DE102018219446A1 - Rehabilitation device - Google Patents

Abstract

The invention relates to a rehabilitation device (1), comprising a tripod (2), a lifting column (3) attached to the tripod (2), a lifting carriage (4) which is mounted on the lifting column (3) so as to be height-adjustable and which is operated by means of a first drive of the rehabilitation device (1) is automatically vertically movable, a base arm (5) which is pivotably mounted on the lifting carriage (4) about a first, vertical axis of rotation (D1) and which is automatically driven about the first, vertical axis of rotation (D1) by means of a second drive of the rehabilitation device (1) ) is to be pivoted, a front arm (6) which is pivotably mounted on the base arm (5) about a second, vertical axis of rotation (D2) and which is automatically driven about the second, vertical axis of rotation (D2) by means of a third drive of the rehabilitation device (1) pivot, one on the front arm (6) about a third, vertical axis of rotation (D3) freely rotatably mounted connecting piece (7), and one on the connecting piece (7) around a fourth, horizont ale axis of rotation (D4) tiltable body part support (8).

Description

The invention relates to a rehabilitation device.

From the WO 2015/048688 A1 a rehabilitation device is known which is designed for operation in connection with one of the limbs of a user, the relevant limb of the user having an end point. The rehabilitation device includes a base, a robotic arm attached to the base and having an end point, the robotic arm having at least two active degrees of freedom relative to the base and configured such that while the base is appropriately positioned relative to a user, the reference frame of the robot is oriented essentially the same as the reference frame of the user. The movements of the end point of the relevant limb of the user are mimicked by movements of the end point of the robot arm.

The object of the invention is to provide a rehabilitation device that can be operated in a particularly safe manner despite inexpensive construction.

This object is achieved according to the invention by a rehabilitation device, comprising a tripod, a lifting column attached to the tripod, a lifting carriage mounted on the lifting column with adjustable height, which is automatically height-adjustable by means of a first drive of the rehabilitation device, and one which is pivotable on the lifting carriage about a first, vertical axis of rotation mounted base arm, which is automatically driven by a second drive of the rehabilitation device about the first, vertical axis of rotation, a forearm mounted on the base arm about a second, vertical axis of rotation, which is automatically driven by a third drive of the rehabilitation device about the second, vertical axis An axis of rotation is to be pivoted, a connecting piece which is freely rotatably mounted on the front arm about a third, vertical axis of rotation, and a body part support which is tiltably mounted on the connecting element about a fourth, horizontal axis of rotation.

The connecting piece, which is freely rotatable on the forearm about a third, vertical axis of rotation, is thus freely rotatably mounted on the forearm without being driven.

Each drive of the rehabilitation device can be assigned to a single drivable joint of the rehabilitation device. Each drive can be arranged, for example, in a link directly upstream of the joint to be driven in the kinematic chain or arranged in a link immediately downstream of the joint to be driven in the kinematic chain. If necessary, two or more drives for different joints can be arranged in the same link. In particular, the lifting carriage can have drives for moving the base arm as well as for moving the forearm.

All drives can be automatically driven by a common control device of the rehabilitation device, in particular driven by a program.

The body part support forms a connecting link in order to be able to couple the rehabilitation device to a body part of a person to be treated. Coupling can already take place in that the person places one of his body parts, such as the hand, forearm or leg, on a support surface of the body part support. The body part support can have a fastening means, such as at least one lockable strap, which is designed for releasably fastening the body parts of the person to the body part support.

The body part support can be tilted about the fourth, horizontal axis of rotation by means of a spring body connecting the body part support to the connecting piece, the spring body supporting the body part support in a predetermined basic position, resiliently resilient on the connecting piece.

The spring body can be a spring coil, for example. Tilting of the body part support means that the support surface can be rotated out of its generally horizontal basic position, so that the support surface is either sloping or rising. A downward or upward orientation can be measured on a longitudinal extension of the body part support and can be directed from a proximal end to a distal end.

The body part support can be automatically driven by means of a fourth drive of the rehabilitation device about the fourth, horizontal axis of rotation, in particular can be tilted by means of a mechanically flexible element assigned to the fourth drive, which elastically prestresses the body part support into a basic position.

The body part support can be tilted in that a control device of the rehabilitation device controls the fourth drive.

The automatically driven movement of the body part support relative to the connector can be coupled to the automatically driven vertical movement of the lifting carriage relative to the lifting column, in particular to the automatically driven vertical movement of the lifting carriage ( 4th ) and also be coupled to the pivoting movements of the base arm and the forearm.

A coupling of the movement of the body part support relative to the connecting piece with the height movement of the lifting carriage means that the height movement of the lifting carriage forms an input variable for controlling the tilting movement of the body part support. This tilting movement of the body part support can take place synchronously with the vertical movement of the lifting carriage. Alternatively, the tilting movement of the body part support can also take place asynchronously to the vertical movement of the lifting carriage, but be in a predetermined other dependence on the vertical movement of the lifting carriage.

The first drive can comprise a first motor arranged in the stand or in the lifting column, which is designed to raise and / or lower the lifting carriage in a motor-driven manner on the lifting column, and the rehabilitation device can have a mechanical coupling device that forms part of the fourth Forms drive and which is designed to transmit a drive movement of the first motor to the body part support, such that when the lifting carriage is moved, driven by the first motor, the body part support executes a tilting movement which is synchronous with the stroke movement.

