Device for Compensating a Shoulder Elevation in a Passive Exoskeleton

Abstract

An exoskeleton for supporting an arm of a user includes a torso attachment device for releasably connecting the exoskeleton to a torso of the user, a bracket which is connectable to the torso attachment device, a lifting rod which is connectable to the torso attachment device via the bracket and which is reversibly movable in a first direction and a second direction relative to the bracket, a cantilever for supporting the arm of the user which is releasably connectable to the arm of the user, and a ratchet mechanism. The ratchet mechanism connects a first end of the lifting rod to a first end of the cantilever where the ratchet mechanism allows rotation of the cantilever in a first direction of rotation and blocks rotation of the cantilever in a second direction of rotation.

Claims

1.-6. (canceled)

7. An exoskeleton for supporting an arm of a user, comprising: a torso attachment device for releasably connecting the exoskeleton to a torso of the user; a bracket which is connectable to the torso attachment device; a lifting rod which is connectable to the torso attachment device via the bracket and which is reversibly movable in a first direction and a second direction relative to the bracket; a cantilever for supporting the arm of the user which is releasably connectable to the arm of the user; and a ratchet mechanism, wherein the ratchet mechanism connects a first end of the lifting rod to a first end of the cantilever and wherein the ratchet mechanism allows rotation of the cantilever in a first direction of rotation and blocks rotation of the cantilever in a second direction of rotation.

8. The exoskeleton according to claim 7 further comprising a coupling rod having a first end and a second end, wherein the coupling rod is rotatably connected to the cantilever by the first end and to the lifting rod via a compensating mechanism by the second end.

9. The exoskeleton according to claim 8, wherein the compensating mechanism comprises a slot at the second end of the coupling rod and a pivot bearing on the lifting rod and wherein the pivot bearing is disposed in the slot.

10. The exoskeleton according to claim 8, wherein the compensating mechanism comprises a slotted guide disposed between the second end of the coupling rod and the lifting rod.

11. The exoskeleton according to claim 8, wherein the compensating mechanism comprises a sector gear and a rack and wherein the sector gear is rotatably connected to the lifting rod such that teeth of the sector gear mesh with teeth of the rack.

12. The exoskeleton according to claim 11, wherein the lifting rod and the rack are configured as a piston-cylinder unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIG. 1a shows a front view of a human torso with a number of schematically illustrated joint points;

[0016] FIG. 1b shows a further front view of a human torso with a number of schematically illustrated joint points;

[0017] FIG. 2 shows a schematic side view of the device according to the invention for an exoskeleton for supporting an arm of a user in a first and a second position;

[0018] FIG. 3 shows a schematic illustration of the device according to the invention connected to an exoskeleton for supporting two arms of the user;

[0019] FIG. 4 shows a perspective view of the device according to the invention for an exoskeleton in the first setting;

[0020] FIG. 5 shows a side view of the device according to the invention for an exoskeleton in the first setting;

[0021] FIG. 6 shows a perspective view of the device according to the invention for an exoskeleton in the second setting;

[0022] FIG. 7 shows a side view of the device according to the invention for an exoskeleton in the second setting;

[0023] FIG. 8 shows a perspective view of the device according to the invention for an exoskeleton in a third setting; and

[0024] FIG. 9 shows a side view of the device according to the invention for an exoskeleton in the third setting.

DETAILED DESCRIPTION OF THE DRAWINGS

[0025] FIG. 3 shows a front view of a human upper body OK of a user AW, on which an exoskeleton 10 for supporting or increasing the work performance of the arms 20 of a user AW is arranged.

[0026] The exoskeleton 10 contains substantially a torso attachment device 30, a bracket 9, a lifting rod 7, a cantilever 4, and a ratchet mechanism 1.

[0027] The torso attachment device 30 serves to releasably connect the exoskeleton 10 to a torso (i.e., the upper body OK) of a user AW (cf. FIG. 3). The torso attachment device 30 can in this case be configured in the form of a hard shell, of a flexible chest strap or belt. Furthermore, the torso attachment device 30 contains a closure VS, arranged in the middle of the chest of the user AW, with which the torso attachment device 30, configured for example as a chest strap, can be opened and closed. The closure VS can be configured for example as a touch-and-close fastener or as a belt buckle.

