Source: https://patents.google.com/patent/EP2380529A1/en
Timestamp: 2019-12-14 18:01:15
Document Index: 462659655

Matched Legal Cases: ['art 2', 'art 3', 'art 4', 'art 4', 'art 3', 'art 4', 'art 2', 'art 3', 'art 4', 'art 4']

EP2380529A1 - Knee orthotic and method for operating same - Google Patents
Knee orthotic and method for operating same Download PDF
EP2380529A1
EP2380529A1 EP11004660A EP11004660A EP2380529A1 EP 2380529 A1 EP2380529 A1 EP 2380529A1 EP 11004660 A EP11004660 A EP 11004660A EP 11004660 A EP11004660 A EP 11004660A EP 2380529 A1 EP2380529 A1 EP 2380529A1
EP11004660A
EP2380529B1 (en
2008-05-20 Priority to DE102008024748A priority Critical patent/DE102008024748A1/en
2009-05-20 Application filed by Otto Bock Healthcare GmbH filed Critical Otto Bock Healthcare GmbH
2009-05-20 Priority to EP09749498A priority patent/EP2276433B1/en
2011-10-26 Publication of EP2380529A1 publication Critical patent/EP2380529A1/en
2014-01-15 Publication of EP2380529B1 publication Critical patent/EP2380529B1/en
The knee orthosis comprises a thigh rail (2) having a fastening structure (21) for fixing to a thigh, a lower leg rail (3), which is pivotally coupled to the thigh rail by a joint mechanism (6), a fastening structure for fastening to the lower leg, and an actuator device (7) between the thigh rail and the lower leg rail. The fastening points of the actuator on the thigh rail and the lower leg rail and the center of rotation of the joint mechanism form a triangle. The fastening points are arranged on the rails. The knee orthosis comprises a thigh rail (2) having a fastening structure (21) for fixing to a thigh, a lower leg rail (3), which is pivotally coupled to the thigh rail by a joint mechanism (6), a fastening structure for fastening to the lower leg, and an actuator device (7) between the thigh rail and the lower leg rail. The fastening points of the actuator on the thigh rail and the lower leg rail and the center of rotation of the joint mechanism form a triangle. The fastening points are arranged on the rails in such a way that the connecting line between the fastening points extends perpendicular to a connecting line between a fastening point and the center of rotation in an angular position of the knee in which the lower leg is bent at an angle of 0-90[deg] relative to the thigh. The actuator device is a hydraulic damper or a linearly causing damper. The valves or control device of the actuator device are arranged in walking direction before and/or behind a piston-cylinder arrangement. The actuator device is arranged in walking direction behind the rails or arranged on the fastening point over a storage with self-cutting axes or a ball joint storage. The axes are aligned vertically to each other. The actuator device is arranged in the lateral plain around an angle of theta . The foot part comprises a dorsal spring on which or in which a sensor is arranged for detecting the effective powers in the spring. A knee moment sensor and/or a knee angle sensor are arranged on the orthosis. The absolute angle sensor is arranged for detecting the orientation of the rails in the area at the orthosis. A control arrangement is intended for changing the damping resistance dependent upon the sensor signal. The actuator device and/or the fastening points of the actuator unit are arranged in the lateral plain. The movement axis of the joint arrangement is determined by mid point of the ball joint. The rails are connected together over a cardan- or ball joint. An independent claim is included for a method for adjusting a knee orthosis.
The invention relates to a knee orthosis with a thigh structure, in particular thigh rail, which has a fastening device for fixing to a thigh, a lower leg structure, in particular lower leg rail, which is pivotally coupled via a hinge device with the thigh structure and a fastening device for fixing to a lower leg and possibly a Foot part for supporting a foot, and an actuator unit between the thigh structure and the lower leg structure and a method for controlling such a knee brace.
Knee braces are used to support or replace a leg function. The orthoses form an outer frame or subframe and are applied to the leg. In the case of injuries of the ligaments or the musculature as well as paralyzes, orthoses serve for joint stabilization as well as possibly for a limitation of the flexion angle or angle of extension of the leg parts connected via the knee joint. Typically, the knee braces each have a thigh and shin splint and are secured to the thigh and lower leg via fasteners such as buckles or straps.
In the case of paralysis of the leg or in the case of corresponding injuries, it is envisaged that the foot will also be fixed within the orthosis. For this purpose, a foot shell is provided which is attached to the lower leg structure or formed thereon.
The DE 601 22 483 T2 describes a dynamic, electromechanical, orthotic device with a wrap spring clutch, which, based on data from sensors disposed in the plantar region of the foot shell, the hinge device between the thigh part and the lower leg part releases. Also provided is a kinematic sensor that generates an electrical signal that is determined based on the relative position and movement of the thigh structure to the lower leg structure. This signal controls whether a wrap spring is actuated or released.