The mechanical coupling device can in particular be designed to accommodate a lifting movement of the lifting carriage and convert the lifting movement into a tilting movement of the body part support. Such a conversion can also include a translation, for example implemented by a gear.

The first drive can comprise a first motor arranged in the stand or in the lifting column, which is designed to raise and / or lower the lifting carriage in a motor-driven manner on the lifting column, and the fourth drive can have a fourth motor which is designed to to transmit its drive movement to the body part support for executing a tilting movement of the body part support, the fourth motor being coupled mechanically and / or in terms of control technology to the first motor, such that when the first motor is driven to move the lifting carriage relative to the lifting column, a simultaneously controlled movement of the fourth motor causes a tilting movement of the body part support that is synchronous with the lifting movement.

A control-related coupling of the fourth motor to the first motor can take place, for example, via the control device of the rehabilitation device, which also controls the further drives of the rehabilitation device.

In a further development, a control-technical coupling of the fourth motor can be set up instead of solely depending on the first motor for moving the lifting carriage, also as a function of a second motor for pivoting the base arm about a first axis of rotation and a third motor for pivoting the forearm about a second axis of rotation . As a result, the fourth motor is controlled not only as a function of the height of the lifting carriage, but also as a function of the swivel positions of the base arm and the forearm. In particular, it can be provided that the level of the armrest always goes through the shoulder of a person who has placed his or her arm on the armrest.

The body part support can be mounted so as to be pivotable about a horizontal fourth axis of rotation by means of a further drive. Instead of an active, motorized drive or in addition to an active, motorized drive, the body part support can have a mechanically flexible element, such as a torsion and / or elastomer spring, which elastically prestresses the body part support into a basic position.

To form a mechanical coupling of the tilting movement of the armrest to the height position of the lifting carriage, the rehabilitation device can have a cable pull in a first embodiment variant, which has an automatically controllable motor and a spindle driven by the motor, which is designed to wind up a cable of the cable pull, when the motor drives the spindle, with a free end of the cable connected to the body part support, and the rehabilitation device has a return spring which is designed to move the body part support into a basic position when the cable does not exert any tensile force on the body part support. As an alternative or in addition to a cable pull, at least one belt, a chain or another coupling mechanism can also be provided for coupling the tilting movement of the armrest to the vertical position of the lifting carriage.

In a second embodiment variant, the rehabilitation device can have a linear drive which has a linearly movable, automatically controllable actuator which is connected to the body part support, wherein the rehabilitation device also has a return spring which is designed to move the body part support into a basic position when that Actuator does not exert any tensile force on the body part support.

In a third embodiment variant, the rehabilitation device can have a rotary drive which has a rotatable, automatically controllable shaft which is connected to the body part support, the rehabilitation device also having a return spring which is designed to move the body part support into a basic position when the shaft exerts no torque on the body part support.

The second drive can generally comprise a second motor, the third drive can comprise a third motor, the first motor, the second motor and the third motor being controlled by a common control device of the rehabilitation device in a compliance control, in particular an impedance control or an admittance control .

A force and / or torque controlled operation of the drives or motors, i.e. a compliance control can be done for example by means of impedance control or admittance control. An admittance control is based on an existing position control of the positions of the rehabilitation device at the joint level of the rehabilitation device. Here, the generalized forces acting on the rehabilitation device from outside are measured. On the basis of these forces, a movement of the rehabilitation device corresponding to the desired dynamic behavior is determined, which movement is commanded to the drives or the motors via an inverse kinematics and the subordinate position control. In contrast to admittance control, impedance control is based on an existing torque control at joint level. The deviation of the actual position from a defined target position is measured and a desired generalized force, or forces and moments, is determined according to the desired dynamic behavior. This force can be mapped to corresponding joint torques via the known kinematics of the rehabilitation device. The torques can finally be set via the subordinate torque control.

The rehabilitation device is, in particular, a so-called serial kinematics, in which the limbs and the joints of the rehabilitation device are arranged alternately in series.

The second drive can comprise a second motor, the third drive can comprise a third motor, the second motor and the third motor being controlled by a common control device of the rehabilitation device in a compliance control, in particular impedance control or an admittance control, and the first motor the control device is controlled in a position-controlled manner.

The rehabilitation device can have a stop device which is designed to limit both a maximum pivoting angle of the base arm about the first, vertical axis of rotation and a maximum pivoting angle of the forearm about the second, vertical axis of rotation, both with respect to the base arm and with respect to of the lifting carriage.

As already described, it can be provided that the forearm is coupled to the lifting slide via mechanical or control-related couplings. For example, the forearm can be coupled to the lifting slide by means of parallelogram links and / or belts. A movement limitation by means of a stop device can thus preferably be implemented via the mechanical or control coupling. For example, three limits can be implemented in a subsystem with two degrees of freedom of the rehabilitation device.

The forearm can generally be pivotally mounted on the base arm by means of a second joint, the second joint being designed to support the forearm in all pivot positions of the forearm above the base arm, and the connecting piece by means of a third joint about the third axis of rotation is pivotally mounted on the forearm, the third joint being designed to mount the connecting piece in all pivoting positions of the connecting piece above the forearm, and the body part support is pivotably mounted on the connecting piece by means of a fourth articulation about the fourth axis of rotation, the fourth articulation being formed is to store the body part support in all swivel positions of the body part support above the forearm.

