• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device (1) for fastening an arm support structure (2) for supporting the movement of an arm (3) on a wheelchair (4) or the like, with a connecting element (5) for connection to the arm support structure (FIG. 2), and with a connecting element (6) for connection to the wheelchair (4) or the like. For a greater freedom of movement for the patient, the connecting element (5) for connection to the arm support structure (2) by a substantially vertically arranged Connecting rod (7) is formed, and the connecting element (6) for connection to the wheelchair (4) or the like. By a substantially vertically arranged rotatable connecting rod (8), and are the connecting rods (7, 8) by two parallel transverse rods (9, 10) via hinges (11, 12, 13, 14) movably connected to each other, wherein the connecting rods (7, 8) and the transverse rods (9, 10) form an adjustable parallelogram (15), so that with the Arm- St tzstruktur (2) connectable to the connecting rod (8) in both height (h), as well as in angle () relative to the connecting rod (7) for connection to the wheelchair (4) or the like. is adjustable.
    公开号:AT518716A1
    申请号:T50460/2016
    申请日:2016-05-18
    公开日:2017-12-15
    发明作者:Ing Markus Puchinger Dipl
    申请人:Technische Universität Wien；
    IPC主号:
    专利说明:

    The invention relates to a device for fastening an arm support structure for supporting the movement of an arm, for example an orthosis or an arm exoskeleton on a wheelchair or the like, with a connecting element for connection to the arm support structure, and with a connecting element for connection with the wheelchair or the like ..
    Arm support structures are known for example in the form of orthoses or arm exoskeletons and serve to create a stable shell around the arm or the extremity. An orthosis is used for stabilizing, relieving, immobilizing or guiding a limb or the trunk and are used for example after injuries. Lower limb and upper limb artificial exoskeletons are used to support and enhance the wearer's movement and to rehabilitate and improve the quality of life of persons with impaired motor skills.
    For example, WO 2015/084177 A1 describes an arm exoskeleton worn by the patient on the body. Thus, the entire weight of the arm exoskeleton must be carried by the wearer, making it difficult to carry out movements of the respective arm.
    Remedy, however, create arm exoskeletons which are attached to a chair, wheelchair or the like., Which the majority of the weight of the arm exoskeleton on the chair, wheelchair or the like. Can be supported. Also, with such facilities a treatment of persons with reduced mobility, which must be in a wheelchair, possible. For example, US 2007/0255190 Al describes such a wheelchair-mounted Exoske-lett. Usually, the connection between the arm support structure or arm exoskeleton and wheelchair is rigidly configured with connecting rods or the like, whereby the freedom of movement of the patient in the area of the upper body is severely restricted and, in particular during the breaks between the movement exercises, is perceived as stressful.
    The object of the present invention is to provide an abovementioned device by means of which the weight of the arm support structure, for example on a wheelchair or the like, can be supported, but nevertheless at least temporarily a certain freedom of movement in the area of the upper body of the patient is made possible. Disadvantages of known devices should be prevented or at least reduced.
    The object of the invention is achieved in that the connecting element for connection to the arm support structure is formed by a connecting rod arranged substantially vertically in the position of use, and the connecting element for connection to the wheelchair or the like by a substantially vertically arranged in the position of use , Rotatable connecting rod is formed, and the connecting rods are movably connected by two parallel crossbars via pivot joints, wherein the connecting rods and the crossbars form an adjustable parallelogram, so that connectable to the arm support structure connecting rod in both the height, and at an angle the connecting rod for connection to the wheelchair or the like. Is adjustable. This construction ensures that the arm support structure always remains in the desired position, but still a tilt and rotation of the upper body during movements with the arm support structure, or at least in the pauses between the movements is possible. The adjustable parallelogram of the fastening device ensures that the horizontal axis in the shoulder joint of the patient always remains in the horizontal position and rotation about the vertically arranged rotatable connecting rod is possible. The construction is relatively simple and can therefore be produced inexpensively and with low weight.
    If the connecting rod connectable to the wheelchair or the like is slidably disposed in the longitudinal direction, even more comfort for the patient can be achieved. The displaceability in the longitudinal direction of the connecting rod can be formed by a telescopic construction.
    Preferably, a device for damping the displacement of the connecting rod in the longitudinal direction is provided. Thereby, a damped movement of the fastening device in the substantially vertical direction is achieved. The damping device may for example be made of sponge rubber, which is applied to the displaceable connecting rod at suitable locations and in a suitable manner.