The DE 10 2006 012 716 A1 describes a joint device with the aid of a movement around an axis is released or locked. A sensor device is provided which measures forces, moments and / or angular position of the upper and lower parts relative to one another and is coupled to a control unit which activates an actuator in dependence on the measured variables and braces a spiral spring in order to lock or release the joint ,
The DE 202 17 355 U1 describes an orthosis for external support and guidance of a knee joint with a heel and foot part, which is arranged on a lower leg structure, which is connected via a hinge mechanism with a thigh structure. A locking mechanism is provided which is operable by foot force and when activated, activates the locking mechanism.
The 299 14 375 U1 describes an orthotic joint with a thigh splint and a lower leg splint which engage on one side via one or more common spigots or through end-to-end splines in the orthotic joint. In the orthotic joint end stops are available, which are adjustable over an angular range. In flexion or extension in the orthotic joint, a constant or dynamic braking can be exercised, which takes place pneumatically, hydraulically or by an elastic element. The braking is done in particular via elastic stops.
The DE 600 15 384 T2 describes a support device that replaces the existence or function of a limb and consists of at least two parts connected together by an artificial joint and a joint control device. A sensor is provided, which has a tilt angle detected relative to a fixed line of a part connected to the joint. The sensor is coupled to the control device which is arranged to affect the joint based on tilt angle data communicated from the sensor. In addition to a prosthesis, the support device can also be designed as an orthosis.
The sometimes very complex devices require a lot of space, especially in medio-lateral alignment. The object of the present invention is to provide a knee brace with which not only sufficient functionality but also increased cosmetic quality can be achieved.
According to the invention, this object is achieved by a knee brace with the features of claim 1 and a method for controlling a knee brace having the features of claim 18. Advantageous embodiments and further developments of the invention are described in the respective subclaims.
The knee orthosis according to the invention with a thigh structure having a fastening device for fixing to a thigh, a lower leg structure which is pivotally coupled via a hinge device with the thigh structure and a fastening device for fixing to a lower leg and possibly a foot part for supporting a foot, and An actuator unit between the thigh structure and the lower leg structure provides that the attachment points of the actuator to the rails and the pivot point of the joint device forming a triangle and the attachment points are arranged on the rails such that in a knee angle position in the region of a lower leg flexion between 0 ° and 90 °, in particular 10 ° and 90 °, preferably between 30 ° and 90 ° to the thigh, the line of connection between the attachment points perpendicular to a connecting line between an attachment point and the D rehpunkt stands. The distances between the attachment points of the actuator unit to the rails and the pivot point of the hinge device are fixed. By a relative movement of the attachment points to each other due to the pivoting of the thigh structure However, relative to the lower leg structure, the length of the actuator unit, for example a hydraulic damper or a hydraulic drive, changes. By a corresponding arrangement of the attachment points on the rails, it is possible to provide a knee-angle-dependent moment characteristic of the knee orthosis even with a constant damping of the linear actuator unit. This is done via an arrangement and configuration of a lever length at a certain angle to the normal of the other rail, so for example the lever on the lower leg structure in relation to the normal of the thigh structure, which passes through the pivot point of the hinge device. The appropriate angle determines how the effective lever length for the actuator or damper changes, depending on the knee angle. As a result, the knee angle at which the producible moment of resistance or the transferable forces are maximum can be adjusted. This results in an adapted force action or resistance torque curve with a non-linear relationship, so that maximum support of the leg can be achieved with a bent leg due to the biomechanical leverage ratios, whereby the force applied by the actuator force can be left constant. A maximum support of the leg thus takes place when the load on the joint device or on the knee joint is very large, for example, at an angular position of the thigh to the lower leg of 35 ° to 45 °. However, it is also provided to provide the maximum resistance moment or the maximum actuator force at a lower or higher diffraction, if required or desired by the patient. Due to the non-linear course of the resistive torque despite a constant damping in the actuator results in particular in the field of Standphasenflexion a progressive damping and thus a progressive stance phase damping, which can be realized without a complex control mechanism and sensors, if the actuator is designed as a linear-acting damper , The same applies to the configuration of the actuator as a drive. From the patient, a progressive course of the resistance moments in the stance phase flexion is described as pleasant, since no spontaneous buckling of the knee joint must be feared.
A further development of the invention provides that the actuator is a hydraulic damper, the valves or control device of the hydraulic damper being arranged in the direction of travel in front of and / or behind a piston-cylinder arrangement. By this arrangement of the valves and control devices as well as the overflow channels, it is possible to provide a relatively narrow damper, so that the components apply little in medio-lateral orientation. This leads to an increased acceptance of the orthosis, since it can be worn under normal clothing. The actuator unit is designed, in particular, as a linear damper, as a result of which the entire knee orthosis can be produced more simply and inexpensively.