A distal end section of the base arm and / or a proximal end section of the forearm, on which the second axis of rotation is arranged, can be cranked in such a way that, in a relative position of the base arm and forearm arranged one above the other, a gap between the base arm and Forearm is formed.

A supplementary additional protection against jamming can be achieved or improved in that the surfaces of the base arm and forearm facing one another in an overlapping position of the base arm and forearm are each covered with an elastic layer.

The forearm can be supplemented in two parts with a first, proximal forearm part and a be formed, second, distal forearm part, the second, distal forearm part being detachably and releasably mounted on the first, proximal forearm part such that the second, distal forearm part can be fixed rigidly in a first orientation on the first, proximal forearm part or in one second orientation is to be rigidly attached to the first, proximal forearm part, which deviates from the first orientation, in particular is rotated by 180 degrees with respect to the first orientation.

The second, distal forearm part can be repositioned on the first, proximal forearm part by means of a snap / snap connection, which in a locked state connects the second, distal forearm part to the first, proximal forearm part in a form-fitting and rigid manner and, in an unlocked state, the second, distal part The forearm part can be manually removed from the first, proximal forearm part and put on again in a different orientation.

In all embodiments, the body part support can also be mounted on the intermediate piece so as to be removable from the intermediate piece. For this purpose, the joint connecting the body part support to the intermediate piece can be designed to be detachable.

In all embodiments, the body part support can optionally be designed as an arm support, as a hand support or as a leg support.

In the following, the invention is summarized again, if necessary also expressed in other words.

The aim of the invention is to present a new type of robot system for rehabilitation applications, which is powerful, sensitive and at the same time safe. This robot system should be significantly cheaper than comparable known solutions, so that it can be used economically not only for commercial users, but also in the private sector.

The basic idea of this invention is a novel, purposeful combination of special kinematics with special drive distribution and structure, weight support and individually adjustable movement ranges.

In an advantageous embodiment, the rehab arm is designed to be movable in five degrees of freedom, the end effector being the connection to the patient's arm, in particular a forearm or a hand of a person, and being movable in all three translational and two rotary degrees of freedom. The two rotational degrees of freedom describe a rotation of the forearm, for example, about a fixed vertical axis and a moving horizontal axis, which is always perpendicular to the longitudinal direction of the forearm. A free or guided rotation of the forearm about its longitudinal axis is prevented in this variant by fixing the forearm in a shell support connected to the robot. A fixed position of the forearm or hand can be freely selected in advance and should correspond to an ergonomic posture that is appropriate for the appropriate therapy.

The five degrees of freedom of the variant of the rehab arm specifically described here are achieved by five serially arranged joints.

The first joint is fixed in space and describes a vertical translation. It is actuated by a movement specification of the control.

The second joint is formed by an axis of rotation, which describes an actuated, controlled rotational movement about the vertical axis.

The third joint is also formed by an axis of rotation. This is essentially parallel to the axis of rotation of the second joint and is arranged at a distance from it. It also describes an actuated, controlled rotational movement about a vertical axis.

The fourth joint is also formed by an axis of rotation. This too is essentially parallel to the second joint and third joint and is arranged at a distance from these. It also describes rotational movement about the vertical axis, but is passive, i.e. executed without drive. It is positively guided or specified by the position of the patient's arm.

The fifth joint is also formed by an axis of rotation and is more of a tilt axis. This is essentially perpendicular to the axis of rotation of the fourth joint and is oriented horizontally. The movement of the axis can be predetermined in terms of control technology or mechanically coupled, and in particular can be designed to be passively free or passively spring-assisted.

The structure described here differs fundamentally from known designs of other rehab arms or SCARA robots, since a serial joint structure is disclosed here which contains both active and at least one passive joint and is accordingly undefined in terms of kinematics or drive technology.

It is also novel that the at least one passive joint is located within the kinematic chain, ie not at the distal or proximal end of the kinematic chain.

The rehab robot i.e. the rehabilitation device can also be regulated in the impedance mode, among other things. This mainly concerns the basic joints for moving the lifting carriage, the basic arm and the forearm, which determine the position and the forces on the patient arm in the room. The basic version of the tilt joint is simpler and is purely position-controlled. The tilt of the armrest is determined by the tilting joint, which should support and guide the patient, so that the patient cannot make any inadmissible compensatory or compensatory movements, for example with the forearm. The armrest is tilted downwards in hand positions above the shoulder and upwards in hand positions below the shoulder so that one level always goes through the patient's shoulder. This level is spanned by the tilting joint and the longitudinal shape of the armrest and has its origin in TCP, i.e. in the patient's hand. In addition to the height of the hand, the horizontal distance from the hand to the shoulder is also decisive for the inclination.

The inclination can either be mechanically coupled in the tilting joint or driven in a controlled manner.