[0028] According to an alternative embodiment (not shown in the figures) of the exoskeleton 10 according to the invention, the torso attachment device 30 can also be configured in the form of a hip belt and consequently be positioned on the hips or pelvis of the user AW. In addition, one or two straps can be fastened for fixing the torso attachment device 30 at the shoulders 40 of the user AW or for preventing the torso attachment device 30 from slipping in the arrow direction B. These straps (not illustrated in the figures) can be guided from the front side of the torso attachment device 30 configured as a chest strap or belt, over the shoulders 40 of the user AW (i.e., in a similar manner to suspenders), to the rear side of the torso attachment device 30.

[0029] As shown in FIGS. 4 to 9, the bracket 9 is configured substantially as a flat metal sheet with four circular cutouts 11 and a first plain bearing 8a and a second plain bearing 8b. The four cutouts 11 can also be referred to as screw bosses and serve for laterally attaching the bracket 9 to the torso attachment device 30. For this purpose, four screws or rivets can be driven through the four cutouts 11 in the bracket 9 for fastening to the torso attachment device 30. Furthermore, the first and the second plain bearing 8a, 8b of the bracket 9 serve to receive and guide the lifting rod 7 at the bracket 9.

[0030] In FIG. 2, only the first plain bearing 8a is shown.

[0031] Each of the plain bearings 8a, 8b contains a circular opening. In this case, the first plain bearing 8a is positioned in the vicinity of a first end 9a of the bracket 9 and the second plain bearing 8b is positioned in the vicinity of a second end 9b of the bracket 9 such that the lifting rod 7 is guided through the respective circular openings of the plain bearings 8a, 8b and as a result is connected to the bracket 9 in a movable manner and in a reversible manner in the arrow directions A and B. Furthermore, the bracket 9 contains a support plate 12 at the second end 9b. As shown in FIG. 4, the lifting rod 7 is mounted in a rotatable manner on the support plate 12 when the lifting rod 7 is positioned on the bracket 9. Alternatively, the support plate 12 can also have a concave or curved shape directed toward the lifting rod 7.

[0032] According to an advantageous embodiment, the lifting rod 7, as shown in FIGS. 4 to 8, is configured substantially as a tube with a first end 7a and a second end 7b. This configuration of the lifting rod 7 can also be referred to as a pipe or sleeve. As is apparent in particular from FIG. 4, the first end 7a of the lifting rod 7 extends beyond the first end 9a of the bracket 9 in the arrow direction A. It is apparent from FIG. 2 that the lifting rod 7 configured as a tube contains a cavity HR, which extends from the second end 7b approximately as far as the middle 7c of the lifting rod 7. The cavity HR can also be referred to as a blind hole or cutout.

[0033] According to an advantageous embodiment, a support element 6 can be introduced into the cavity HR of the lifting rod 7. The support element 6 can be configured in a cylindrical manner and be adapted in its shape to the cavity HR of the lifting rod 7. The lifting rod 7 and the support element 6 are reversibly movable with respect to one another in the arrow directions A and B. The support element 6 serves substantially to support the lifting rod 7 and to increase stability when the lifting rod 7 is moved relative to the bracket 9. As will be described below, the support element 6 can also be configured with teeth and thus in the form of a rack.

[0034] As already mentioned above, the lifting rod 7 is connected to the bracket 9 such that the lifting rod 7 extends through the openings of the first and second plain bearings 8a, 8b. As a result, the lifting rod 7 is movable relative to the bracket 9 in a reversible manner in a first arrow direction A and a second arrow direction B. In other words: the lifting rod 7 can be moved in the arrow direction A and in the arrow direction B relative to the bracket 9. Moreover, the lifting rod 7 can be rotated about the axis of rotation R in the direction of rotation C or D relative to the bracket 9 by means of the first and second plain bearings 8a, 8b.

[0035] The cantilever 4 is configured substantially as a rod with a first end 4a and a second end 4b. The rod can also be referred to as an arm, support, bar or lever. As illustrated in FIGS. 4 to 9, an armrest 5 is positioned on the cantilever 4. The armrest 5 serves to receive and hold an upper arm of a user AW. In order to temporarily fix the arm to the armrest 5, an arm strap having a closure is provided. The arm strap and the closure are illustrated in FIG. 3. The closure is in this case configured for example as a touch-and-close fastener.