The actuator unit is preferably arranged laterally next to the upper or lower leg, preferably next to the thigh, wherein an arrangement on the orthosis in the direction of travel behind the rails is preferred. As a result, the hydraulic device can be subjected to pressure without deflection devices, whereby the arrangement of the attachment points of the actuator on the rails makes it easy to adapt to the desired torque characteristic. For example, a plurality of attachment points may be arranged on a rail so as to be able to individually adapt the moment characteristic.
A development of the invention provides that the actuator unit is mounted on at least one attachment point via a bearing with at least two degrees of freedom. Specifically, it is provided that the actuator is mounted on at least one attachment point via a gimbal bearing with intersecting or non-intersecting axes. Due to the individual design of the respective orthosis, which must be adapted to the patient, there are alignment errors in the axes of movement, both with respect to the hinge axis and the axes at the attachment points, so that the cylinder of the actuator moves on a conical surface. In particular, since a hydraulic damper should only support axial loads to ensure the durability of the actuator unit, a gimbal is Storage provided at least one attachment point, ideally, a storage with two degrees of freedom is provided at both storage locations. Due to the high hydraulic forces to be transmitted, a conventional gimbal bearing with intersecting axes would have to be made very solid. Due to the limited installation space, however, it is intended to dissolve the gimbal bearing and not let the axes cut. This brings benefits to the design of the joint, as collisions between the hydraulics and a bearing block can be more easily avoided.
Furthermore, it is possible to measure at the connecting part between the axes of the hydraulic force, which depends on the knee torque, this measure can be used for example to control the actuator. With such a hinge bearing, it is possible to absorb the occurring, very high hydraulic forces and at the same time keep the sizes low. Alternatively, it is provided that at least one of the bearing points is designed as a ball joint bearing, on the one hand to achieve a low overall height and, on the other hand, a purely punctual, axial introduction of force into the actuator unit. Disturbing bending moments, especially for a piston-cylinder hydraulic disturbing moments, can be excluded or reduced.
An improved adaptation to the anatomical conditions is achieved when the actuator is tilted in the lateral plane by a certain angle. As a result, the actuator or hydraulic damper can be mounted tightly against the thigh.
In addition or in isolation, the foot part may have a dorsal spring on or in which at least one sensor for detecting the effective forces, for example the bending load and thereby for detecting the ankle moment is arranged. This sensor data can be used to alter the action of the damper unit via an actuator and alter the damping in addition to the structural damping characteristic. In the embodiment of the actuator unit as drive or a combination of drive and damper, the data is used to change the behavior of the actuator unit. Likewise, a knee angle sensor, knee moment sensor and an absolute angle sensor for detecting the orientation of at least one of the rails may be mounted in the space of an orthosis. The data from the sensors can be used together or separately to control the actuator unit. Such an arrangement of sensors for controlling the resistance torque curves or the behavior of the actuator unit can also be used independently of the above-described geometric arrangement of the actuator unit.
The control means for varying the behavior of the actuator unit is coupled to the sensors and serves to change e.g. the damper resistance or the applied force in the actuator unit.
It can be provided a joint kinematics, via which the actuator unit is articulated to the upper and / or lower leg structure. The actuator unit can also be articulated directly on the upper and / or lower leg structure, wherein it is provided in both cases that a pivotability and / or displaceability of the joint kinematics or the actuator unit is given. The pivoting or displaceability is given in the lateral plane, wherein the attachment points of the actuator unit on the upper and lower leg structure and the pivot point of the joint device continue to form a triangle.
The axis of movement of the orthosis between the upper and lower leg structure can be defined by the centers of two ball joints, when the upper and lower leg structure are connected to each other via ball joints. Alternatively, the upper and lower leg structure can also be connected to one another via a universal joint.
The pivot angle of the joint mechanism in the lateral plane can be defined by a idler joint, which is a hinge, gimbal or ball joint can act.
The lever between the axis of rotation of the hinge device and the adjoining attachment point of the actuator unit can be realized by two coupled via at least one arm ball joints.
The method for controlling a knee brace having a thigh structure, a hinge device, and a lower leg structure having a foot portion provides that an effective moment, particularly ankle moment, is determined within the brace and the resistance of the actuator unit changes depending on the moment, particularly the ankle moment becomes. Additionally or alternatively, the actuator unit can be changed depending on a measured or calculated knee moment, the knee angle, ie the position of thigh structure and lower leg structure to each other, or the spatial orientation of at least one thigh or lower leg structure. This makes it possible to provide control of the stance and swing phase in patients with paralysis where the leg is no longer voluntarily controllable. Due to the variable resistance moment, for example via a hydraulic actuator, any knee moment can be generated, thereby enabling stand-phase flexion and alternating downhill and downhill stairs. With active actuator units, a corresponding support of the movement can be targeted and efficient.