With the mechanical coupling, the position and thus the movement of the lifting carriage in the vertical direction can be picked up, converted and transferred to the tilting joint. This can be done, for example, by means of a traction mechanism, in particular a rope that is stationary on both sides in the linear axis and that drives a rope pulley mounted on the carriage when the lifting carriage moves. This rapid rotary movement can be reduced according to the translation by means of a simple gear and drive a further roller or a lever on the output side which, for example, actuates a further traction means, in particular a Bowden cable. This Bowden cable is guided forward via the joints and transfers the movement directly to the tilt joint using a lever or rope pulley. The inclination can be reset either actively, by means of a double structure for both directions of movement, or passively, by gravity or a spring always pulling the armrest in one direction and thus keeping the Bowden cable's drive cable in tension.

Since the shoulder of the person is at a different height depending on the size of the patient, there is a device which allows the inclination zero to be adjusted. This can be done either by adjusting the Bowden cable or by re-adjusting one of the two pulleys on the gearbox. A disadvantage of this form of expression, however, is that only the height of the hand and not the distance to the shoulder is specified by the inclination.

As an advantageous variant, drive integration into the tilt joint is also possible. For this purpose, a drive can either drive the tilt joint directly as a geared motor or with spring support, be designed as thrust crank kinematics including an actuating cylinder or act on one side via a cable with a roller. The latter can be realized, for example, by placing a drive with a driving pulley in the forearm and guiding a rope through the third axis of rotation, which acts on the armrest via a lever arm. The armrest is always pressed downwards by a spring. The rope pulls the support against the weight of the patient's arm so that a correct inclination is set. Such a one-sided structure is not only inexpensive, but also has advantages with regard to safe operation, since the support can be freely moved upwards by the patient or can simply fold away from below in the event of a collision.

The inclination of the support serves purely as an ergonomic support for the forearm, to relieve the patient and help him to carry out the movement correctly. Therefore, in addition to the structure described, a specific flexibility in the drive train of the tilting joint or integrated downstream in the support can advantageously contribute to a natural movement behavior.

The lifting carriage and the base arm are used for the main movement in the plane and are driven, for example, by stepper motors with a low-ratio belt drive, for example less than 1:10, in particular 1: 5. This leads to a very direct control behavior, in which the drive is loaded with external torques almost without loss and directly.

A previously determined static and dynamic model of the motor with respect to its torque curve, which at least includes motor currents and armature position or magnet wheel angle, can be used to estimate the torque acting on the motor side in each joint. Interference factors such as cogging torque, temperature, belt influences and friction etc. can also be modeled. These measured joint moments can be used to calculate the acting input force on the armrest in the dynamic equations of the robot. Calculating this External forces can be applied, for example, using the Newton-Euler method.

In this exemplary embodiment, further force-measuring sensors are not generally necessary for the planar movement. In addition to these forces, the vertical force can also be used or analyzed and evaluated for therapy purposes and as a movement input. For this purpose, the motor current and the armature position can also be used analogously to the movements of the lifting carriage and the base arm. Alternatively or in addition, a simple one-dimensional force sensor can also be integrated distally in the area of the armrest in order to improve the measuring accuracy in this direction through shorter force paths. This sensor can, for example, be installed in the joint between the forearm and the connector so that the entire axial bearing force, i.e. especially tension and pressure, is passed over the sensor. If only a pressure force can be measured by the sensor, the measuring point must be preloaded accordingly.

Another important feature of the rehab robot i.e. the rehabilitation device of this invention relates to the drive train for the joint between the base arm and the forearm. Here, the drive can be mounted in particular in the lifting carriage. A first belt stage can be provided, which translates the drive movement, in particular below 1:10 or 1: 5, onto a belt pulley which lies coaxially with the first axis of rotation between the lifting slide and the base arm. Another belt with 1: 1 ratio transmits the rotary movement to the joint between the base arm and forearm. This has various advantages over a direct drive and a support of the drive torque via the base arm. On the one hand, kinematically, the belt forms a closed chain, which significantly reduces the drive torque on the swivel drive between the lifting carriage and the base arm and increases the accuracy of the arm. On the other hand, heavy components such as drives are moved in the proximal direction, which reduces the moving mass. This also has a positive impact on drive performance and safety aspects. In addition, such a structure can be used to implement a goal-oriented concept of specifically defined movement space limits. This is possible because with the described belt structure the following movement limits can be set as fixed but adjustable stops. The limits of movement can limit the base arm relative to the lifting slide, limit the forearm relative to the base arm and at the same time even limit the front arm relative to the lifting slide.

Since the lifting carriage only has a translational degree of freedom and the base arm and the front arm are moved by swivel joints, it can also be said that the absolute movement can be restricted for the base arm and both the relative and additionally the absolute movement can be restricted for the front arm . This means that not only the range of motion of the tool center point (TCP), i.e. the patient's hand, can be restricted in a very targeted manner, but also that of the robot links. This keeps the robot away from the patient and prevents unwanted collisions. Depending on the therapy configuration on the left or right, depending on the therapy movement range, the patient size and / or the patient position to the robot i.e. these axis limits can be easily adjusted for the rehabilitation device.

Should there still be an undesirable collision of the robot with the patient, another person or an object, a number of very inexpensive safety functions and / or safety properties apply.

The drive power built into the robot is very low, so that the robot cannot cause any damage to humans. This is possible because the main drives have no gravitational influence due to their vertically aligned axes of rotation, so that only process forces i.e. Therapy forces work, as well as only slight inertia and friction forces. However, the linear actuator must be designed to be significantly more powerful, since both process, friction and inertial forces as well as the weight of the patient arm and the robot act here. The latter make up the largest part of the drive load by far, but have the property that they do not depend on the robot position and remain constant during therapy. A balancing system can absorb this weight force completely or partially via an energy store, in particular a spring-based energy store, so that the use of a smaller, less powerful drive for the lifting column is made possible.