    The connectable to the arm support structure connecting rod may also be rotatably arranged. By a rotatable arrangement and connectable to the arm support structure connecting rod, a further degree of freedom can be achieved and thus the comfort of wear for the patient can be further increased. The rotation of this connecting rod allows rotation in the shoulder elevation plane.
    The connecting rods and / or the transverse rods are preferably formed of fiber-reinforced plastic, in particular of pul-truded carbon fiber plastic. These materials are characterized by low weight and high strength.
    Furthermore, the connecting rods and or or the transverse rods can be hollow and designed to guide lines or the like. Due to the hollow design of the connecting rods and or or the crossbars, the total weight of the fastening device can be further reduced and it can also be the hollow connecting rods and or or cross bars for guiding existing lines or the like. Used. For example, the leads for supplying a motorized arm exoskeleton with electrical energy can be laid over the hollow connecting rods or crossbars, but also electrical leads of sensors can be arranged through the hollow connecting rods or crossbars of the fastening means. Also, any Bowden cables can be installed inside the connecting rods or crossbars of the fastening device.
    If a spring element is arranged between the transverse rods of the parallelogram, an automatic return of the parallelogram to the starting position can be achieved. As a result, the patient can be forced or guided to the starting position and he can easily leave this starting position by overcoming the spring force of the spring element.
    In this case, the spring element may be formed by at least one elastic band. This represents a particularly simple and cost-effective embodiment variant. In this case, the at least one elastic band is preferably arranged between the transverse rods of the parallelogram of the fastening device.
    Alternatively, the spring element may also be formed by at least one gas spring. Instead of a gas spring, of course, a mechanical tension spring between the crossbars of the parallelogram of the fastening device can be arranged.
    Between the transverse rods of the parallelogram, a blocking element for blocking the adjustability of the parallelogram can be provided or the spring element can be made lockable. Since it may be necessary or useful for certain movements that the patient assumes an upright sitting position, it may be advantageous to lock or block the fastening device designed according to the invention, at least during these movements.
    The blocking element can be formed, for example, by a bar arranged diagonally between the transverse rods. This represents a simple mechanical variant of the formation of a blocking element. Of course, electrical or electromechanical locking mechanisms, for example in the joints of the parallelogram, can be provided.
    The arm support structure may be formed by an arm exoskeleton having a shoulder joint module and the connecting rod for connection to the arm support structure at least partially formed by the shoulder joint module of the arm exoskeleton. The fact that a part of the arm exoskeleton forms part of the fastening device, the total weight of the arm support structure can be further reduced together with the fastening device.
    If the shoulder joint module is equipped with a weight compensation
    Device is connected, the weight of the arm exoskeleton can be compensated and the required moment can be reduced.
    The weight compensation device may be formed according to a further feature of the invention by at least one spring, which is connected via a running inside the crossbars Bowden cable. This represents a simple and robust realization possibility of a weight compensation device.
    If at least one spring is designed switchable, an adaptation to the weight to be compensated can be achieved.
    An angle encoder can be arranged in at least one joint of the parallelogram in order to be able to detect the adjustment of the parallelogram. In this case, the electrical lines to the angle encoders can be installed in hollow connecting rods and crossbars of the parallelogram. The data of the angle encoders are recorded in appropriate devices, for example computers, and further processed or stored for documentation.
    Furthermore, an electromagnetic brake may be arranged in at least one joint of the parallelogram. In this way, a comfortable blocking of the mobility of the parallelogram or the fastening device can be achieved.
    The present invention will be explained in more detail with reference to the accompanying drawings. Show:
    1 shows an application example of the fastening device according to the invention for fastening an arm exoskeleton to a wheelchair;
    2 shows a variant of the fastening device in an enlarged view;
    3A is a schematic representation of the adjustable parallelogram of the fastening device in the side view and plan view in one position.
    3B shows the schematic diagram of the adjustable parallelogram in FIG
    Side view and plan view in a relation to FIG. 3A changed position;
    4 shows a variant of the fastening device with a weight compensating device arranged thereon;
    5 shows the embodiment variant of the fastening device according to FIG. 4 with a partially sectioned representation of the weight compensation device; and
    Fig. 6 is a schematic diagram of another embodiment of a fastening device.
