EXOSKELETON AND PROCEDURE

An exoskeleton including a base section for attachment to a torso of a human body, a support section for supporting an arm of the human body, an actuator device, in particular a pneumatic actuator device, acting on the support section for providing a support force for the arm, and a shoulder joint arrangement via which the support section is movably coupled to the base section. The shoulder joint arrangement includes a lifting pivot bearing, via which the support section is pivotably mounted on the shoulder joint arrangement about a horizontal lifting axis. The shoulder joint arrangement further includes a joint chain which defines a curved movement path for the lifting pivot bearing lying in a particularly horizontal plane relative to the base section.

The invention relates to an exoskeleton comprising: a base section for attachment to a torso of a human body, a support section for supporting an arm of the human body, an actuator device, in particular a pneumatic actuator device, acting on the support section for providing a support force for the arm, and a shoulder joint arrangement, via which the support section is movably coupled to the base section, the shoulder joint arrangement comprising a lifting pivot bearing, via which the support section is mounted on the shoulder joint arrangement so as to be pivotable about a horizontal lifting axis.

It is an object of the invention to make it easier for the user to work with the exoskeleton, in particular by improving freedom of movement, range of motion and/or wearing comfort.

The object is solved by an exoskeleton according to claim1. The shoulder joint arrangement of the exoskeleton comprises a joint chain which defines a curved movement path for the lifting pivot bearing relative to the base section. The movement path is expediently in a plane, in particular in a horizontal plane.

By means of the definition of the curved movement path, the user can be provided with a further degree of freedom in addition to the horizontal lifting axis in order to move their arm supported by the support section in space, in particular horizontally. At the same time, the exoskeleton retains the ability to absorb forces in different spatial directions, in particular also forces in horizontal spatial directions, with the support section and transfer them to the base section via the shoulder joint arrangement. For example, in the case of a curved movement path lying in a horizontal plane, forces in all spatial directions that are not parallel to the path direction according to the current path position of the lifting pivot bearing on the curved movement path can be absorbed by the support section and transferred to the base section.

Using the lifting pivot bearing, the user can perform (together with the support section) a lifting movement around the horizontal lifting axis defined by the lifting pivot bearing with their arm attached to the support section. Due to the human anatomy, the human shoulder moves forward during such a lifting movement. In a conventional exoskeleton, this can lead to the horizontal lifting axis and a horizontal shoulder joint axis of the human shoulder deviating significantly from each other, which can restrict the user's freedom of movement, range of motion and/or wearing comfort. By defining the curved movement path, it can be achieved in particular that during the lifting movement the lifting pivot bearing—and thus also the horizontal lifting axis—can move forward together with the human shoulder, in particular in such a way that the horizontal lifting axis is moved in accordance with the horizontal shoulder joint axis and a correspondence between the horizontal lifting axis and the horizontal pivot axis is expediently maintained.

Preferably, the joint chain is completely passive. The joint chain can also be referred to as shoulder kinematics.

Expediently, the curved movement path is the only degree of freedom of the lifting axis relative to the base section during operation. In particular, the joint chain for the lifting pivot bearing defines only a single movement path—namely the curved movement path. In particular, the support section has only two degrees of freedom relative to the base section during operation—rotation about the lifting axis as the first degree of freedom and movement (together with the lifting pivot bearing) along the curved movement path as the second degree of freedom. Preferably, the second degree of freedom comprises a rotation coupled to the position along the curved movement path about an imaginary vertical axis of rotation lying on the curved movement path. This coupled rotation can expediently not be performed independently of the positioning along the movement path, which is why this rotation and this position together represent only a single degree of freedom—the second degree of freedom—of the support section relative to the base section.

Advantageous further developments are the subject of the subclaims.

The invention further relates to a method according to claim18.

In the following explanations, reference is made to the spatial directions x-direction, y-direction and z-direction, which are drawn in the figures and are aligned orthogonally to each other. The z-direction can also be referred to as the vertical direction, the x-direction as the depth direction and the y-direction as the width direction.

FIG.1shows a schematic representation of an exoskeleton device10comprising an exoskeleton20and optionally a tool30and/or a mobile device40. The exoskeleton20can also be provided on its own. The tool30and/or the mobile device40are exemplarily provided separately from the exoskeleton20, i.e. in particular not mechanically connected to the exoskeleton20. The tool30is, for example, a power tool, in particular a cordless screwdriver and/or a drill and/or a grinder. The mobile device40is preferably a smartphone or a tablet. Optionally, the exoskeleton20is configured to communicate with the tool30and/or the mobile device40, in particular wirelessly.

As an example, the exoskeleton20is aligned in an upright orientation with its vertical axis (which in particular runs parallel to a base section axis62) parallel to the z-direction. In particular, the exoskeleton20is aligned in the upright orientation with its sagittal axis parallel to the x-direction. In a state in which the user has put on the exoskeleton20, the sagittal axis of the exoskeleton20runs parallel to the sagittal axis of the user, i.e. in particular parallel to a direction from the rear—i.e. in particular the back of the user—to the front—i.e. in particular the chest of the user. The horizontal axis of the exoskeleton20runs in particular in the width direction of the exoskeleton20and/or parallel to the y-direction. In a state in which the user has put on the exoskeleton20, the horizontal axis of the exoskeleton20runs parallel to the horizontal axis of the user, i.e. in particular parallel to a direction from a first shoulder of the user to a second shoulder of the user. The vertical axis of the exoskeleton20, the sagittal axis of the exoskeleton20and the horizontal axis of the exoskeleton20are aligned orthogonally to each other.

The exoskeleton device10is designed in particular for manual and/or industrial use. Preferably, the exoskeleton device10is not designed for medical and/or therapeutic use.

The exoskeleton20is an active exoskeleton and in particular has an internal energy source from which the energy for the support force is provided. In particular, the exoskeleton20is an active exoskeleton for actively supporting the user's shoulder joint.

The exoskeleton20comprises a base section1for attachment to a body section of a human body of a user. By way of example, the base section1serves to be attached to the torso2of the human body.

The base section1comprises a main section and a textile carrying system, which is in particular detachably attached to the main section. By way of example, the main section serves to be worn on the back of the human body by means of the textile carrying system, in particular in a backpack-like manner. The main section comprises a back part8, which is in particular elongated and which is expediently aligned with its longitudinal axis vertically and/or in the longitudinal direction of the user's back. For example, the longitudinal direction of the back part8extends along the longitudinal direction of the back. The main section further comprises a force transmission element18, which is in particular strip-shaped and/or rigid and extends downwards from the back part8to a pelvic strap16in order to mechanically couple the back part8to the pelvic strap16. The force transmission element18is expediently used to transmit a reaction force, which is transmitted from a support section3to the back part8, further to the pelvic strap16. As an example, the back part8is tubular and/or backpack-shaped. The back part8is in particular rigid. In particular, the back part8comprises an expediently rigid back part housing, which is made, for example, from an in particular rigid plastic and/or as a hard shell. The back part8expediently serves to transmit a force from the support section3to the force transmission element18and/or to accommodate components for controlling the support force.

