Abstract
A device for providing a supporting force for a user's upper extremity. The device includes a supporting device, an arm strut, a rotary joint that connects the supporting device to the arm strut, a spring element that provides the supporting force where the supporting force is provided in a first mode and a second mode, a connecting element where the spring element is disposed between the supporting device and the connecting element, and a force transmission element that has a first end and a second end and is guidable about the connecting element. The first end is attached to a first suspension point on the supporting device in the first mode and the second end is attached to a second suspension point on the arm strut in the first mode. The first and second ends are attached to the second suspension point in the second mode.
Claims
1.-14. (canceled)
15. A device for providing a supporting force for an upper extremity of a user, comprising: a supporting device; an arm strut; a rotary joint, wherein the supporting device is connected to the arm strut via the rotary joint such that the arm strut is rotatable about an axis of rotation with respect to the supporting device; a spring element, wherein the spring element provides the supporting force and wherein the supporting force is provided in a first mode and in a second mode; a connecting element, wherein the spring element is disposed between the supporting device and the connecting element; and a force transmission element that has a first end and a second end and is guidable about the connecting element, wherein the first end is attached to a first suspension point on the supporting device in the first mode and the second end is attached to a second suspension point on the arm strut in the first mode, and wherein the first end and the second end are attached to the second suspension point in the second mode.
16. The device as claimed in claim 15, wherein the supporting device has a lower end and an upper end and wherein the upper end leads to the rotary joint.
17. The device as claimed in claim 15, wherein a torque is generatable about the axis of rotation by the spring element.
18. The device as claimed in claim 15, wherein the rotary joint divides the arm strut into an outer region and an inner region and wherein the outer region is longer than the inner region.
19. The device as claimed in claim 15, wherein the arm strut has a receiving device for the upper extremity of the user.
20. The device as claimed in claim 19, wherein the receiving device is disposed in an outer region of the arm strut.
21. The device as claimed in claim 15, wherein the second suspension point is disposed at an inner end of the arm strut.
22. The device as claimed in claim 15, wherein the axis of rotation is disposed orthogonally to an imaginary axis and wherein the imaginary axis extends parallel to a spine of the user when the device is worn by the user.
23. The device as claimed in claim 15, wherein a force of the spring element is splittable into a first force path and a second force path by the connecting element and wherein the first force path acts between the connecting element and the first suspension point and the second force path acts between the connecting element and the second suspension point.
24. An exoskeleton, comprising: a first device as claimed in claim 15; and a second device as claimed in claim 15.
25. The exoskeleton as claimed in claim 24, wherein the first and the second devices are disposed symmetrically to a sagittal plane of a user when worn by the user.
26. The exoskeleton as claimed in claim 24, further comprising a hip belt, wherein respective lower ends of the respective supporting devices of the first and the second devices are disposed at the hip belt.
27. The exoskeleton as claimed in claim 26, wherein the respective supporting devices are fastenable to the hip belt by respective ball joints.
28. The exoskeleton as claimed in claim 24, further comprising a chest belt and wherein the chest belt is fastenable to a user of the exoskeleton.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0028] FIG. 1 shows a schematic illustration of a preferred configuration of the device in the first mode;
[0029] FIG. 2 shows a schematic illustration of a preferred configuration of the device in the second mode;
[0030] FIG. 3 shows an illustration of a preferred configuration of the exoskeleton in the first mode;
[0031] FIG. 4 shows an illustration of a preferred configuration of the exoskeleton in the second mode;
[0032] FIG. 5 shows different preferred configurations of the connecting element and of the spring element; and
[0033] FIG. 6 shows different preferred configurations of the connecting element and of the spring element.
DETAILED DESCRIPTION OF THE DRAWINGS
[0034] FIG. 1 shows a schematic illustration of a preferred configuration of the device (1) in the first mode, in which preferably a lower supporting force for the user (3) is provided than in the second mode. Illustrated in FIG. 1 is the arm strut (5), which is connected via a rotary joint (6) to a supporting device (4) or supporting structure (4). The arm strut (5) is mounted in a rotatable manner with respect to the supporting device (4), specifically about an axis of rotation that passes through the rotary joint (6). The supporting device (4) extends preferably substantially parallel to the spine of the user (3). From the supporting device (4) there extends a spring element (7), the upper end of which is fastened to a connecting means (8). In other words, the spring element (7) is arranged between the supporting structure (4) and the connecting means (8). The connecting means (8) can be in the form for example of a deflection pulley. It is preferably designed so that a force transmission element (9) can be guided around the connecting means (8). To this end, the connecting means (8) preferably has a groove or a slot. The force transmission means (9) can be in the form for example of a rope. It has two ends (10, 11), wherein the two ends (10, 11) of the force transmission element (9) can be attached to two suspension points (12, 13). The first suspension point (12) is arranged preferably on the supporting device (4), while the second suspension point (13) is arranged at an innermost end of the arm strut (5). The rotary joint (6) divides the arm strut (5) preferably into an outer region (14) and an inner region (15). In the context of the invention, it is preferred for the outer region (14) to have a greater length than the inner region (15) of the device (1). Preferably, the second suspension point (13) is located at the outermost end of the inner region (15) of the arm strut (5), that is to say particularly close to the spine of the user (3). In the exemplary embodiment illustrated in FIG. 1, the device (1) is in the first mode, in which the first end (10) of the force transmission means (9) is fastened to the first suspension point (12), while the second end (11) of the force transmission means (9) is fastened to the second suspension point (13). As a result of this arrangement, a low supporting force is transmitted to the upper extremities (2) of the user (3). The arm strut (5) of the device (1) may comprise a receiving device (16), which can be in the form for example of an armrest. The user (3) can rest for example their upper arm (2) there, in order to be able to work comfortably overhead.