    1 shows an application of the fastening device 1 according to the invention for fastening an arm support structure 2, in particular an arm exoskeleton 2 ', to a wheelchair 4. The fastening device 1 has a connecting element 5 for connection to the arm support structure 2 or the arm -Exoskeleton 2 ', and a connecting element 6 for connection to the wheelchair 4. Instead of a wheelchair 4, of course, a chair or a chair arranged behind a chair frame or the like. Can be used for support (not shown). Conventional arm support structures 2 or arm exoskeletons 2 'are usually worn on the body of the patient or rigidly connected to the wheelchair 4 or the like. When wearing the arm support structure 2 on the patient's body, it must disadvantageously carry the weight of the arm support structure 2, which may be disadvantageous in carrying out various movements of the arm 3. For this reason, the weight of the arm support structure 2 is mostly supported on the wheelchair 4 or the like, which, however, leads to restrictions of freedom of movement in the region of the upper body of the patient in conventional fastening devices.
    The fastening device 1 according to the invention allows the patient a tilt of the upper body and a rotation of the shoulder joint of that arm 3, on which the arm support structure 2 is arranged, so that a certain freedom of movement for the patient is given at least in pauses between movement therapies. For this purpose, the connecting element 5 is formed for connection to the arm support structure 2 by a wesentli chen vertically arranged connecting rod 7, and the connecting element 6 for connection to the wheelchair 4 or the like. Formed by a substantially vertically arranged and rotatable connecting rod 8 , The connecting rods 7, 8 are so connected by two parallel transverse rods 9, 10 via pivot joints 11, 12, 13, 14 so that the connecting rods 7, 8 and the cross bars 9, 10 form an adjustable parallelogram 15. Thus, connectable to the arm support structure 2 connecting rod 8 in both the height h and at the angle δ relative to the connecting rod 7 for connection to the wheelchair 4 or the like. Adjustable, and allows the patient a movement in particular tilt of the upper body forward and Rotation of the arm 3 connected to the arm support structure 2.
    2 shows a detailed view of an embodiment of the fastening device 1 according to the invention, in which the connecting element 5 for connection to the arm support structure 2 (not shown) is formed by a substantially vertically arranged connecting rod 7 and the connecting element 6 for connection to the wheelchair 4 or the like (not shown) by a substantially vertically arranged and rotatable by an angle δ connecting rod 8 is formed. Between the connecting rods 7, 8, the parallel transverse rods 9, 10 via the joints 11, 12, 13, 14 movably connected to each other and form an adjustable parallelogram 15. Thus, the connectable to the arm support structure 2 connecting rod 7 both in height h as well as at an angle δ relative to the connecting rod 8 for connection to the wheelchair 4 or the like. Be adjusted. The connecting rod 7, as in the illustrated embodiment, may also be formed by a part of the arm support structure 2 or the arm exoskeleton 2 ', as e.g. the shoulder joint module 23 may be formed.
    Optionally, the connecting rod 8 of the parallelogram 15, which can be connected to the wheelchair 4 or the like, can also be slidably arranged in the longitudinal direction (arrow z), the displacement being controlled by a device 16, e.g. Sponge rubber, can be steamed. Also connectable to the arm support structure 2 connecting rod 7 of the parallelogram 15 may optionally be rotatably disposed at an angle ß in order to achieve even greater freedom of movement for the patient can.
    The connecting rods 7, 8 and / or the transverse rods 9, 10 are preferably made of fiber-reinforced plastic, in particular of pultruded carbon fiber plastic. These materials have particularly high strength and low weight.
    Between the transverse rods 9, 10 of the parallelogram 15, a spring element 18 may be arranged, which automatically moves the parallelogram 15 back to its original position. The spring element 18 may be formed, for example, by at least one elastic band 19. Alternatively, a gas pressure spring 20 can be used to form the spring element 18 (see Fig. 6).
    If the parallelogram 15 is to be locked in order to effect a movement at least temporarily, for example during certain movements of the patient's arm 3, a corresponding blocking element 21 (see Fig. 6) can be provided or the spring element 18 can also be made lockable.
    3A and 3B show a schematic diagram of the adjustable parallelogram 15 of the fastening device 1 in different positions in the side view and top view. The fastening device 1 has been changed in Fig. 3B relative to the position shown in FIG. 3A both in terms of the angle δ and in terms of the height h, thereby allowing freedom of movement of the patient connected to the arm support structure 2.