A development of the invention provides that the sensor signals generated within the orthosis are used in addition to the generation of pulses for the functional electrical stimulation of the remaining residual muscle. In this case, the measured values ascertained by the orthosis are used to determine the strength or the timing of the stimulation pulses of a unit for functional electrostimulation connected to the control unit. In this way, the remaining muscles can be specifically activated in order to improve the movement sequence and to support or replace the actuator device.
FIG. 1 - A schematic side view of a knee-ankle-foot orthosis in side view;
FIG. 2 a schematic representation of the orthosis in a front view;
FIG. 3 - An orthosis device in dorsal view;
FIGS. 4a and 4b - schematic Orthesendarstellungen standing and sitting;
FIG. 5 a schematic diagram of the actuator unit arrangement;
FIG. 6 - a moment course over the knee flexion;
FIG. 7 Positions of the actuator unit at different bend angles;
FIG. 8 a variant of FIG. 1 ;
FIG. 9 a sensor on a carrier plate;
FIG. 10 - An arrangement example of sensors according to FIG. 9 in a connecting element;
FIG. 11 - A variant of the sensor according to FIG. 9 ; such as
FIG. 12 - An arrangement example of the sensor according to FIG. 11 ,
In the FIG. 1 is shown in a schematic representation of an orthotic device 1 in the form of a knee-ankle-foot orthosis. The orthotic device 1 has an upper part 2 in the form of a thigh structure and a lower part 3 in the form of a lower leg structure. The thigh structure 2 and the lower leg structure 3 are pivotally connected to each other via a hinge device 6 about a hinge axis. On the lower leg structure 3, a foot part 4 is fastened via a connecting element 5. The connecting element 5 is arranged dorsally on the lower leg structure 3 in a receiving device 9.
The thigh structure 2 consists of a base body in the form of a receiving tray, which can be fixed via fastening means 21 on a thigh. The fastening means are, for example, buckles, straps or Velcro fasteners, which can be placed over an opening in the thigh structure 2 and thus close the thigh structure 2. The opening can be frontal or dorsal. Also, fastening means 31 are arranged on the lower leg structure, which can be closed frontal below the knee joint to the lower leg.
The joint devices 6 can be arranged both medially and laterally on the orthotic device 1, the thigh structure 2 and the lower leg structure 3 being fastened to the joint device 6 via joint structure elements 62, 63. Arranged on the lower leg structure 3 is a control unit 8 for controlling an actuator unit 7 which, based on a program and various sensor data, alters parameters within the actuator unit so as to increase or decrease the damping or to adjust the applied force. As an alternative to the attachment of the control unit 8 to the lower leg structure 3, this may also be arranged on the thigh structure 2. The actuator unit 7 is designed as a hydraulic or pneumatic actuator unit with a piston and a cylinder. In the illustrated exemplary embodiment, the proximal end of a piston rod is arranged at an upper articulation point 72 on the thigh structure 2 and a lower articulation point 73 of an actuator housing as a distal mounting point of the actuator unit 7 at a proximal end of the lower leg structure 3, in the region of the lower articulated structure elements 63. The foot part 4 may be integrally formed with the connecting element 5 and be removably attached to the lower part 3 in a receiving device 9, alternatively, the connecting element 5 may also be attached to a separately formed foot part 4. The connecting element 5 may also be formed integrally with the lower leg structure 3.
In the exemplary embodiment illustrated, the actuator unit 7 is arranged only on the lateral side of the orthotic device 1, as an alternative to a lateral and medial arrangement of two joint devices 6 with possibly two actuator units 7.
In the FIG. 2 is the orthosis device 1 according to FIG. 1 shown in frontal view. Here it can be seen that the thigh structure 2 consists of a shell-shaped main body 20, are arranged on the fastening means 21 in the form of straps. Correspondingly, the lower leg structure 3 is equipped with a main body 30 which can be fixed via the fastening device 31 to the lower leg, not shown, of an orthosis wearer. In the FIG. 2 If a right leg orthotic device 1 is shown, the joint device 6 is arranged laterally and on one side on the orthotic device 1. Of the FIG. 2 can also be seen that the main body 20, 30 of the thigh structure 2 or lower leg structure 3 are formed dorsal closed.
In the FIG. 3 the orthotic device 1 is shown in rear view. By the hinge means 6 is aligned with an anatomical compromise axis of rotation hinge axis 60 about which the upper part 2 and the lower part 3 are mounted to each other pivotally. The hinge axis 60 is in the FIG. 3 represented horizontally, which would be the case in reality only exceptionally. Immediately on the thigh structure 2, the actuator 7 is arranged. Based on FIG. 3 It can be seen that the longitudinal extent of the actuator unit 7 extends at an angle θ to the vertical, so that the axes of the proximal and distal actuator suspensions 72, 73 are not parallel to the knee axis. This angle θ corresponds to the llio tibia angle, by which the actuator unit 7 has to be swung out of the sagittal plane. The pivot axis runs in the anterior-posterior direction. The llio tibial angle θ can be up to 30 °, depending on the type of attachment and the anatomical conditions of the orthosis wearer.