[0036] The ratchet mechanism 1 is configured substantially as a pivot bearing having a blocking action in a predetermined direction of rotation. Furthermore, the ratchet mechanism 1 contains a release device 60, with which the blocking action in the predetermined direction of rotation F is reversed again such that the ratchet mechanism 1 is free to rotate in the directions of rotation E and F. The release device 60 is indicated in FIG. 10 and is described in more detail below. The ratchet mechanism 1 can also be referred to as a ratchet or fine tooth ratchet. The ratchet mechanism 1 serves to connect the first end 7a of the lifting rod 7 to a first end 4a of the cantilever 4, with the result that it is possible to selectively set a repeated, sectoral rotary movement of the cantilever 4 about the axis of rotation S in a first direction of rotation E and a blocking action for the cantilever 4 in a second direction of rotation F. In other words: The cantilever 4 can be pulled freely in the direction of rotation E, for example by the arm of the user AW, which is connected to the cantilever 4 by means of the arm strap, and be blocked in the direction of rotation F with the aid of the blocking action of the ratchet mechanism 1. Since the ratchet mechanism 1 allows a free rotary movement of the cantilever 4 in the direction of rotation E about the pivot point, a user AW can move their arm upward in the arrow direction A in order for example to hold a power tool at a particular height. The power tool is not illustrated in the figures. With the aid of the blocking action of the ratchet mechanism 1 in the direction of rotation F, the cantilever 4 can be kept at the height intended by the user AW in order to provide a resting possibility for the arm by way of the cantilever blocked in the direction of rotation F. On account of the resting possibility provided by the cantilever 4 at the height intended by the user AW, holding of a heavy power tool can be substantially improved. As a result, the weight force of the power tool is dissipated via the arms to the cantilever 4, the lifting rod 7, the bracket 9 and finally to the torso attachment device 30.

[0037] The ratchet mechanism 1 is realized by a combination of two stop pawls, which transmit a pivoting movement of a lever only in one direction, while a movement in the opposite direction is automatically blocked. The operating principle is similar to that of freewheeling (for instance on a bicycle). In order that the release device 60 can reverse the blocking action of the ratchet mechanism 1 in a particular direction of rotation (in this case the direction of rotation F) again, it is possible for the release device 60 to separate the two stop pawls from one another such that they no longer act on one another in a blocking manner.

[0038] In addition to the embodiment with two stop pawls, one with a spring-loaded latching rocker is also possible. The ratchet mechanism 1 can also be realized by a push-through ratchet with a continuous square hole. In this case only a single (stop) pawl is necessary, wherein the effective direction of rotation is achieved by pushing through a square stub on one side of the ratchet or the other.

[0039] According to a further advantageous configuration, the exoskeleton 10 furthermore contains a coupling rod 2, which is configured substantially as a bar with a first end and a second end (cf. FIGS. 4 to 9). The coupling rod 2 is connected to the cantilever 4 in a rotatable manner by the first end and connected to the lifting rod 7 again in a rotatable manner by the second end via a compensating mechanism 50. The coupling rod 2 serves substantially as a support and guide when the cantilever 4 moves relative to the lifting rod 7.

[0040] According to an advantageous embodiment (not shown in the figures) of the exoskeleton 10 according to the invention, the compensating mechanism 50 can be configured in the form of a slot 51 at the second end of the coupling rod 2 and of a pivot bearing on the lifting rod 7. The pivot bearing is in this case positioned in the slot 51 and movable along the slot 51 and in a manner guided by the slot 51. With the aid of the compensating mechanism 50 configured as a slot and pivot bearing, a movement of the coupling rod 2, when the cantilever 4 is rotated relative to the lifting rod 7, can be compensated.

[0041] According to a further embodiment, shown in FIGS. 4 to 9, of the exoskeleton 10 according to the invention, the compensating mechanism 50 can be configured in the form of a slot 51 at the second end of the coupling rod 2, of a sector gear 3, of a rack 13, and of a pivot bearing 14.

[0042] The optional support element 6 is configured in the form of the rack 13 according to the embodiment, shown in FIGS. 4 to 9, of the exoskeleton 10 according to the invention. According to an advantageous embodiment of the exoskeleton 10 according to the invention, it is also possible for both a support element 6 and a rack 13 to be positioned alongside one another on the support plate 12.

[0043] The cylindrically configured rack 13 projects into the interior of the lifting rod 7 such that the longitudinal extent of the rack 13 and the longitudinal extent of the lifting rod 7 are oriented parallel to one another.