The support section3can expediently be referred to as an arm actuator.

The force transmission element18is exemplarily sword-shaped and can also be referred to as a sword. Expediently, the force transmission element18is designed to be adjustable relative to the back part8, in particular in order to change the vertical extent of the main section and/or a force transmission element angle46between the force transmission element18and the back part8facing the user's back. Expediently, the force transmission element18is mounted for translational and/or rotational movement relative to the back part8and, in particular, can be moved into various translational and/or rotational positions relative to the back part8and, in particular, can be locked. The translational movement is in particular vertical. The rotational movement is expediently performed about an adjustment axis aligned parallel to the y-direction.

The textile carrying system comprises, by way of example, the pelvic strap16and/or at least one, preferably two, shoulder straps19. The pelvic strap16expediently forms a loop so that, when worn, it surrounds the torso2, in particular the hips, of the user. Each shoulder strap19extends exemplarily from the main section, in particular from the back part8, to the pelvic strap16, expediently over a respective shoulder of the user when the exoskeleton20is worn.

The exoskeleton20further comprises, by way of example, a force transmission element joint17, via which the force transmission element18is attached to the pelvic strap16. The force transmission element joint17is designed, for example, as a ball joint and can be referred to as a sacral joint. When the exoskeleton20is worn, the force transmission element joint17is arranged in the lower back region of the user, in particular centered in the width direction.

By way of example, the textile carrying system also comprises a back net21, which is arranged on the side of the back part8facing the user's back. When the exoskeleton20is worn, the back net21lies against the user's back, in particular at least partially and/or in the upper back region.

The exoskeleton20further comprises the support section3movably coupled to the base section1for supporting a limb, in particular an arm4, of the human body of the user. In particular, the support section3is designed to be attached to the limb, in particular the arm4, of the user. The support section3comprises, by way of example, an in particular rigid arm part11and an arm attachment12arranged on the arm part11, which is designed, by way of example, as an arm shell. The arm part11is exemplarily elongated and, when worn, is aligned with its longitudinal axis in the direction of the longitudinal axis of the user's arm. As an example, the arm part11extends from the shoulder of the user to the elbow area of the user. The exoskeleton20, in particular the arm part11, ends at the elbow area of the user. The arm attachment12is used in particular to attach the support section3to the arm4, in particular the upper arm, of the user. In particular, the arm shell surrounds the upper arm of the user, in particular at least partially, so that the upper arm can be held in the arm shell with a strap. The user's forearm is expediently not attached to the exoskeleton20.

As an example, the support section3is mounted so that it can pivot about a horizontal pivot axis relative to the base section1, in particular relative to the back part8. As an example, the support section3is mounted directly on a shoulder part29. The horizontal pivot axis can also be referred to as the lifting axis36. When the exoskeleton20is worn, the lifting axis36is located in the area of the user's shoulder. In particular, the exoskeleton20is designed to support the user's shoulder joint with the support section3. When the exoskeleton20is worn, the user can perform a lifting movement with his arm4supported by the support section3by pivoting the support section3about the lifting axis36. In particular, the lifting axis36can be aligned in the y-direction. Expediently, the lifting axis36always lies in a horizontal plane, for example an x-y plane. In particular, a horizontal plane is to be understood as an exactly horizontal plane and/or a plane that is tilted by a maximum of 10 degrees, 7 degrees or 5 degrees relative to a horizon.

The pivot angle47of the support section3about the lifting axis36relative to the base section1should also be referred to as the lifting angle. The pivot angle47has a reference value, in particular a minimum value, when the support section3is oriented downwards (in the case of a vertically oriented exoskeleton20) and increases continuously up to a maximum value when the support section3is pivoted upwards. The minimum value is in particular a minimum value in terms of amount, for example zero.

As an example, the pivot angle47is defined as an angle between a support section axis61and a base section axis62. The support section axis61extends in the longitudinal direction of the support section3. Exemplarily, the support section axis61extends from the lifting axis36in the direction of the arm attachment12. In a state in which the user has put on the exoskeleton20, the support section axis61expediently extends parallel to an upper arm axis of the arm4supported by the support section3. The base section axis62expediently represents a vertical axis of the base section1and extends vertically downwards, in particular in a vertical orientation of the base section1, for example in a state in which the user has put on the exoskeleton20and is standing upright. As an example, the pivot angle47lies in a z-x plane, for example when the user is standing upright and the arms are raised forwards.

The exoskeleton20comprises, by way of example, a shoulder joint arrangement9, via which the support section3is attached to the base section1, in particular the back part8. The shoulder joint arrangement9expediently comprises a joint chain201with one or more pivot bearings for defining one or more vertical axes of rotation. By means of the joint chain201, it is expediently possible to pivot the support section3relative to the base section1, in particular relative to the back part8, in a preferably horizontal pivot plane, for example about a virtual vertical axis of rotation. In particular, the joint chain201enables the user to pivot his arm4, which is supported by the support section3, about a vertical axis of rotation running through the user's shoulder, whereby the support section3is moved along with the arm4. As an example, the joint chain201is designed to be passive, so that the exoskeleton20does not provide any active support force in the direction of the horizontal pivot movement when the arm is pivoted in the preferably horizontal pivot plane.

The shoulder joint arrangement9is expediently arranged and/or designed in such a way that it defines a free space which, when the exoskeleton20is worn, is located above the shoulder of the user wearing the exoskeleton20, so that the user can align his arm, which is supported by the support section3, vertically upwards through the free space past the shoulder joint arrangement9.

By way of example, the shoulder joint arrangement9comprises an inner shoulder joint section27, which is mounted so as to be pivotable about a first vertical axis of rotation relative to the base section1, in particular to the back part8, by means of a first pivot bearing of the shoulder joint arrangement9. By way of example, the shoulder joint arrangement9further comprises an outer shoulder joint section28, which is mounted so as to be pivotable about a second vertical axis of rotation relative to the inner shoulder joint section27by means of a second pivot bearing of the shoulder joint arrangement9. By way of example, the shoulder joint arrangement9further comprises a shoulder part29which is mounted so as to be pivotable about a third vertical axis of rotation relative to the outer shoulder joint section28by means of a third pivot bearing of the shoulder joint arrangement9. Preferably, the inner shoulder joint section27, the outer shoulder joint section28and the shoulder part29in the shoulder joint arrangement9are kinematically coupled to one another as the joint chain201in such a way that the pivot angle of the inner shoulder joint section27relative to the base section1determines the pivot angle of the outer shoulder joint section28relative to the inner shoulder joint section27and/or the pivot angle of the shoulder part29relative to the outer shoulder joint section28.

FIG.3shows a schematic detailed view of the support section3, with components arranged within the arm part visibly shown. The arm part11expediently comprises an arm part housing, which is in particular rigid and made of plastic, for example.

The exoskeleton20comprises an actuator device5acting on the support section3to provide a support force for the limb, exemplarily for the user's arm. By way of example, the actuator device5is arranged at least partially in the arm part11.

The actuator device5is an active actuator device. Expediently, the exoskeleton20provides the support force by means of the actuator device5with a force component acting upwards in the direction of the pivoting movement about the lifting axis36, which pushes the user's arm4upwards in the direction of the pivoting movement.