The layering and the offset of adjacent links avoid shear points, body parts the size of a hand can be held between two robot links without clamping.

The lifting carriage can be designed with a stable fork bearing. The resulting critical clamping point between the base arm and the lifting carriage can be secured by an elastomer cover.

All movable robot members, in particular the base arm and the forearm, can be completely or partially, especially laterally and / or be covered on the underside or top with a resilient shock-absorbing material.

In addition, the robot arm on the underside of the base arm and the forearm, as well as on the lifting line-shaped touching or non-contact sensor in particular have a switching strip that recognizes that when the entire arm is lowered, it is driven, for example, against the patient or an object, such as a table. Appropriate control specifications can be used to react accordingly in terms of safety technology.

The special layering of the limbs ascending towards the body part support (corresponds to TCP) has the advantage that no limbs are located or move directly next to the patient's head, which is psychologically more beneficial, and that the overall height of the lifting column can be reduced. Thus, even if the patient is in a high hand position, such as overhead, only a lower upper carriage position and thus a lower lifting column are necessary. Since the total stroke of the arm and thus the carriage remains the same, the range of motion of the lifting column shifts by the amount of the stratification in the lower, structurally uncritical area.

A smaller lifting column not only has advantages in design, transport and costs, but also in stability. In order to ensure stability, the lifting column has, for example, several feet in the lower area, which can be further stabilized in one embodiment by means of removable weights. These removable weights can in particular be designed as hollow bodies filled with water or sand, which have to be filled up accordingly after transport. They are connected to the feet or the column and, as counterweights, increase the stability of the structure.

So that the entire robot can be moved passively mobile, the feet are designed with rollers, for example, so that they can either be blocked at the destination or the base can be lowered.

As an alternative or in addition, the seat for the patient can also be used to increase the stability of the robot base by placing the seat, chair or block on an area of the base or mechanically connecting it to it, for example by means of a catch.

The structure of the rehab arm presented here offers maximum flexibility and diversity in therapy. For example, the patient can sit directly next to the arm or sit laterally at a distance from it or at a distance from the front. All other patient positions are also possible. This setup can also be used for the therapy of both the right arm and the left arm without modification, if necessary with the exception of the adjustment of the axle stops.

By means of a detachable and rotatable connection within the forearm, the orientation can be rotated, for example, by 180 °, so that the armrest either points downwards or points upwards. This enables other exercises in a different range of motion.

In addition, the armrest can be modified and / or adapted, for example as a modular system, and, depending on the embodiment, can also include further mobility or arm supports.

In a special embodiment, the body part support can be formed at least in two parts with at least one arm support and at least one hand support, both the arm support having a first coupling device that cooperates with a first body part sleeve by magnetic force, and the hand support has a magnetic force with a second body part cuff has magnetically non-positively interacting second coupling device. To achieve a firm connection of the person's arm to the body part support, i.e. to achieve a firm connection of the first body part cuff with the armrest and the second body part cuff with the hand rest, the first body part cuff can have a first counter-coupling device and the second body part cuff can have a second counter-coupling device. In each case the pair of first coupling device and first negative feedback device or the pair of second coupling device and second negative feedback device can be at least a pairing of a magnet with a ferromagnetic iron piece or a pairing of two magnets interacting in opposite poles. Accordingly, the first coupling device, the second coupling device, the first negative feedback device and / or the second negative feedback device can optionally comprise a magnet and / or a ferromagnetic piece of iron.

This technical solution of a connection of body part cuffs to the armrest thus consists in particular of a double magnetic coupling of the forearm or hand with the armrest or handrest. Depending on the therapy, the patient puts on one or two bandages before the exercise, ie the cuffs on the wrist and / or forearm. These Cuffs are individually designed and remain with the patient even after the exercise. The two bandages or cuffs each contain at least one magnetic element, ie counter-coupling devices, which can be connected to a coupling partner / counterpart (metal or likewise magnet), ie the coupling devices on the armrest and / or hand-rest, by simply approaching them using magnetic force.

The armrest or handrest can be constructed in such a way that it has a handle which can be freely rotated about an axis which is substantially parallel to the main direction of extension of the armrest. This enables individual adjustment of ergonomic hand orientation and forearm posture and extends the degrees of freedom of the rehab arm to six degrees of freedom. In addition to the magnetic surface on the hand support surface, the handle can also have a sensor, such as a simple photodiode or a button for detecting the patient's hand resting on it. When the hand is released from the handle, the rehabilitation device stops. When it is replaced, the movement is resumed after an acknowledgment, a signal or a defined period of time.

Furthermore, the armrest can have a forearm support, which also offers the possibility of a magnetic coupling. For the purpose of lateral guidance of the forearm, it can be designed, for example, as a semicircular, open shell. A single pair of magnets is sufficient here and does not restrict the mobility of the wrist. In other words, no matter which handle position (e.g. 0 °, 45 °, 90 °) the patient takes, the alignment of the coupling point forearm to forearm support remains constant, so that all handle positions can be reached with only one forearm coupling point.