The FIGS. 4a and 4b show a schematic representation of an applied orthotic device 1, once in standing position in FIG. 4a and once in a sitting position in FIG. 4b , The orthotic device 1 is shown in simplified form with a thigh splint 22 and a lower thigh splint 32, which are mounted pivotably relative to one another about the articulation device 6. The thigh splint 22 is fixed to the thigh via a corresponding fastening device 20, while the lower thigh splint 32 is fixed to the lower leg via the corresponding fastening device 30. The thigh splint corresponds to the thigh structure, while the lower leg splint corresponds to the lower leg structure. The actuator unit 7 is arranged laterally and dorsally to the rails 22, 32, wherein the upper attachment point 72 of the actuator unit 7 is arranged on the thigh rail 22 and the lower attachment point 73 of the actuator unit 7 on the lower leg rail 32. The hinge device 6 simultaneously forms the pivot point of the two rails 22, 32 from each other. The lower attachment point 73, which forms the distal bearing point of the actuator unit 7, is spaced dorsal to the pivot point of the hinge device 6, wherein this distance is realized via an obliquely downwardly directed lever. In the illustrated embodiment, the attachment point 73 of the actuator unit 7 is located at a vertical lower leg splint 32 below the pivot point of the hinge device 6.
In the FIG. 4b is shown schematically the seated state of an orthosis wearer with applied orthosis. The angle between the thigh rail 22 and the lower leg rail 32 is greater than 90 °. It can be seen from the drawing 4b that the actuator unit 7 is arranged laterally next to the thigh of the orthosis wearer. Thereby, it is possible that the leg can be completely bent without the actuator unit 7 becoming an obstacle would represent. Also contributes in such an arrangement of the actuator 7, the orthosis little, so that the most inconspicuous wearing the orthosis is possible. In the FIGS. 4a and 4b the foot part for supporting the foot is not shown. In principle, it is also possible to equip the orthosis 1 without a foot part.
The FIG. 5 shows the basic geometric arrangement of the actuator 7 on the rails 22, 32. The hydraulic piston is mounted at its upper end at the upper bearing point 72, for example in a ball and socket joint. At the lower end of the actuator unit 7, the support takes place at the lower bearing point 73, which is coupled to the lower lower leg rail 32. The thigh splint 22 and the lower thigh splint 32 or the upper part and the lower part of the orthotic device are pivotably coupled together in the joint device 6 about a joint axis. The attachment point 73 of the lower storage location is offset by the distance IH dorsal to the pivot point or the axis of rotation of the hinge device 6, so that the two attachment points 72, 73 and the pivot point of the hinge device 6 form a triangle. The leg between the lower attachment point 73 and the pivot point 6 is at an angle φ0 of about 30 ° to the leg, which is formed between the upper attachment point 72 and the pivot point 6 when the orthosis device 1 is stretched. Only after pivoting of the thigh structure 2 or the thigh rail 22 by an angle which corresponds to φ0 approximately in the direction of flexion is the actuator unit 7 or the leg between the upper attachment point 72 and the lower attachment point 73 perpendicular to the connecting line IH between the lower attachment point 73 and the pivot point of the joint device 6. The lever IH between the axis of rotation of the joint device 6 and the adjacent thereto attachment point 73 of the actuator 7 can be realized by two coupled via at least one arm ball joints. This angle φ0 is between 0 ° and 90 °, in particular between 10 ° and 90 ° and preferably between 30 ° and 90 °, and is chosen to correspond to the angle in which the maximum knee moment between the thigh and the lower leg of the orthosis wearer is reached or shall be. A schematic course of the knee moment over the flexion angle is in the FIG. 6 shown. As angle φ0, an angle of 30 ° is assumed. Of the FIG. 6 It can be seen that between the extended position at 0 ° to the diffraction up to an angle of 35 ° is a progressive damping range, so that even with a linear configuration of the actuator 7, a progressive damping due to the changing geometry is achieved. The deviation of the end angle of the progressive damping range of φ0 results from the variation of the lengths of the actuator unit during the diffraction.
At the beginning of the diffraction, ie over the first 35 ° flexion angle, the knee moment increases up to an angle φ0, which results from the trigonometric relationships and corresponds approximately to φ0, until the connecting line between the upper pivot point 72 and the lower pivot point 73 is perpendicular to the connecting line between the lower hinge point 73 and the pivot point of the hinge device. Due to the pure axial force that can oppose the actuator 7 a knee flexion, a maximum knee torque is achieved when the axis of action of the actuator 7 is perpendicular to the connecting line between the pivot point of the hinge device 6 and the lower bearing point 73. In a further flexion of the knee, the knee torque around the sine of the further gift decreases until it comes to a reversal of motion of the actuator unit, so if the diffraction is greater than 90 ° plus φ0. Then, the knee torque continues to increase with the cosine, provided that the action of the cylinder of the actuator unit or the damper has been switched from pressure to tension.