Preferably, the actuator device5comprises an actuator unit with an actuator member32. The actuator unit can apply an actuator force to the actuator member32in order to provide the support force. The actuator member32is coupled to an eccentric section35arranged eccentrically to the lifting axis36. The eccentric section35is part of the shoulder part29, for example. By coupling the actuator member32to the eccentric section35, the actuator force provides a torque of the support section3about the lifting axis36relative to the base section1and/or the shoulder part29. Due to this torque, the support section3presses against the limb, in particular the arm4, of the user, in particular upwards, and thus provides the support force acting on limb, in particular the arm4, of the user.

As an example, the actuator device5has a coupling element33, in particular designed as a push rod, via which the actuator member32is coupled to the eccentric section35.

Preferably, the actuator device5is a pneumatic actuator device and the actuator unit is expediently designed as a pneumatic drive cylinder31. The actuator member32is the piston rod of the drive cylinder31.

Alternatively, the actuator device may not be designed as a pneumatic actuator device. For example, the actuator device can be designed as a hydraulic and/or electric actuator device and, expediently, comprise a hydraulic drive unit and/or an electric drive unit as the actuator unit.

The drive cylinder31, the actuator member32and/or the coupling element33are preferably arranged in the arm part housing.

The exoskeleton20expediently comprises a lifting pivot bearing34, which provides the lifting axis36. As an example, the support section3is attached to the shoulder joint arrangement9via the lifting pivot bearing34.

FIG.4shows a rear view of the exoskeleton20, whereby the textile support system and the force transmission element18are not shown.

The exoskeleton20comprises, by way of example, one or more batteries22, a compressor23, a valve unit24and/or a compressed air tank25, which are expediently part of the base section1and are arranged in particular in the back part housing.

By way of example, the rechargeable battery22is arranged at the bottom of the back part8and, in particular, is inserted into a rechargeable battery holder of the back part8from below. Expediently, the compressed air tank25is arranged in an upper region in the back part8, exemplarily (in particular in the longitudinal direction of the back part8and/or vertical direction) above the valve unit24, the control device7, the compressor23and/or the rechargeable battery22. The valve unit24and/or the control device7is (in particular in the longitudinal direction of the back part8and/or vertical direction) expediently arranged above the compressor and/or above the rechargeable battery22. The compressor23is arranged (in particular in the longitudinal direction of the back part8and/or vertical direction) above the battery22.

The battery22serves as an electrical power supply for the exoskeleton20, in particular for the compressor23, the valve unit24, a sensor device6and/or a control device7.

The compressor23is designed to compress air in order to generate compressed air. The compressed air tank25is designed to store compressed air—in particular the compressed air generated by the compressor23.

The valve unit24expediently comprises one or more electrically operable valves and is designed in particular to influence a pneumatic connection from the compressed air tank25to a pressure chamber of the pneumatic drive cylinder31, in particular to selectively establish and/or block the pneumatic connection. Expediently, the valve unit24is further designed to influence a pneumatic connection from the compressed air tank25to the environment of the exoskeleton20and/or a pneumatic connection from the pressure chamber of the drive cylinder31to the environment of the exoskeleton20, in particular to selectively establish and/or block the pneumatic connection. The valve unit24is expediently part of the actuator device5.

The exoskeleton20further comprises a sensor device6. As an example, the sensor device6comprises an angle sensor37for detecting the angle of the support section3relative to the base section1, in particular the arm part11relative to the shoulder part29. This angle should also be referred to as the pivot angle47or the lifting angle. The angle sensor37is used in particular to detect the angle of the support section3about the lifting axis36. The angle sensor37is designed, for example, as an incremental encoder and is arranged in particular on the lifting pivot bearing34, in particular in the arm part11and/or in the shoulder part29.

Preferably, the sensor device6further comprises at least one pressure sensor for detecting the pressure prevailing in the pressure chamber of the drive cylinder31and/or the pressure prevailing in the compressed air tank25. The at least one pressure sensor is expediently arranged in the back part8and/or in the arm part11.

The exoskeleton device10, in particular the exoskeleton20, expediently comprises a control device7, which for example comprises a microcontroller or is designed as a microcontroller. The control device7is used in particular to control the actuator device5, in particular the valve unit24, in order to control the provision of the support force. Furthermore, the control device7is used to read out the sensor device6, in particular to read out data recorded by the sensor device6and/or to communicate with the tool30and/or the mobile device40. Preferably, the control device7is designed to adjust the pressure prevailing in the pressure chamber of the drive cylinder31by actuating the valve unit24, in particular to closed-loop control the pressure, for example taking into account a pressure value recorded by means of the pressure sensor. In particular, the control device7is designed to increase the pressure prevailing in the pressure chamber by actuating the valve unit24in order to increase the support force and/or to reduce the pressure prevailing in the pressure chamber by actuating the valve unit24in order to reduce the support force.

According to a preferred embodiment, the control device7is designed to adjust the support force on the basis of the pivot angle47of the support section3detected in particular by means of the angle sensor37. Expediently, the user can use his muscle strength to change the pivot angle47of the support section3by pivoting his arm4, thereby influencing in particular the provision of the support force. In particular, the support force is low enough so that the user can change the pivot angle47of the support section3by pivoting his arm4using his muscle strength. The support force is limited, for example, by the design of the pneumatic system, in particular the compressor, and/or by the control device7.

The control device7is preferably part of the exoskeleton20and is exemplarily arranged in the base section1, in particular in the back part8. Optionally, the control device7can be at least partially implemented in the mobile device40.

As an example, the exoskeleton20comprises an operating element14, which is expediently attached to the base section1via an operating element cable15. The user can control the exoskeleton20via the operating element14and, in particular, activate, deactivate and/or set the support force to one of several possible force values greater than zero.

As an example, the exoskeleton20further has a connecting element26, via which the shoulder joint arrangement9is attached to the base section1, in particular the back part8. The connecting element26is exemplarily designed as a pull-out element. The connecting element26is expediently adjustable in its position relative to the base section1, in particular relative to the back part8, in order to be able to adapt the position of the shoulder joint arrangement9and the support section3to the shoulder width of the user. In particular, the position of the connecting element26can be adjusted by pushing or pulling the connecting element26in or out of the back part8.

By way of example, the exoskeleton20has a first support section3A, a first shoulder joint arrangement9A and a first connecting element26A, as well as a second support section3B, a second shoulder joint arrangement9B and a second connecting element26B. The components whose reference signs are provided with the suffix “A” or “B” are expediently each designed in correspondence with the components provided with the same reference sign number but without the suffix “A” or “B”, for example identical or mirror-symmetrical, so that the explanations in this regard apply in correspondence. The “A” and “B” components of the exoskeleton are shown in particular inFIGS.4,5and17.

The first support section3A, the first shoulder joint arrangement9A and the first connecting element26A are arranged on a first, exemplarily the right, side (in width direction) of the base section1, and serve to support a first, in particular the right, arm of the user.