The magnetic connections can, for example, be designed as flat surfaces of the coupling partners (first / second coupling device, first / second counter-coupling device) and / or can have certain shaped elements which interlock to better absorb lateral forces.

As a supplementary embodiment, the bandages can also contain sensors for measuring and monitoring the vital functions. When coupled to the armrest, they are supplied with energy via an electrical interface and send data to a control device of the rehabilitation device, so that a specific reaction to the patient's physical condition can be made. In addition, these measured values of the vital function can also be stored with the movement data and transmitted to a therapist for evaluation.

The sensors can also be equipped with batteries which are charged via the interface to the armrest and which also record further measured values after active therapy.

Furthermore, the bandages i.e. the cuffs, for example, also contain an NFC element, such as an RFID tag, on which all important patient data are stored. If the rehabilitation device is used by many patients, as is the case, for example, in a rehabilitation center, it is sufficient if the patient couples to the armrest. All relevant data of the individual therapy are transferred to the controller so that the training can begin immediately.

If the patient wants to move away from the rehabilitation device or let go of it, all he has to do is pull his arm out of the armrest. This can be done for example by the arm itself or with the help of the other arm. A movement against the magnetic force can e.g. along the normal direction or twisting or sliding the magnets cause a simple release.

The entire armrest can be separated by simply pulling it axially out and replaced for other therapeutic applications.

As an alternative to magnetic connections, mechanical catches, Velcro fasteners or connections based on negative pressure, such as suction cups, can also be used as coupling elements. According to the invention, however, the magnetic coupling is preferred in a special embodiment.

In summary, it can be stated that the novel robot system for rehab applications presented here, despite sufficient performance, in particular with regard to a therapist, can be constructed very safely and yet extremely inexpensively in comparison with known solutions and can be used for a large number of rehabilitation, training and therapy measures is suitable.

Specific exemplary embodiments of the invention are explained in more detail in the following description with reference to the attached figures. Concrete features of these exemplary embodiments can, regardless of the specific context in which they are mentioned, possibly also viewed individually or in further combinations, represent general features of the invention.

• 1 eine perspektivische Darstellung einer beispielhaften erfindungsgemäßen Rehabilitationsvorrichtung im Einsatz an einer Person,
• 2 eine perspektivische Darstellung einer beispielhaften erfindungsgemäßen Rehabilitationsvorrichtung in Alleinstellung,
• 3 eine Seitenansicht der Rehabilitationsvorrichtung gemäß 2,
• 4 die Rehabilitationsvorrichtung gemäß 2 mit einer schematischen Darstellung dreier unterschiedlicher Kippstellungen der Körperteilauflage,
• 5 eine schematische Darstellung eines beispielhaften Antriebs für die Kippstellungen der Körperteilauflage mit einem Seilzug und Spindel,
• 6 eine erste Ausführungsform eines Antriebs, mit einem Seilzug zur Ausführung der Kippbewegung der Körperteilauflage,
• 7 eine zweite Ausführungsform eines Antriebs, mit einem Linearantrieb zur Ausführung der Kippbewegung der Körperteilauflage,
• 8 eine dritte Ausführungsform eines Antriebs, mit einem Drehantrieb zur Ausführung der Kippbewegung der Körperteilauflage,
• 9 eine perspektivische Darstellung der Rehabilitationsvorrichtung gemäß 1 in einer Konfiguration linksseitig einer Person,
• 10 eine perspektivische Darstellung der Rehabilitationsvorrichtung gemäß 1 in einer Konfiguration rechtsseitig einer Person,
• 11 eine perspektivische Teilansicht des Vorderarms der Rehabilitationsvorrichtung in einer zweiteiligen Ausführung mit einem ersten, proximalen Vorderarmteil und einem zweiten, distalen Vorderarmteil, in einer nach oben weisenden Konfiguration der Körperteilauflage,
• 12 eine perspektivische Teilansicht des Vorderarms der Rehabilitationsvorrichtung in einer zweiteiligen Ausführung mit einem ersten, proximalen Vorderarmteil und einem zweiten, distalen Vorderarmteil, in einer nach unten weisenden Konfiguration der Körperteilauflage, und
• 13 bis 19 verschiedene zusätzliche Darstellungen einer weiterentwickelten Ausführungsform der erfindungsgemäßen Rehabilitationsvorrichtung.

Show it:

• 1 1 shows a perspective illustration of an exemplary rehabilitation device according to the invention in use on a person,
• 2nd 1 shows a perspective illustration of an exemplary rehabilitation device according to the invention in isolation,
• 3rd a side view of the rehabilitation device according to 2nd ,
• 4th the rehabilitation device according to 2nd with a schematic representation of three different tilt positions of the body part support,
• 5 1 shows a schematic representation of an exemplary drive for the tilting positions of the body part support with a cable pull and spindle,
• 6 1 shows a first embodiment of a drive with a cable pull for executing the tilting movement of the body part support,
• 7 2 shows a second embodiment of a drive with a linear drive for executing the tilting movement of the body part support,
• 8th A third embodiment of a drive, with a rotary drive for executing the tilting movement of the body part support,
• 9 a perspective view of the rehabilitation device according to 1 in a configuration on the left side of a person,
• 10th a perspective view of the rehabilitation device according to 1 in a configuration on the right side of a person,
• 11 2 shows a perspective partial view of the forearm of the rehabilitation device in a two-part embodiment with a first, proximal forearm part and a second, distal forearm part, in an upwardly pointing configuration of the body part support,
• 12th a partial perspective view of the forearm of the rehabilitation device in a two-part embodiment with a first, proximal forearm part and a second, distal forearm part, in a downward configuration of the body part support, and
• 13 to 19th Various additional representations of a further developed embodiment of the rehabilitation device according to the invention.