In the FIG. 7 three extreme states are shown. Condition 1 is in an extended position of the leg. In position 2, a pivoting by the angle φ took place, so that the maximum knee torque is reached. In the position 3, the axis of action of the actuator unit 7 is located on the connecting line between the lower bearing point 7 and the pivot point of the joint device 6, so that a pivoting angle of 90 ° plus φ is reached. In this position, the effective knee moment is 0 because there is no lever and the actuator force perpendicular to the pivot point of the hinge device 6 extends.
In addition to influencing the torque curve due to the structural design and arrangement of the actuator 7 within the joint orthosis 1 and the special arrangement of the bearing points 72, 73 relative to the pivot point of the hinge device 6 and to the hinge axis 60, the damping within the joint orthosis on the basis controlled by sensor data. The sensor is preferably arranged in the connecting element 5, which is designed as a dorsal spring, and determines the effective during standing or walking ankle moment. The arrangement of the sensor 50 is in the FIG. 8 represented essentially the FIG. 1 with the difference that the sensor 50 is arranged on or in the Dorsalfeder 5, which is designed as a connecting element between the foot part 4 and the lower leg structure 3. The sensor 50 transmits the data to the control unit 8, via which in turn valves within the actuator unit 7 are actuated. Likewise, throttle points can be increased or decreased, so that different fluid flows and thus degrees of damping or forces can be realized during the movement. Damping can also be achieved via electrorheological or magnetorheological fluids and a corresponding change in the viscosity of these fluids.
Such a control of the orthotic device 10 makes it possible, in particular for patients with paralysis, in which the leg is present, but no longer voluntarily controllable that the control of the stance and swing phase can be done while walking. By the particular hydraulic actuator principle, it is possible that any knee-bending or -beugemoment can be generated, whereby a stance phase flexion and an alternating downhill or Treppabgehen and an active support of the movement are made possible. It is important for the acceptance of such an orthotic device that, in addition to the functionality, an optically as inconspicuous design as possible is achieved, in particular an expansion of the orthotic device 1 in the medio-lateral direction must be minimized as far as possible become.
The sensor 50 for determining the effective forces in the connecting element 5, in particular for determining the ankle moment, can be installed in the connecting element 5. In the FIG. 9 is a schematic cross-sectional view of the embodiment of a sensor 50 with a strain gauge 51 which is mounted on a support, in particular metal support 52. The strain gauge 51 is fixed in a conventional manner on the carrier 52, for example glued, and shielded from the environment by separating layers 52. The separation layers 53 are fixed to the carrier 52 and may for example consist of a release film or a silicone embedding or coating. These separating layers 53, which are disposed on both the top and the bottom of the carrier 52, prevent shear forces from being transmitted to the carrier 52 and the strain gauges 51 mounted thereon. Laterally adjacent to the separating layers 53, connecting regions 54 of the carrier 52 are provided, at which the carrier 52 can be connected to the surrounding composite material. These connection regions 54 come into connection with the binders of the fiber composite material and thus establish a connection to the fiber materials.
In the FIG. 10 is shown in a schematic side view of the connecting element 5, for example in the form of a beam spring element. On both sides of the neutral fiber 55, a sensor 50 is laminated with a shielded strain gauge 51 on a support 52 each. Cable 56, which are connected to the strain gauge 51, lead out of the connecting element 5 and to an evaluation unit or the control device 8. The carrier 52 is preferably formed thin, for example between 0.1 mm and 0.5 mm, so that the entire Arrangement of the sensor 50 with the strain gauges 51 and separating layers 53 has a thickness of less than 1 mm. The sensitivity of the sensors can be adjusted by the position within the connecting element 5, the change resulting from the variation of the distance to the neutral fiber 55.
A variant of the invention is in the FIGS. 11 and 12 shown, in which on both sides of the carrier 52 strain gauges 51 are arranged and surrounded by separating layers 53. Here too, connecting regions 54 are provided in addition to the separating layers 53 in order to be laminated into the connecting element 5. In the FIG. 12 is a sectional view of the arrangement of the sensor 50 according to FIG. 11 shown within the connecting element 5. The arrangement of the sensor 50 takes place in the neutral fiber 55 of the connecting element 5, the cables 56 lead out of the connecting element 5. The carrier 52 bends together with the connecting element 5 and generates an output signal. Due to the arrangement of the strain gauges 51 immediately adjacent to the neutral fiber 55, a high amplification factor is required, but there is the advantage that only a single foreign body has to be arranged within the composite element 5. This foreign body in the form of the sensor 50 can be easily inserted and laminated as a completely prefabricated module, which optionally includes an electronic circuit for signal amplification and signal conditioning.