The second support section3B, the second shoulder joint arrangement9B and the second connecting element26B are arranged on a second, exemplarily the left, side (in width direction) of the base section1and serve to support a second, in particular the left, arm of the user.

The first support section3A comprises a first arm part11A, a first arm attachment12A and/or a first actuator unit, in particular a first drive cylinder.

The second support section3A comprises a second arm part11B, a second arm attachment12B and/or a second actuator unit, in particular a second drive cylinder.

Preferably, the control device7is designed to set a first support force for the first support section3A by means of the first actuator unit and to set a second support force for the second support section3B by means of the second actuator unit, which second support force is expediently different from the first support force.

The first shoulder joint arrangement9A comprises a first inner shoulder joint section27A, a first outer shoulder joint section28A and a first shoulder part29A. The second shoulder joint arrangement9B comprises a second inner shoulder joint section27B, a second outer shoulder joint section28B and a second shoulder part29B.

The first support section3A is pivotable about a first horizontal lifting axis36A relative to the base section1and the second support section3B is pivotable about a second horizontal lifting axis36B relative to the base section1.

InFIG.2, the exoskeleton20is shown in a state in which it is worn by a user, in particular worn as intended. By the formulation that the user is wearing the exoskeleton20, in particular wearing it as intended, it is meant that the user has put on the exoskeleton, i.e. put it on, by way of example in that the user is wearing the back part8on his back like a backpack, has put on the pelvic strap16around his hips, the shoulder strap or shoulder straps19run over the shoulder or shoulders of the user and/or one or both arms of the user are attached to the respective support section3with a respective arm attachment12.

By way of example, the exoskeleton20is designed to support the user during a lifting movement of a respective arm, i.e. during an upwardly directed pivoting of the respective support section3about a respective lifting axis36, with a respective support force acting in particular upwards. Furthermore, the exoskeleton20is expediently designed to support or counteract the user during a lowering movement, i.e. during a downward pivoting of the respective support section3about a respective lifting axis36, with a respective support force acting in particular upwards, or to deactivate or reduce the respective support force during the lowering movement.

The shoulder joint arrangement9will be discussed in more detail below. An exemplary design of the shoulder joint arrangement9is shown inFIG.6. The support section3is movably coupled to the base section1via the shoulder joint arrangement9.

The shoulder joint arrangement9comprises the lifting pivot bearing34, via which the support section3is pivotably mounted on the shoulder joint arrangement9about the horizontal lifting axis36. As an example, the arm part11is mounted on the shoulder part29so that it can pivot about the horizontal lifting axis36via the lifting pivot bearing34.

The shoulder joint arrangement9comprises the joint chain201, which defines a curved movement path202relative to the base section1for the lifting pivot bearing34. The curved movement path202preferably lies in a plane, in particular in a horizontal plane. An exemplary movement path202is shown inFIGS.7,8and9. In particular, during operation of the exoskeleton20, the joint chain201limits a positioning of the lifting pivot bearing34relative to the base section1to the curved movement path202.

Preferably, by means of the joint chain201, the positioning of the lifting pivot bearing34along the curved movement path is fixedly coupled to a rotation of the lifting pivot bearing34about an imaginary vertical axis of rotation running through the lifting pivot bearing34. When the lifting pivot bearing34is moved along the movement path, the lifting pivot bearing34therefore necessarily rotates about its own vertical axis—the imaginary vertical axis of rotation running with the lifting pivot bearing34, which expediently results in a horizontal pivoting movement of the support section3relative to the base section1. The rotation of the lifting pivot bearing about the imaginary vertical axis of rotation should also be referred to as the self-rotation of the lifting pivot bearing34.

Preferably, the joint chain201is designed to pivot the lifting pivot bearing34about an imaginary vertical axis of rotation extending through the lifting pivot bearing34as a function of the path position of the lifting pivot bearing34on the movement path202, so that, by performing a movement of the lifting pivot bearing34along the movement path202, the support section3can be pivoted horizontally relative to the base section1.

In particular, the joint chain201is designed in such a way that the horizontal pivoting of the support section3relative to the base section1does not take place about an imaginary vertical axis of rotation that is fixed (relative to the base section1), but instead about an imaginary vertical axis of rotation that moves in a horizontal plane (depending on the horizontal pivoting).

The horizontal pivoting of the support section3relative to the base section1can be described by means of a horizontal pivot angle between the support section3and a horizontal axis of the base section1, for example an axis running parallel to the x-direction, which can also be referred to as the depth axis or sagittal axis.

Preferably, the joint chain201is designed to guide the lifting pivot bearing34on the movement path202in such a way that the lifting axis36is aligned along the movement path202, in particular along the entire movement path202, correspondingly, in particular coaxially, to a horizontal shoulder joint axis203of a shoulder, in particular of a shoulder joint204, of a user wearing the exoskeleton20, in particular during a lifting movement of the arm4and/or during a horizontal pivoting movement of the arm4.

Expediently, the shoulder joint arrangement9does not couple the vertical pivoting of the support section3—i.e. the pivot angle47—with the path position of the lifting pivot bearing34along the curved movement path202and/or with the horizontal pivot angle of the support section3. When vertically pivoting forward (in particular at a pivot angle47of 0 to 90 degrees), the human shoulder is moved in the x-direction forward about a pivot axis aligned parallel to the y-direction, which in the worn state of the exoskeleton20results in the support section3and thus the lifting pivot bearing34being moved forward along the curved movement path202by the arm4. The movement along the curved movement path202in turn causes the self-rotation of the lifting pivot bearing34—and thus of the lifting axis36—so that the spatial orientation of the lifting axis36follows the spatial orientation of the horizontal shoulder joint axis203.

This enables optimum force transmission and prevents unnatural postures or forced postures on the part of the user.

With reference toFIGS.7,8and9, the curved movement path202defined by the joint chain201will be discussed in more detail below.

Preferably, the movement path202has a curvature that changes along the movement path202, so that the movement path202is not circular. The movement path202has a concave shape facing the center of the exoskeleton20in the width direction.

FIGS.7,8,9also show an exemplary curved shoulder axis movement path209, on which the shoulder joint204and/or the horizontal shoulder joint axis203moves during a (vertical) lifting movement and/or during a horizontal pivoting movement of the arm4.

As an example, the movement path202has a smaller curvature than the shoulder axis movement path209and/or runs around the outside of the shoulder axis movement path209. In particular, the course of the movement path202corresponds to the course of the shoulder axis movement path209and/or, in particular, is concave in relation to the center of the exoskeleton (in the width direction).

Optionally, the shoulder part29and/or the lifting pivot bearing34has a constant distance to the user's shoulder in every position of the joint chain201.

Optionally (in particular due to the course of the movement path202), the arm attachment12abuts against the same place on the arm4in every position of the arm part11when the arm4is raised or lowered and/or pivoted horizontally. In this way, a relative movement between the arm4and the arm attachment12can be reduced and/or the wearing comfort for the user can be increased.

With reference toFIG.6, an exemplary structure of the joint chain201is described below.

Preferably, the joint chain201comprises a first main joint element211, a first auxiliary joint element213, a second main joint element212, a second auxiliary joint element214and the shoulder part29comprising the lifting pivot bearing34.