The 1 shows an exemplary basic embodiment of a rehabilitation device according to the invention 1 . The rehabilitation device 1 points to a tripod 2nd , one on the tripod 2nd attached lifting column 3rd , one on the lifting column 3rd Height-adjustable lifting carriage 4th which by means of a first drive of the rehabilitation device 1 is automatically height-adjustable, one on the lifting carriage 4th around a first, vertical axis of rotation D1 pivotable base arm 5 by means of a second drive of the rehabilitation device 1 automatically driven around the first, vertical axis of rotation D1 is to pivot, one on the base arm 5 around a second, vertical axis of rotation D2 swiveling forearm 6 by means of a third drive of the rehabilitation device 1 automatically driven around the second, vertical axis of rotation D2 to swivel, one on the forearm 6 about a third, vertical axis of rotation D3 non-driven freely rotatable connector 7 , and one on the connector 7 around a fourth, horizontal axis of rotation D4 tiltable body part support 8th .

The tripod 2nd has pillars 9 on, in the case of the present embodiment four pillars 9 on. On the pillars 9 can weights as shown 10th be attached to the stability, ie the stability of the rehabilitation device 1 to increase. The pillars 9 can optionally, as in 2nd shown with feet 11 be provided. Instead of feet 11 rollers can also be provided, which is an easy manual method of the rehabilitation device 1 enable. The rollers can be braked.

In the case of the present exemplary embodiment, the body part support is 8th formed as a forearm support on which a person's forearm 12th is strapped.

The 2nd shows in a slightly modified embodiment of the rehabilitation device 1 again the degrees of freedom of the rehabilitation device 1 . Here too, the rehabilitation device includes 1 a tripod 2nd , one on the tripod 2nd attached lifting column 3rd , one on the lifting column 3rd Height-adjustable lifting carriage 4th which by means of a first drive of the rehabilitation device 1 is automatically height-adjustable, one on the lifting carriage 4th around a first, vertical axis of rotation D1 pivotable base arm 5 by means of a second drive of the rehabilitation device 1 automatically driven around the first, vertical axis of rotation D1 is to pivot, one on the base arm 5 around a second, vertical axis of rotation D2 swiveling forearm 6 by means of a third drive of the rehabilitation device 1 automatically driven around the second, vertical axis of rotation D2 to swivel, one on the forearm 6 about a third, vertical axis of rotation D3 non-driven freely rotatable connector 7 , and one on the connector 7 around a fourth, horizontal axis of rotation D4 tiltable body part support 8th

How especially out 3rd can be seen is the forearm 6 by means of a second joint G2 around the second axis of rotation D2 pivotable on the base arm 5 stored, the second joint G2 is trained the forearm 6 in all swivel positions of the forearm 6 above the base arm 5 to store, the connector 7 by means of a third joint G3 around the third axis of rotation D3 swiveling on the forearm 6 is mounted, the third joint G3 is formed, the connector 7 in all swivel positions of the connector 7 above the forearm 6 to store, there is the body part support 8th by means of a fourth joint G4 around the fourth axis of rotation D4 tiltable (arrow P1 ) on the connector 7 stored, the fourth joint G4 is formed, the body part support 8th in all swivel positions of the body part support 8th above the forearm 6 to store. The three possible basic pivot positions of the body part support 8th are in 4th shown. In a first basic pivot position of the body part support 8th can the body part pad 8th as in 4th is shown above, with its contact surface to the forearm 6 be sloping. In a second basic pivot position of the body part support 8th can the body part pad 8th as in 4th Is shown in the center, be aligned horizontally with its contact surface. In a third basic pivot position of the body part support 8th can the body part pad 8th as in 4th is shown below, with its contact surface from the forearm 6 groundbreaking, ie to be oriented upwards.

The 3rd also shows how a distal end portion E1 of the basic arm 5 and / or a proximal end section E2 of the forearm 6 at which transition the end sections E1 and E2 the second axis of rotation D2 is arranged, are cranked, such that in a superimposed relative position of the base arm 5 and forearm 6 , as in 3rd shown, a gap S acting as a pinch protection between the base arm 5 and the - shown in dashed lines, folded - forearm 6 is formed.

In 5 to 8th is shown as the body part support 8th by means of a body part support 8th with the connector 7 connecting spring body 13 around the fourth, horizontal axis of rotation D4 to tilt, the spring body 13 the body part pad 8th in a predetermined basic position, as shown, resiliently resettable on the connecting piece 7 stores.

The body part pad 8th can by means of a fourth drive of the rehabilitation device 1 automatically driven around the fourth, horizontal axis of rotation D4 to be tilted.

The automatically driven movement of the body part support 8th relative to the connector 7 can the automatically driven height movement of the lifting carriage 4th relative to the lifting column 3rd be coupled.