    4 shows an expanded variant of the fastening device 1, in which the connecting rods 7, 8 and / or transverse rods 9, 10 are at least partially hollow, so that cables 17 can be guided in the connecting rods 7, 8 or transverse rods 9, 10 , The connecting rod 7 for connection to the arm support structure 2 or the arm Exoske-lett 2 'is at least partially formed by the shoulder joint module 23 of the arm exoskeleton 2', which is connected to a weight-compensation device 24. The weight compensating device 24 is connected to the shoulder joint module 23 via a Bowden cable 26, which runs inside the transverse rods 9, and can consist of two springs 25, 25 '(see FIG. 5), wherein a spring 25' is switchable is, so that an adaptation to the weight to be compensated is possible.
    Finally, Fig. 6 shows a schematic diagram of an embodiment of the fastening device 1, wherein the spring element 18 between the transverse rods 9, 10 of the parallelogram 15 is formed by a gas pressure spring 20. In addition, a blocking element 21 is indicated by a bar 22 arranged diagonally between the transverse rods 9, 10. In the joints 11, 12, 13, 14 of the parallelogram 15, at least one angle encoder 27 may be arranged, which forwards the respective position of the respective joint 11, 12, 13, 14 to a corresponding device, for example a computer (not shown). Furthermore, in the joints 11, 12, 13, 14, an electromagnetic brake 28 may be arranged to lock the parallelogram 15 electronically.
    The present fastening device 1 is characterized by a relatively simple and inexpensive construction and offers a patient who is equipped with the arm support structure 2, a freedom of movement in the breaks or during the movements of the arm.
    权利要求:
    Claims (17)
    [1]
    claims:
    A device (1) for attaching an arm support structure (2) for supporting the movement of an arm (3), for example an orthosis or an arm exoskeleton (2 ') on a wheelchair (4) or the like, with a connecting element (5) for connection to the arm support structure (2), and to a connection element (6) for connection to the wheelchair (4) or the like, characterized in that the connection element (5) for connection to the arm support structure (5) 2) is formed by a substantially vertically arranged connecting rod (7), and the connecting element (6) for connection to the wheelchair (4) or the like. By a substantially vertically disposed, rotatable connecting rod (8) is formed, and the connecting rods (7, 8) by means of two parallel transverse rods (9, 10) via pivot joints (11, 12, 13, 14) are movably interconnected, wherein the connecting rods (7, 8) and the transverse rods (9, 10) an adjustable parallelogram ( 15), so that the with the arm support structure (2) connectable connecting rod (7) both in the height (h), and in the angle (δ) relative to the connecting rod (8) for connection to the wheelchair (4) or the like. Adjustable.
    [2]
    2. Fastening device (1) according to claim 1, characterized in that the wheelchair (4) or the like. Connectable connecting rod (8) is arranged displaceable in the longitudinal direction.
    [3]
    3. fastening device (1) according to claim 2, characterized in that a device (16) for damping the displacement of the connecting rod (8) is provided in the longitudinal direction (for example sponge rubber).
    [4]
    4. Fastening device (1) according to one of claims 1 to 3, characterized in that the arm support structure (2) connectable connecting rod (7) is rotatably arranged.
    [5]
    5. Fastening device (1) according to one of claims 1 to 4, characterized in that the connecting rods (7, 8) and or or the transverse rods (9, 10) made of fiber-reinforced synthetic material, in particular of pultruded carbon fiber plastic , are formed.
    [6]
    6. Fastening device (1) according to claim 5, characterized in that the connecting rods (7, 8) and or or the transverse rods (9, 10) are hollow and for guiding lines (17) or the like.
    [7]
    7. Fastening device (1) according to one of claims 1 to 6, characterized in that between the transverse rods (9, 10) of the parallelogram (15), a spring element (18) is arranged.
    [8]
    8. fastening device (1) according to claim 7, characterized in that the spring element (18) by at least one elastic band (19) is formed.
    [9]
    9. fastening device (1) according to claim 7, characterized in that the spring element (18) by at least one gas pressure spring (20) is formed.
    [10]
    10. Fastening device (1) according to one of claims 1 to 9, characterized in that between the transverse rods (9, 10) of the parallelogram (15) a locking element (21) for blocking the adjustability of the parallelogram (15) is provided or the spring element (18) is lockable.
    [11]
    11. Fastening device (1) according to claim 10, characterized in that the blocking element (21) by a diagonally between the transverse rods (9, 10) arranged rod (22) is formed.