The joint elements211,212,213,214are expediently each elongated, in particular rod-shaped and/or bar-shaped. Expediently, the joint elements211,212,213,214are each aligned with their longitudinal axis in a horizontal plane.

The joint chain201further comprises a first main pivot bearing221, via which the first main joint element211is rotatably mounted relative to the base section1, and a first auxiliary pivot bearing231, via which the first auxiliary joint element213is rotatably mounted relative to the base section1.

The joint chain201further comprises a second main pivot bearing222, via which the second main joint element212is rotatably mounted on the first main joint element211, and a second auxiliary pivot bearing232, via which the second main joint element212is rotatably mounted on the first auxiliary joint element213.

The joint chain201further comprises a third auxiliary pivot bearing233, via which the second auxiliary joint element214is rotatably mounted on the first main joint element211, and a third main pivot bearing223, via which the shoulder part29is rotatably mounted on the second main joint element212.

The joint chain201further comprises a fourth auxiliary pivot bearing234, via which the shoulder part29is rotatably mounted on the second auxiliary joint element214.

Expediently, the first main joint element211and the second main joint element212intersect, in particular at a second main axis of rotation242provided by the second main pivot bearing222.

The second main pivot bearing222is arranged in the longitudinal direction of the second main joint element212between the second auxiliary pivot bearing232and the third main pivot bearing243. Furthermore, the second main pivot bearing222is arranged in the longitudinal direction of the first main joint element211between the first main pivot bearing221and the third auxiliary pivot bearing233.

Expediently, the first main joint element211and the first auxiliary joint element213extend parallel to each other. The second main joint element212and the second auxiliary joint element214expediently extend parallel to one another in at most one position of the joint chain201. In particular, the second main joint element212and the second auxiliary joint element214do not run parallel to one another in several positions of the joint chain201and expediently have different angles relative to one another.

Alternatively, it may be provided that the second main joint element212and the second auxiliary joint element214run parallel to one another.

By way of example, the first main joint element211and/or the first auxiliary joint element213forms the aforementioned inner shoulder joint section27. By way of example, the second main joint element212and/or the second auxiliary joint element214forms the aforementioned outer shoulder joint section28.

The joint chain201is designed in particular as a kinematic system whose joint elements211,212,213,214are expediently movable only in one (in particular non-variable) plane, in particular a horizontal plane. The kinematic system is designed in such a way that a virtual vertical pivot axis of the joint chain201formed by the kinematic system follows the pivot point of the shoulder when the arm4is raised or lowered. Optionally, the joint chain201can be designed as a double parallelogram kinematic system.

As shown inFIG.6, the first main joint element211is mounted on the connecting element26via the first main pivot bearing221. Furthermore, the first auxiliary joint element213is mounted on the connecting element26via the first auxiliary pivot bearing231. The connecting element26connects the joint chain201to the back part8.

The first main joint element211is connected to the connecting element26and is rotatable in a horizontal plane. The second main joint element212crosses over the first main joint element211, the joint elements211,212being rotatably connected to one another in the horizontal plane. The auxiliary joint element213, designed in particular as a coupling rod, connects one end of the second main joint element212to the connecting element26, the connections being rotatably mounted. Furthermore, the second auxiliary joint element214, designed in particular as a coupling rod, connects one end of the first main joint element211to the shoulder part29. The joint chain201is connected to the support section3via the shoulder part29.

As an example, the shoulder part29is elongated and aligned vertically with its longitudinal axis. The support section3is expediently mounted at one end, in particular at a lower and/or free end of the shoulder part29so as to be rotatable about a horizontal axis—the lifting axis36.

The joint chain201, which comprises the joint elements211,212,213,14, expediently forms a double parallelogram. The shape of the curved movement path202is expediently defined via the length ratios of the joint elements211,212,213,214.

Preferably, the movement along the movement path202provided by the joint chain201is the only degree of freedom for positioning the lifting pivot bearing34relative to the base section during operation. The self-rotation of the lifting pivot bearing34—i.e. the rotation of the lifting axis36about an imaginary vertical axis of rotation—is expediently coupled to the movement along the movement path and therefore does not represent a separate degree of freedom.

Expediently, all pivot bearings221,222,223,231,232,233,234of the joint chain201are coupled to one another via the joint chain201, so that none of these pivot bearings can provide rotation independently of the other pivot bearings of the joint chain201. The currently provided rotation angle of each of the pivot bearings of the joint chain201depends on the position of the lifting pivot bearing34on the curved movement path202. In particular, none of the pivot bearings221,222,223,231,232,233,234provides an independent degree of freedom.

With reference toFIG.18, exemplary length ratios of the distances defined by the joint elements211,212,213,214between the axes of rotation of the joint chain201will be discussed in more detail below.

Preferably, the ratio of a distance LH2H3between the axis of rotation242of the second main pivot bearing222and the axis of rotation243of the third main pivot bearing223to the distance LH1H2between the axis of rotation242of the second main pivot bearing222and the axis of rotation241of the first main pivot bearing221is between 0.75 and 1. Expediently, LH2H3/LH1H2is between 0.75 and 1.

The axis of rotation241can be referred to as the first main axis of rotation241, the axis of rotation242as the second main axis of rotation242and the axis of rotation243as the third main axis of rotation243. The axes of rotation241,242,243are in particular vertical axes of rotation.

Preferably, the ratio of the distance LH2N2between the axis of rotation242of the second main pivot bearing222and the axis of rotation252of the second auxiliary pivot bearing232to the distance LH1N1between the axis of rotation241of the first main pivot bearing221and the axis of rotation251of the first auxiliary pivot bearing231is equal to 1. Expediently, LH2N2/LH1N1is equal to 1.

The axis of rotation251can also be referred to as the first auxiliary axis of rotation251, the axis of rotation252as the second auxiliary axis of rotation252, the axis of rotation253as the third auxiliary axis of rotation253and the axis of rotation254as the fourth auxiliary axis of rotation254. The axes of rotation251,252,253,254are in particular vertical axes of rotation.

Preferably, the ratio of the distance LH2N2between the axis of rotation242of the second main pivot bearing222and the axis of rotation252of the second auxiliary pivot bearing232to the distance LH3N4between the axis of rotation243of the third main pivot bearing223and the axis of rotation254of the fourth auxiliary pivot bearing234is equal to 1. Expediently, LH2N2/LH3N4is equal to 1.

Preferably, the ratio of the distance LH2N2between the axis of rotation242of the second main pivot bearing222and the axis of rotation252of the second auxiliary pivot bearing232to the distance LH2N3between the axis of rotation242of the second main pivot bearing222and the axis of rotation253of the third auxiliary pivot bearing233is between 0.85 and 1. Expediently, LH2N2/LH2N3is between 0.85 and 1.

Preferably, the ratio of the distance LH1H2between the axis of rotation241of the first main pivot bearing221and the axis of rotation242of the second main pivot bearing222to the distance LN1N2between the axis of rotation251of the first auxiliary pivot bearing231and the axis of rotation252of the second auxiliary pivot bearing232is equal to 1. Expediently, LH1H2/LN1N2is equal to 1.