[0044] As is apparent in particular from FIG. 4, the lifting rod 7 has a cutout 7d, which provides access to the teeth of the rack 13. The rack 13 is connected to the second end 7b of the lifting rod 7 and in particular to the support plate 12 at the second end 7b of the lifting rod 7 so as to be rotatable about the axis of rotation R in the direction of rotation C or D by means of a pivot bearing (not shown). In this case, the rack 13 is connected to the support plate 12 such that the rack 13 cannot be moved in the arrow direction A or B bracket. As a result, there is no relative movement between the rack 13 and the bracket 9.

[0045] On account of the possibility of the rack 13 and the lifting rod 7 being able to move relative to one another in the arrow direction A or B and because the rack 13 is introduced into the interior of the lifting rod 7, the combination or the cooperation of the rack 13 and the lifting rod 7 can be referred to as a piston-cylinder unit. In this case, the rack 13 is implemented as a piston and the lifting rod 7 and in particular the cavity HR of the lifting rod 7, is implemented as a cylinder for receiving the piston configured as a rack.

[0046] Furthermore, the lifting rod 7 contains a holding device 15 having a pivot pin 16, which serves to receive and hold the sector gear 3. By way of the holding device 15 having the pivot pin 16, the sector gear 3 can be rotated relative to the lifting rod 7 such that the teeth 3a of the sector gear 3 can mesh with the teeth 13 of the rack 13. The sector gear 3 furthermore contains a lever element 3b, at the free end of which the pivot bearing 14 is positioned. The pivot bearing 14 is positioned in the slot 51 and freely movable along the slot 51 and guided along the slot 51.

[0047] The cantilever 4 can, as a result of its rotary mounting at the pivot point DP with respect to the bracket 9, be brought reversibly into a first, second or third position.

[0048] FIGS. 4 and 5 show the exoskeleton 10 with the cantilever 4 in the first position.

[0049] FIGS. 6 and 7 show the cantilever 4 in the second position.

[0050] FIGS. 8 and 9 illustrate the cantilever 4 in the third position.

[0051] In the first position, the second end 4b of the cantilever 4 is inclined downward in the arrow direction B.

[0052] In the second position, the second end 4b of the cantilever 4 is substantially horizontal.

[0053] In the third position, the first end 4a of the cantilever 4 points upward in the arrow direction A.

[0054] When the user AW moves the arm that is connected to the cantilever 4 upward in the arrow direction A, the lifting rod 7 is likewise pulled upward in the direction A by means of the ratchet mechanism 1. Since the lifting rod 7 is mounted so as to be movable in the arrow direction A or B with respect to the bracket 9, the pivot point DP can compensate the travel Δy for compensating the anatomical movement of the human shoulder 40 during the lifting of an arm.

LIST OF REFERENCE CHARACTERS

[0055] 1: Ratchet mechanism

[0056] 2: Coupling rod

[0057] 3: Sector gear

[0058] 3a: Teeth of the sector gear

[0059] 3b: Lever element

[0060] 4: Cantilever

[0061] 4a: First end of the cantilever

[0062] 4b: Second end of the cantilever

[0063] 5: Armrest

[0064] 6: Support element

[0065] 7: Lifting rod

[0066] 7a: First end of the lifting rod

[0067] 7b: Second end of the lifting rod

[0068] 7c: Middle of the lifting rod

[0069] 7d: Cutout in the lifting rod

[0070] 8a: First plain bearing

[0071] 8b: Second plain bearing

[0072] 9: Bracket

[0073] 9a: First end of the bracket

[0074] 9b: Second end of the bracket

[0075] 10: Exoskeleton

[0076] 11: Cutouts in the bracket

[0077] 12: Support plate

[0078] 13: Rack

[0079] 13a: Teeth of the rack

[0080] 14: Pivot bearing

[0081] 15: Holding device

[0082] 16: Pivot pin of the holding device

[0083] 20: Arm of the user

[0084] 30: Torso attachment device

[0085] 40: Shoulders of the user

[0086] 50: Compensating mechanism

[0087] 51: Slot

[0088] 60: Release device

[0089] HR: Cavity of the lifting rod

[0090] DP: Pivot point

[0091] OK: Upper body

[0092] AW: User

[0093] VS: Closure

[0094] R: Axis of rotation of the lifting rod

[0095] C, D: Directions of rotation of the lifting rod

[0096] S: Axis of rotation of the cantilever

[0097] E, F: Directions of rotation of the cantilever