing on a trunk of the user,

at least one supporting device for supporting the arm, which is pivotable about a pivot axis relative to the main body (2),

- at least one passive actuator and

at least one power transmission device (16), which is set up to transmit a force from the passive actuator to the support device,

characterized in that the passive actuator is arranged on the base body (2).

2. Device (1) according to claim 1, characterized in that the passive actuator has at least one energy store, preferably at least one mechanical energy store.

3. Device (1) according to claim 1 or 2, characterized in that the passive actuator has a gear (34) which is designed such that the force transmitted to the support means from an angle of the support means relative to the base body (2) depends ,

4. Device (1) according to claim 3, characterized in that the power transmission device (16) has at least one Bowden cable (30, 46) and the gear (34) at least one rotatably mounted cam (36, 38), over the circumference of the Bowden cable (30, 46) runs at least partially.

5. Device (1) according to claim 4, characterized in that a storage position (44) about which the cam plate (36, 38) is rotatably mounted, adjustable, in particular displaceable.

6. Device (1) according to claim 4 or 5, characterized in that the

Cam (36, 38) is detachably mounted.

7. Device (1) according to one of the preceding claims, characterized in that the force transmission device (16) has at least one hydraulic line and / or at least one pneumatic line.

8. Device (1) according to one of claims 2 to 7, characterized in that a bias voltage of the energy storage is adjustable and preferably the energy storage at least one spring element, preferably a compression spring and / or a tension spring (26).

9. Device (1) according to one of the preceding claims, characterized in that the device (1) has two support means for supporting one arm and two passive actuators and two power transmission devices (16).

10. Device (1) according to one of the preceding claims, characterized in that the passive actuator is designed such that the force transmitted to the support means depends on a direction in which the support means relative to the base body (2) moves.