Preferably, the ratio of the distance LH2H3between the axis of rotation242of the second main pivot bearing222and the axis of rotation243of the third main pivot bearing223to the distance LN3N4between the axis of rotation253of the third auxiliary pivot bearing233and the axis of rotation254of the fourth auxiliary pivot bearing234is between 0.9 and 1. Expediently, LH2H3/LN3N4is between 0.9 and 1.

Preferably, a first quadrilateral, in particular a first parallelogram, is formed from a first imaginary straight line connecting the first main axis of rotation241and the second main axis of rotation242, a second imaginary straight line connecting the first auxiliary axis of rotation251and the second auxiliary axis of rotation252, a third imaginary straight line connecting the first main axis of rotation241and the first auxiliary axis of rotation251, and a fourth imaginary straight line connecting the second main axis of rotation242and the second auxiliary axis of rotation252. In particular, the first imaginary connecting straight line is of the same length as the second imaginary connecting straight line and/or parallel to the second imaginary connecting straight line. In particular, the third imaginary connecting straight line is of the same length as the fourth imaginary connecting straight line and/or parallel to the fourth imaginary connecting straight line.

Preferably, a second quadrilateral is formed from a fifth imaginary connecting straight line between the second main axis of rotation242and the third main axis of rotation243, a sixth imaginary connecting straight line between the third auxiliary axis of rotation253and the fourth auxiliary axis of rotation254, a seventh imaginary connecting straight line between the second main axis of rotation242and the third auxiliary axis of rotation253and an eighth imaginary connecting straight line between the third main axis of rotation243and the fourth auxiliary axis of rotation254.

Preferably, the second quadrilateral is an irregular quadrilateral, in particular a quadrilateral other than a parallelogram. In the second quadrilateral, the fifth imaginary connecting straight line is expediently not the same length as, in particular shorter than, the sixth imaginary connecting straight line and/or the eighth imaginary connecting straight line is not the same length as, in particular shorter than, the seventh imaginary connecting straight line. In particular, the distance LH3N4between the axis of rotation243of the third main pivot bearing223and the axis of rotation254of the fourth auxiliary pivot bearing234unequal to or smaller than the distance LH2N3between the axis of rotation242of the second main pivot bearing222and the axis of rotation253of the third auxiliary pivot bearing233and/or the distance LH2H3between the axis of rotation242of the second main pivot bearing222and the axis of rotation243of the third main pivot bearing223is unequal to or smaller than the distance LN3N4between the axis of rotation253of the third auxiliary pivot bearing233and the axis of rotation254of the fourth auxiliary pivot bearing234.

Expediently, in one position of the joint chain201, the second quadrilateral can take the form of a trapezoid with only two parallel sides. For example, in (in particular at most) one position of the joint chain201, the fifth imaginary straight line and the sixth imaginary straight line are parallel to one another, and the seventh imaginary straight line and the eighth imaginary straight line are not parallel to one another in this position.

Preferably, the axes of rotation of the second main pivot bearing222, the third main pivot bearing223, the third auxiliary pivot bearing233and the fourth auxiliary pivot bearing234lie on corners of an imaginary quadrilateral (namely the second quadrilateral) which is not a parallelogram and is preferably an irregular quadrilateral.

Preferably, the second quadrilateral is not a parallelogram.

Optionally, the second quadrilateral can be designed as a parallelogram.

Optionally, the aforementioned connecting lines between the axes of rotation241,242,243,251,252,253,254form a double parallelogram.

The lengths of the connecting lines mentioned correspond to the distances between the axes of rotation mentioned above.

The length ratios in the second parallelogram and the length ratios between the first and second parallelogram define the course of the curved movement path202.

In particular, the above-mentioned length ratios of the connecting lines—i.e. the distances between the axes of rotation—define the curvature of the curved movement path202, which changes along the movement path and on the basis of which the lifting axis36follows the horizontal shoulder joint axis203of the user during a lifting movement of the user's upper arm attached to the support section3. In this way, the shoulder kinematics of the exoskeleton20can adapt to the natural movement of the shoulder and arm. This can lead to a favorable transmission of the support force, whereby incorrect loads on the arm and shoulder can be avoided and a large range of motion and a high level of comfort for the user can be achieved.

Preferably, the exoskeleton20defines a free space205which, when the exoskeleton20is worn, is located above the shoulder of the user wearing the exoskeleton20and around which the joint chain201extends, so that the user can point his arm4supported by the support section3upwards, in particular above shoulder height, preferably vertically upwards, through the free space205past the joint chain201.

FIG.17shows the free space205, which exemplarily comprises a first free space205A (for the right arm) and a second free space205B (for the left arm).

In particular, the joint chain201can assume an L-shaped position—for example a fold-out position—in which the first main joint element211extends outwards in the y-direction starting from the back part8and/or the connecting element26, in particular (in the x-direction) behind the shoulder of the user, and delimits the free space205in the x-direction. Expediently, in the L-shaped position, the second main joint element212extends forward in the x-direction starting from the first main joint element211, in particular (in the y-direction) laterally outside the area occupied by the shoulder, and delimits the free space205in the y-direction.

The joint chain201is therefore expediently located completely behind and/or to the side of the user's shoulder, and in particular not above the shoulder, so that the user's freedom of movement is not restricted by the joint chain201during overhead activities.

With reference toFIGS.10and11, various positions of the joint chain201will be discussed below.

FIG.10shows a first end position of the joint chain201, which can also be referred to as the fold-in position. In the fold-in position, the joint chain201is folded in as far as possible. In the fold-in position, the lifting pivot bearing34is located at a first end of the curved movement path202, in particular in a position that can be occupied by the lifting pivot bearing34minimally in the x-direction—i.e. in particular in a position maximally to the rear. In the folded-in position, the horizontal angle281between the lifting axis36and the sagittal axis (running parallel to the x-direction) of the exoskeleton20is preferably maximum, in particular greater than 90 degrees or greater than 120 degrees or greater than 150 degrees. In the fold-in position, the joint chain201has a V-shape in plan view, for example. The horizontal angle281is shown inFIG.7, for example in relation to an imaginary straight line282running parallel to the sagittal axis. The horizontal angle281is defined in particular in such a way that it would be zero if the lifting axis36were aligned forwards in the x-direction. The horizontal angle281increases as the support section3is pivoted further outwards.

When the exoskeleton20is worn, the joint chain201assumes the fold-in position in particular when the user places his arms against the body and/or stretches out to the side or back.

FIG.11shows a second end position of the joint chain201, which can also be referred to as the fold-out position. In the fold-out position, the joint chain201is folded out to the maximum. In the fold-out position, the lifting pivot bearing34is located at a second end of the curved movement path202, in particular in a position that can be occupied by the lifting pivot bearing34maximally in the x-direction—i.e. in particular in a position maximally forward. In the folded-in position, the horizontal angle between the lifting axis36and the sagittal axis (running parallel to the x-direction) of the exoskeleton20is preferably minimal, in particular less than or equal to 90 degrees. In the fold-out position, the joint chain201has an L-shape in plan view, for example.