    [12]
    Fixing device (1) according to claim 11, characterized in that the arm support structure (2) is formed by an arm exoskeleton (2 ') with a shoulder joint module (23), and the connecting rod (7) for connection to the arm Support structure (2) is at least partially formed by the shoulder joint module (23) of the arm exoskeleton (2 ').
    [13]
    13. Fastening device (1) according to claim 12, characterized in that the shoulder joint module (23) is connected to a weight compensation device (24).
    [14]
    14. Fastening device (1) according to claim 13, characterized in that the weight compensation device (24) by at least one spring (25, 25 ') is formed, which via a within the transverse rods (9, 10) extending Bowden cable (26) connected is.
    [15]
    15. Fastening device (1) according to claim 14, characterized in that at least one spring (25 ') is formed switchable.
    [16]
    16. Fastening device (1) according to one of claims 1 to 15, characterized in that in at least one joint (11, 12, 13, 14) of the parallelogram (15) an angle encoder (27) is arranged.
    [17]
    17. Fastening device (1) according to claim one of claims 1 to 16, characterized in that in at least one joint (11, 12, 13, 14) of the parallelogram (15) an electromagnetic brake (28) is arranged.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP0147645B1|1989-05-24|Device, especially for the postoperative treatment of a shoulder and/or elbow joint
    EP1721801B1|2008-06-11|Device for protecting passengers on the seat of a chairlift
    EP1505939B1|2005-09-07|Piece of furniture comprising a massage unit
    DE10143977A1|2002-06-06|Device for holding a body for a chair and chair with this device
    DE202007018454U1|2008-07-31|Raising wheelchair with anatomical back compensation
    DE102013001416A1|2014-07-24|Height adjuster for a vehicle seat and vehicle seat
    DE102013011382A1|2015-01-15|orthotic
    DE3819276C2|1992-03-05|
    CH674127A5|1990-05-15|Relaxing chair
    WO2016187636A1|2016-12-01|Arm exoskeleton
    AT518716B1|2019-04-15|Device for attaching an arm support structure
    DE1766664B1|1971-01-14|Ambulance with a device for holding stretchers
    DE3318949A1|1983-12-01|SUSPENSION FOR A VEHICLE SEAT
    DE1147711B|1963-04-25|Abduction splint
    DE102008029572B4|2011-03-24|Training device for building the muscles of the foot apparatus
    DE102019124098A1|2020-06-18|Portable device for increasing muscle strength
    DE102016104879A1|2017-09-21|orthosis
    DE2833482C2|1982-01-28|Support prosthesis designed as a walking aid
    DE102016121201A1|2018-05-09|orthosis
    DE1280471B|1968-10-17|Adjustable abduction splint
    DE102009037766A1|2011-04-07|vehicle seat
    DE102015010480A1|2016-08-04|Mobile assistance system
    DE2335741B2|1976-04-29|FRAME ARRANGED IN A EMERGENCY TRANSPORT VEHICLE, ADJUSTABLE IN DIFFERENT HEIGHT POSITIONS, FOR ACCOMMODATION OF A STRETCHER
    AT521531B1|2021-06-15|Slatted frame
    DE202021002260U1|2021-08-20|stirrup
    同族专利:
    公开号 | 公开日
    EP3458008A1|2019-03-27|
    AT518716B1|2019-04-15|
    WO2017197424A1|2017-11-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP2957392A1|2014-06-18|2015-12-23|Moog B.V.|Movement apparatus|
    WO2015099858A2|2013-09-30|2015-07-02|Board Of Regents, The University Of Texas System|Upper-body robotic exoskeleton|
    ITPI20150027A1|2015-04-11|2016-10-11|Azienda Ospedaliera Pisana|HIGH ERGONOMIC EXOSKELETAL SYSTEM FOR THE UPPER LIMB|NL2023503B1|2019-07-15|2021-02-08|Yumen Bionics B V|Exoskeleton for supporting a user's arm|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50460/2016A|AT518716B1|2016-05-18|2016-05-18|Device for attaching an arm support structure|ATA50460/2016A| AT518716B1|2016-05-18|2016-05-18|Device for attaching an arm support structure|
    PCT/AT2017/060132| WO2017197424A1|2016-05-18|2017-05-18|Device for securing an arm support structure|
    EP17728042.7A| EP3458008A1|2016-05-18|2017-05-18|Device for securing an arm support structure|
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