The connecting element 5 is designed as a dorsal spring in order to increase the energy efficiency for the orthosis wearer. The dorsal spring 5, as well as the attached thereto or molded foot 4 consist of a fiber-reinforced, elastic structure, for example, a carbon structure, which absorb the energy of the contact shock at the heel contact and give the recorded energy again during the swing phase introduction, whereby the introduction of the swing phase facilitates becomes. By measuring the deformations within the dorsal spring 5, which can be integrated by the integrated sensor 50 or a plurality of integrated sensors, which can also be integrated in the foot part 4, analogous to the integration within the Dorsalfeder 5, it is possible from the direct measurement of Deformations within the structures to draw conclusions about the body position and the movement intention of the patient. On the basis of the sensor data determined, for example the ankle moment or the load heights and load directions which are effective within the respective structure, it is possible to make different settings in the actuator unit 7. There are different states of the Damping or the drive connected, the state transitions depending on the sensor signals within the Dorsalfeder 5 and, if necessary, are performed by a knee-angle sensor. The knee angle, that is to say the bending angle between the thigh structure 2 and the lower leg structure 3, can be measured either via a protractor arranged directly on the articulation device 6 or with the aid of sensors which measure the position of the respective components relative to an orthosis-independent direction component, for example relative to the gravity component or horizontal. Also, sensors for measuring knee moments or Axialkraftbelastungen be provided to further improve the control capabilities of the actuator.
During the rolling movement of the foot while walking, the ankle moment during the stance phase passes through a typical time course. In the course of the rolling process, the spring element 5 is first deformed, ie "charged" with energy, and then the spring 5 relaxes again, so energy is given off Analogously, a typical course results for the knee angle and for the knee moment, via the actuator unit 7, in particular via the Aktuatorhydraulik, can be influenced, whereby the time course of the energy stored in the spring 5 can be influenced within certain limits.
The actuator unit 7 is preferably equipped as a linear, hydraulic damper unit. The damping can be adjusted separately via two valves for extension and flexion, whereby the valves are adjusted via servomotors and an optionally interposed transmission. The receiving shells 20, 30 of the thigh and lower leg structures 2, 3 preferably also consist of a carbon fiber material in order to be able to absorb high forces without requiring a large amount of space and rendering the orthotic device 1 too heavy. The actuator unit 7 generates braking moments by converting kinetic energy into heat. With the orthotic device 1, it is possible to go at different speeds in the plane, ramps or stairs with different slopes and occupy different seating positions. Different modes of operation can be adjusted via corresponding controls on the orthotic device 1, for example via a remote control or a PC interface, are called on the different within the control unit 8 programs. In a similar manner also required software can be loaded onto the control unit 8 or changed by an orthopedic technician.
Knee orthosis with a thigh structure (2), in particular thigh rail, which has a fastening device (21) for fixing to a thigh, a lower leg structure (3), in particular lower leg splint, which is pivotably coupled via a hinge device (6) with the thigh structure (2) and a fastening device (31) for attachment to a lower leg, and an actuator unit (7) between the thigh and the lower leg structure (2, 3), wherein the attachment points (72, 73) of the actuator unit (7) on the upper and lower leg structures (2, 3) and the pivot point of the joint device (6) form a triangle and the attachment points (72, 73) are arranged on the structures (2, 3) such that in a knee angle position in the region of a lower leg flexion between 0 ° and 90 ° to the thigh the connecting line between the attachment points perpendicular to a connecting line (IH) between a em attachment point (73) and the pivot point (6), characterized in that the actuator unit (7) and / or the attachment points (72, 73) of the actuator unit (7) are mounted displaceably or pivotally in the lateral plane.
Knee orthosis according to claim 1, characterized in that valves or control means of the actuator unit (7) are arranged in the direction before and / or behind a piston-cylinder arrangement.
Knee orthosis according to claim 1 or 2, characterized in that the actuator unit (7) is arranged laterally next to the upper or lower leg and / or in the direction of travel behind the structures (2, 3).
Knee orthosis according to one of the preceding claims, characterized in that the actuator unit (7) at at least one attachment point (73) is stored over a bearing with at least two degrees of freedom.
Knee orthosis according to claim 4, characterized in that the actuator unit (7) is mounted on at least one attachment point via a gimbal bearing with intersecting, non-intersecting axes or a ball joint bearing.
Knee orthosis according to one of the preceding claims, characterized in that the actuator unit (7) in the lateral plane at an angle? is arranged tilted.
Knee orthosis according to one of the preceding claims, characterized in that the foot part (4) has a dorsal spring (5), arranged on or in the at least one sensor (50) for detecting the effective forces in the spring (5), in particular the ankle moment is.