When the exoskeleton20is worn, the joint chain201assumes the fold-out position in particular when the user extends his arms forwards.

With reference toFIG.12, an overlapping of cover caps271,272in the folded-in position will be discussed below.

By way of example, the shoulder joint arrangement9comprises a first cover cap271and/or a second cover cap272. In particular, the first cover cap271is associated with and/or attached to the inner shoulder joint section27, by way of example the first auxiliary joint element213. In particular, the second cover cap272is associated with and/or attached to the outer shoulder joint section28, for example the second auxiliary joint element214. The first cover cap271surrounds the inner shoulder joint section27at least partially, in particular on at least two sides. The second cover cap272surrounds the outer shoulder joint section28at least partially, in particular on at least two sides.

Each cover cap271,272expediently comprises a respective upper and/or lower horizontal cover cap section273for covering the joint chain201upwards and/or downwards, and/or a respective vertical cover cap section274for covering the joint chain201outwards. The cover caps271,272are expediently made of plastic.

Preferably, in the folded-in position, the upper and/or lower horizontal cover cap section273of the first cover cap271overlaps with the upper and/or lower horizontal cover cap section273of the second cover cap272. Exemplarily, in the folded-in position, one of the cover caps, exemplarily the first cover cap271, embraces the other cover cap, exemplarily the cover cap272. In particular, in the folded-in position, an upper cover cap section273is inserted in the vertical direction between another upper cover cap section273and the joint elements211,212and/or a lower cover cap section is inserted in the vertical direction between another lower cover cap section and the joint elements211,212. In the fold-out position, the upper and/or lower horizontal cover cap sections273expediently do not overlap or only partially overlap.

Preferably, the first main pivot bearing221is located directly next to the third main pivot bearing223in the folded-in position and, in particular, rests against it.

As shown as an example inFIG.6, the first main joint element211and/or the second auxiliary joint element214is preferably arranged vertically offset to the second main joint element212. In the folded-in position, an in particular horizontal pivot angle between the first main joint element211and the second main joint element212is expediently minimal. In the folded-in position, the first main joint element211and/or the second auxiliary joint element214expediently overlaps horizontally with the second main joint element212with more than half of the respective longitudinal extension.

As can be seen inFIG.6, the second main joint element212comprises, by way of example, two joint element sections275,276arranged vertically offset to one another, namely an upper joint element section275and a lower joint element section276. The first main joint element211and/or the second auxiliary joint element214is arranged in the z-direction between the two joint element sections275,276, so that the first main joint element211and/or the second auxiliary joint element214in the folded-in position can at least partially plunge into the intermediate space between the two joint element sections275,276.

Preferably, the joint elements211,212,214and/or the cover caps271,272are plunged and/or folded into one another in the folded-in position, as can be seen inFIG.10. In this way, a high range of motion and/or a compact exoskeleton20can be achieved for the user.

With reference toFIG.17, an adjustment mechanism206for adapting the exoskeleton20to a shoulder width of the user will be explained in more detail below.

Preferably, the exoskeleton20comprises an adjustment mechanism206by means of which the shoulder joint arrangement9can be positioned in an adjustment direction207relative to the base section1, in particular relative to the back part8, in order to adapt the exoskeleton20to the shoulder width of the user.

The adjustment mechanism206expediently comprises the connecting element26, which is in particular elongate, for example strip-shaped, and which can expediently be pushed into the back part8and/or pulled out of the back part8in the manner of an pull-out in order to position the shoulder joint arrangement9(together with the support section3) in the adjustment direction207relative to the back part8.

In particular, the adjustment mechanism206comprises an actuating element215designed, for example, as a lever, in particular as a clamping lever, by actuating which the user can fix the shoulder joint arrangement9(together with the support section3) in a set position (in the adjustment direction207) relative to the base section1, in particular relative to the back part8. Expediently, by actuating the actuating element215, the connecting element26can be fixed, in particular clamped, in its set position relative to the back part8.

Preferably, the adjustment mechanism206, in particular the connecting element26and/or the actuating element215, is arranged in an upper and/or lateral region of the back part8.

For example, the adjustment mechanism206comprises a locking section which can be moved selectively into a locking position or a release position by actuating the actuating element215. In particular, in the locking position, the locking section is in positive engagement and/or frictional engagement with the connecting element26. Expediently, in the release position, the locking section is not in positive engagement and/or not in frictional engagement with the connecting element26.

Preferably, the adjustment mechanism206has discrete width adjustment positions279, which are designed, for example, as detent points arranged in particular on the connecting element26. The detent points are, for example, punctual indentations. The width adjustment positions279are used for adjustment to the shoulder width of the user. Optionally, the discrete width adjustment positions have at least in part width markings. In particular, the adjustment mechanism provides a stepped adjustment of the exoskeleton to the shoulder width of the user, i.e. expediently not a stepless adjustment.

The adjustment direction207is expediently directed forwards by an angle of incidence relative to a horizontal axis of the exoskeleton20running parallel to the y-direction. The angle of incidence is preferably greater than 15 degrees or greater than 20 degrees or greater than 27 degrees or less than 45 degrees or less than 37 degrees or less than 32 degrees. As an example, the angle of incidence is 30 degrees.

By adjusting the shoulder joint arrangement9along the adjustment direction207, the lifting pivot bearing34is expediently adjusted further outwards in the y-direction and/or further forwards in the x-direction.

By way of example, the shoulder joint arrangement9is the first shoulder joint arrangement9A, the adjustment mechanism206is a first adjustment mechanism206A and the adjustment direction207is a first adjustment direction207A. The exoskeleton20further comprises the second shoulder joint arrangement9B and a second adjustment mechanism206B, via which the second shoulder joint arrangement9B can be positioned in a second adjustment direction207B relative to the base section1. The first adjustment direction207A and the second adjustment direction207B intersect at an obtuse angle (in particular opened forwards in the x-direction), in particular at an angle smaller than 150 degrees or smaller than 135 degrees or smaller than 125 degrees and/or at an angle greater than 90 degrees or greater than 105 degrees or greater than 115 degrees. For example, the first adjustment direction207A and the second adjustment direction207B intersect at an angle of 120 degrees.

Preferably, the second adjustment mechanism206B is designed in correspondence to the first adjustment mechanism206A, so that the explanations relating to the first adjustment mechanism206A apply in correspondence to the second adjustment mechanism206B. For example, the second adjustment mechanism206B is designed to be mirror-symmetrical with respect to the first adjustment mechanism206A, in particular with respect to an axis running parallel to the x-direction. Expediently, each adjustment mechanism206A,206B comprises its own actuating element215A,215B.

In an x-y view, the adjustment directions207A,207B expediently form a V-shape. InFIG.17, the two adjustment mechanisms206A,206B are set differently for illustrative purposes. Both adjustment mechanisms206A,206B can be set differently or the same, so that the connecting elements of the two shoulder joint arrangements9A,9B can expediently be extended differently or the same distance from the back part8.