[0035] FIG. 2 shows a schematic illustration of a preferred configuration of the device (1) in the second mode. Unlike in FIG. 1, in the second mode or operating state of the device (1), both ends (10, 11) of the force transmission element (9) are fastened to the second suspension point (13) of the device, wherein the second suspension point (13) is preferably a constituent part of the arm strut (5). As a result, a greater supporting force can advantageously be provided for the user than in the first mode of the device (1).
[0036] FIG. 3 shows an illustration of a preferred configuration of the exoskeleton (20) in the first mode. The exoskeleton (20) illustrated in FIG. 3 comprises two proposed devices (1), and also a hip belt (21) and a chest strap (22) or chest belt. The hip belt (21) can be placed around the hips by a user (3) and fastened and closed in a known way. As a result, at least a part of the weight of the exoskeleton (20) is supported on the hips of the user (3). The chest belt (22) is arranged preferably at the height of the chest of the user (3), wherein the connecting means (8) of the devices (1) are preferably also arranged at this height. In the state of the exoskeleton (20) illustrated in FIG. 3, the supporting devices (4) extend substantially perpendicularly upward from the hip belt (21), wherein the supporting devices (4) can be fastened to the hip belt (21) in particular by using ball joints (not illustrated). Preferably, the supporting structures (4) in the configuration of the device (1) illustrated in FIG. 3 extend substantially parallel to the imaginary axis that extends substantially parallel to the spine of the user. The imaginary axis is indicated in FIGS. 3 and 4 by the central dashed line. Between each connecting means (8) and the lower region of the supporting devices (4) there is arranged in each case a spring element (7), which may comprise or be formed by, for example, an elastic strap or a spring, such as a spiral spring or tension spring. Coming from above, the force transmission element (9) is guided around the connecting element (8). In the first mode of the exoskeleton (20) illustrated in FIG. 3, the first end (10) of the force transmission means (9) is fastened to the first suspension point (12), while the second end (11) of the force transmission means (9) is fastened to the second suspension point (13). Preferably, the first suspension point (12) is a constituent part of the supporting device (4), while the second suspension point (13) is arranged on the arm strut (5) in the immediate vicinity of the spine of the user (3).
[0037] FIG. 4 shows an illustration of a preferred configuration of the exoskeleton (20) in the second mode. In the second mode of the exoskeleton (20) illustrated in FIG. 4, both ends (10, 11) of the force transmission element (9) are fastened to the second suspension point (13) of the device, with the result that, advantageously, a greater supporting force for the user can be provided than in the first mode of the device (1).
[0038] FIGS. 5 and 6 show different preferred configurations of the connecting element (8) and of the spring element (7). In particular, FIGS. 5 and 6 show the force transmission element (9), and also the first end (10) and the second end (11) thereof. In the exemplary embodiment of the invention shown in FIG. 5, the spring element (7) is in the form of a helical spring, while the connecting element (8) is formed by a deflection pulley. The force transmission element (9) is formed by a rope. In the exemplary embodiment of the invention shown in FIG. 6, the spring element (7) is formed by an expander, while the connecting element (8) comprises a cuboidal basic body. The force transmission element (9) is formed by a rope. It goes without saying that the different embodiments of the invention that are illustrated in FIGS. 5 and 6 can be combined with one another as desired.
LIST OF REFERENCE CHARACTERS
[0039] 1 Device [0040] 2 Upper extremity [0041] 3 User [0042] 4 Supporting device [0043] 5 Arm strut [0044] 6 Rotary joint [0045] 7 Spring element [0046] 8 Connecting element [0047] 9 Force transmission element [0048] 10 First end of the force transmission element [0049] 11 Second end of the force transmission element [0050] 12 First suspension point [0051] 13 Second suspension point [0052] 14 Outer region of the arm strut [0053] 15 Inner region of the arm strut [0054] 16 Receiving device [0055] 20 Exoskeleton [0056] 21 Hip belt [0057] 22 Chest belt