Knee orthosis according to one of the preceding claims, characterized in that a knee torque sensor and / or a knee angle sensor are arranged on the orthosis.
Knee orthosis according to one of the preceding claims, characterized in that an absolute angle sensor for detecting the orientation of at least one of the structures (2, 3) is mounted in the space on the orthosis.
Knee orthosis according to one of the preceding claims, characterized in that a control device (8) for changing the behavior of the actuator unit (7), in particular of the damping resistor in response to sensor signals is provided.
Knee orthosis according to one of the preceding claims, characterized in that the movement axis of the joint device (6) is defined by centers of two ball joints.
Knee orthosis according to one of the preceding claims, characterized in that the thigh structure (2) and the lower leg structure (3) via a cardan or ball joint are interconnected.
Method for controlling a knee orthosis according to one of the preceding claims, characterized in that an effective ankle moment is determined within the orthosis and the behavior of the actuator unit (7) is changed as a function of the ankle moment and / or knee angle.
A method according to claim 13, characterized in that the behavior of the actuator unit (7) is changed in dependence on a measured or calculated knee moment and / or knee angle.
A method according to claim 13 or 14, characterized in that the resistance of the actuator unit (7) in dependence on the spatial orientation of at least one structure (2, 3) is changed.
EP11004660.4A 2008-05-20 2009-05-20 Method for operating a knee orthotic Active EP2380529B1 (en)
DE102008024748A DE102008024748A1 (en) 2008-05-20 2008-05-20 Knee orthosis and method for controlling a knee brace
EP09749498A EP2276433B1 (en) 2008-05-20 2009-05-20 Knee orthosis
EP09749498A Division EP2276433B1 (en) 2008-05-20 2009-05-20 Knee orthosis
EP09749498.3 Division 2009-05-20
EP2380529A1 true EP2380529A1 (en) 2011-10-26
EP2380529B1 EP2380529B1 (en) 2014-01-15
ID=41130334
EP11004660.4A Active EP2380529B1 (en) 2008-05-20 2009-05-20 Method for operating a knee orthotic
EP09749498A Active EP2276433B1 (en) 2008-05-20 2009-05-20 Knee orthosis
US (2) US9022965B2 (en)
EP (2) EP2380529B1 (en)
AT (1) AT534355T (en)
DE (1) DE102008024748A1 (en)
WO (1) WO2009140956A2 (en)
WO2018083009A1 (en) * 2016-11-07 2018-05-11 Otto Bock Healthcare Gmbh Device for supporting an arm
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KR101352480B1 (en) 2012-01-12 2014-01-17 박인식 apparatus for deformity correction of leg
GB201504242D0 (en) * 2015-03-13 2015-04-29 Boender Jacob Q L And Boender Jennifer A Improvements in or relating to prosthetic joints
EP3313332A4 (en) * 2015-06-23 2019-03-20 The Regents of the University of California Passive power-conservative artificial knee
DE20217355U1 (en) 2002-11-12 2003-01-09 Festo Ag & Co Leg orthosis for supporting knee joint has fluid pressure pad in shoe to operate knee joint lock actuator
DE60122483T2 (en) 2000-04-07 2007-03-29 Mayo Foundation For Medical Education And Research, Rochester Electromechanical chain control unit with swing spring coupling
DE10311189B4 (en) * 2003-03-12 2007-02-22 Otto Bock Healthcare Gmbh Orthopedic technical aid with a locking device
2008-05-20 DE DE102008024748A patent/DE102008024748A1/en active Pending
2009-05-20 AT AT09749498T patent/AT534355T/en unknown
2009-05-20 US US12/993,798 patent/US9022965B2/en active Active
2009-05-20 WO PCT/DE2009/000734 patent/WO2009140956A2/en active Application Filing
2009-05-20 EP EP11004660.4A patent/EP2380529B1/en active Active
2009-05-20 EP EP09749498A patent/EP2276433B1/en active Active
2015-04-30 US US14/701,089 patent/US20150230962A1/en active Pending
DE60015384T2 (en) 1999-12-17 2005-10-27 Respecta Oy A supporting device replacing the existence or function of a limb
US20150230962A1 (en) 2015-08-20
EP2276433B1 (en) 2011-11-23
US9022965B2 (en) 2015-05-05
AT534355T (en) 2011-12-15
EP2380529B1 (en) 2014-01-15
US20110071452A1 (en) 2011-03-24
WO2009140956A2 (en) 2009-11-26
WO2009140956A3 (en) 2010-01-14
DE102008024748A1 (en) 2009-12-03
EP2276433A2 (en) 2011-01-26
JP2012130711A (en) 2012-07-12 System and method for motion-controlled foot unit
JP5518753B2 (en) 2014-06-11 Device for inspecting prosthetic leg adjustments
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