Expediently, the width markings of the second adjustment mechanism206B correspond to the width markings of the first adjustment mechanism206A. In particular, the same width markings of the first adjustment mechanism206A and the second adjustment mechanism206B have the same distance from the sagittal plane of the exoskeleton. In this way, the shoulder joint arrangement9can be easily adjusted to the shoulder width of the user.

As shown by way of example inFIG.4, the support section3, in a position with its support section longitudinal axis261directed maximally downwards, in particular at a minimum pivot angle47, is with its support section longitudinal axis261directed laterally outwards with respect to a vertical axis262of the exoskeleton20by an angle, in particular an abduction angle, greater than zero in the width direction y of the exoskeleton20, so that a distance in the width direction y between the support section longitudinal axis261and the vertical axis262increases in the vertically downward direction. The support section longitudinal axis261is preferably equal to the support section axis61and/or the vertical axis262is expediently equal to the base section axis62.

The angle, in particular the abduction angle, is expediently between 5 and 10 degrees, for example 5 degrees. The angle corresponds appropriately to the human abduction angle. In particular, the human abduction angle is the angle at which the upper arm protrudes from the vertical body axis when the arm is hanging loosely downwards.

Expediently, the first support section3A and the second support section3B are each directed outwards with their respective support section axis261as explained above. The longitudinal axes261of the two support sections3A,3B expediently have twice the abduction angle, for example 10 degrees, to one another in the y-z plane.

Preferably, the joint chain201does not have a degree of freedom that enables pure abduction of the arm4. Preferably, abduction of the arm during use of the exoskeleton20can be achieved by a combined flexion and rotation movement of the arm4.

With reference toFIGS.13and14, a stowage configuration that can be adopted by the exoskeleton20will be described in more detail below.

Preferably, the exoskeleton20can be moved selectively into a stowage configuration or an operating configuration by folding the shoulder joint arrangement9relative to the base section1and/or by moving the force transmission element18arranged on the base section1, in particular leading to the pelvic strap16. The exoskeleton20is more compact in the stowage configuration, and in particular has a smaller width and/or height than in the operating configuration. Expediently, the exoskeleton20is not intended to be worn by a user as an exoskeleton20in the stowage configuration.

Preferably, the support sections3are folded over the back part8at the front in the stowage configuration. Furthermore, in the stowage configuration, the force transmission element18is preferably pushed as far as possible into the back part8.

FIG.14shows the exoskeleton20in the stowage configuration. As an example, the exoskeleton20is arranged in a container216, which is designed, for example, as a system box or a suitcase. Preferably, the exoskeleton20fits into the container216in the stowage configuration and/or does not fit into the container216in the operating configuration. Preferably, an arrangement is provided comprising the container216and the exoskeleton20accommodated in the container216, wherein the exoskeleton20expediently is in the stowage configuration.

For reasons of better visualization, the support section3is not shown inFIG.13. By way of example, in the stowage configuration the joint chain201, in particular the first main joint element211and/or the second main joint element212, is pivoted inwards relative to the back part8(about an imaginary vertical axis and/or about the first vertical main axis of rotation241), in particular pivoted further inwards than in the second end position shown, for example, inFIG.11. Preferably, the lifting pivot bearing34is located in the same y-range as the back part8in the stowage configuration and/or is located outside the y-range of the back part8in the operating configuration.

As shown as an example inFIG.14, both shoulder joint arrangements9are expediently folded forward in the stowage configuration, so that both support sections3A,3B are positioned in front of the back part8and at least partially overlap the back part in the y-direction.

Preferably, the exoskeleton20comprises a locking mechanism208that locks the exoskeleton20in the operating configuration such that unlocking of the locking mechanism208is required to move the exoskeleton20to the stowage configuration. In particular, the locking mechanism208locks the shoulder joint arrangement9of the exoskeleton20in the operating configuration, thereby preventing the shoulder joint arrangement9from folding over into the stowage configuration.

As explained above, the shoulder joint arrangement9comprises the first auxiliary pivot bearing231, the second auxiliary pivot bearing232, and the first auxiliary joint element213extending from the first auxiliary pivot bearing231to the second auxiliary pivot bearing232. By way of example, the first auxiliary joint element213can be extended and/or decoupled by unlocking the locking mechanism208in order to enable the shoulder joint arrangement9to be folded over relative to the base section1, in particular relative to the back part8.

In particular, by unlocking the locking mechanism208, the kinematic relationship between the inner shoulder joint section27formed, for example, by the first quadrilateral and the outer shoulder joint section28formed, for example, by the second quadrilateral can be decoupled.

As shown inFIG.13, the first auxiliary joint element213expediently comprises a first joint element section217(in particular associated with the first auxiliary pivot bearing231) and a second joint element section218(in particular associated with the second auxiliary pivot bearing232), which are movable relative to one another by unlocking the locking mechanism208in order to extend the first auxiliary joint element213, in particular in the longitudinal direction of the first auxiliary joint element213, and preferably thereby enable the shoulder joint arrangement9, in particular the outer shoulder joint section28, to be folded over in front of the back part8.

In an exemplary embodiment, one of the joint element sections217,218is at least partially insertable into and extendable from the other of the joint element sections217,218to selectively lengthen or shorten the first auxiliary joint element213.

Alternatively, an embodiment may be provided in which the joint element sections217,218can be pulled apart to such an extent that they are completely decoupled from one another.

Preferably, the locking mechanism208comprises an actuating element219via which the locking mechanism208can be selectively locked or unlocked by the user. In particular, the two joint element sections217,218can be selectively fixed relative to one another or made displaceable relative to one another by means of the actuating element219. As an example, the actuating element219is arranged on the first cover cap271. Preferably, a detent element, in particular a detent pin, can be moved by means of the actuating element219, by means of which the fixation of the two joint element sections217,218relative to one another can be selectively produced or released.

Preferably, the exoskeleton20further comprises a force transmission element locking mechanism235which locks the force transmission element18in the operating configuration and thus prevents the force transmission element18from moving into the stowed configuration. In particular, the force transmission element locking mechanism235is designed to selectively fix the force transmission element18relative to the back part8or to make it displaceable, in particular insertable and extendable.

FIG.15shows an exemplary embodiment of the container216designed as a system box. The container216comprises a lower part227, a lid228placed on the lower part227and coupling elements229for coupling the container216to an upper container224placed on the container216and identical to the container216and/or for coupling the container216to a lower container225which is identical to the container216and on which the container216is placed.

The coupling elements229comprise one or more latches, in particular rotary latches, one or more protrusions and/or one or more recesses.

FIG.16shows a vertical stack226consisting of the lower container225, the container216placed on the lower container225and the upper container224placed on the container216. The containers225,216,224are fixed to each other via the coupling elements229, in particular in all spatial directions. For example, the entire stack226can be lifted by lifting the upper container224.

Expediently, the exoskeleton20can also be provided with a different shoulder joint arrangement, for example a shoulder joint arrangement without a joint chain or without a joint chain that provides a movement path, in particular a curved movement path, for the lifting pivot bearing. For example, the joint chain can define more than one degree of freedom for the movement of the lifting pivot bearing, for example a movement in a plane of movement, in particular a movement with two or more degrees of freedom.