As the 5 shows schematically, the first drive one in the tripod 2nd or in the lifting column 3rd arranged first motor M1 comprise, which is designed, the lifting carriage 4th motor-driven on the lifting column 3rd to raise and / or lower the rehabilitation device 1 a mechanical coupling device 14 may have, which forms part of the fourth drive and which is designed, a drive movement of the first motor M1 on the body part support 8th to be transferred in such a way that during a lifting movement (arrow P2 ) of the lifting carriage 4th , driven by the first motor M1 who have favourited Body Part Rest 8th a synchronous tilting movement (arrow P3 ) executes.

In a compared to the embodiment according to 5 modified embodiment can according to 6 to 8th each, the first drive one in the tripod 2nd or in the lifting column 3rd arranged arranged first motor, which is designed, the lifting carriage 4th motor-driven on the lifting column 3rd to raise and / or lower, and a fourth drive can do a fourth motor M4 have, which is designed, its drive movement on the body part support 8th to perform a tilting movement of the body part support 8th to transfer, the fourth engine M4 is coupled in terms of control technology to the first motor, in such a way that when the first motor moves around the lifting carriage 4th relative to the lifting column 3rd to move, a simultaneously controlled movement of the fourth motor M4 a tilting movement of the body part support that is synchronous with the lifting movement 8th causes.

In the variant according to 6 instructs the rehabilitation device 1 a cable 15 on an automatically controllable motor M4 and one from the engine M4 driven spindle 16 has, which is designed for winding a rope 17th the cable 15 when the engine M4 the spindle 16 drives with a free end of the rope 17th with the body part pad 8th is connected, and having a return spring 13 , which is formed, the body part support 8th to move to a home position when the rope 17th does not exert any tensile force on the body part support 8.

In the variant according to 7 instructs the rehabilitation device 1 a linear actuator 18th on which is a linearly movable, automatically controllable actuator 19th has that with the body part support 8th is connected, and having a return spring 13 , which is formed, the body part support 8th to move to a home position when the actuator 19th no traction on the body part support 8th exercises.

In the variant according to 8th instructs the rehabilitation device 1 a rotary drive 20th on, which has a rotatable, automatically controllable shaft that with the body part support 8th is connected, and having a return spring 13 , which is designed to move the body part support 8 into a basic position when the shaft is not applying any torque to the body part support 8th exercises.

The 9 shows the rehabilitation device 1 according to 1 in a configuration on the left side of the person 12th .

The 10th shows the rehabilitation device 1 according to 1 in a configuration on the right side of the person 12th .

The 11 and 12th show how the forearm 6 in two parts with a first, proximal part of the forearm 6.1 and a second distal forearm part 6.2 is formed, wherein the second, distal forearm part 6.2 on the first, proximal part of the forearm 6.1 is detachably and such that the second, distal forearm part 6.2 optionally in a first orientation, as in 11 shown on the first, proximal part of the forearm 6.1 to be fixed rigidly or in a second orientation, as in 12th shown on the first, proximal part of the forearm 6.1 is to be fixed rigidly, which deviates from the first orientation, in particular is rotated by 180 degrees with respect to the first orientation.

The 16a and 16b illustrate how the body part pad 8th is formed in at least two parts with at least one armrest 8.1 and at least one palm rest 8.2 , with both the armrest 8.1 one by magnetic adhesive force with a first body part cuff 21st Magnetically non-positively interacting first coupling device 23.1 has, as well as the palm rest 8.2 one by magnetic adhesive force with a second body part cuff 22 Magnetically non-positively interacting second coupling device 23.2 having. To achieve a firm connection of the person's arm 12th with the body part pad 8th , ie to achieve a firm connection of the first body part cuff 21st with the armrest 8.1 and the second body part cuff 22 with the palm rest 8.2 can, as shown, the first body part cuff 21st a first negative feedback device 24.1 have and the second body part cuff 22 a second negative feedback device 24.2 exhibit. In each case the pair of the first coupling device 23.1 and first negative feedback device 24.1 or the pair of second coupling devices 23.2 and second negative feedback device 24.2 can be at least a pairing of a magnet with a ferromagnetic iron piece or a pairing of two oppositely interacting magnets.

Accordingly, the first coupling device can optionally 23.1 , the second coupling device 23.2 , the first negative feedback device 24.1 and / or the second negative feedback device 24.2 comprise a magnet and / or a ferromagnetic iron piece.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• WO 2015/048688 A1 [0002]

Claims (18)

Rehabilitation device, comprising a tripod (2), a lifting column (3) attached to the tripod (2), a lifting carriage (4) mounted on the lifting column (3) so that it can be adjusted in height by means of a first drive of the rehabilitation device (1), a base arm (5) which is pivotably mounted on the lifting carriage (4) about a first, vertical axis of rotation (D1) and which is automatically driven by means of a second drive of the rehabilitation device (1) to pivot about the first, vertical axis of rotation (D1) the base arm (5) about a second, vertical axis of rotation (D2) pivotally mounted forearm (6), which is automatically driven by a third drive of the rehabilitation device (1) to pivot about the second, vertical axis of rotation (D2), on the forearm (6) around a third, vertical axis of rotation (D3) freely rotatably mounted connecting piece (7), and one on the connecting piece (7) about a fourth, horizontal axis of rotation (D4) tiltable first part of the body (8). Rehabilitation device after Claim 1 , characterized in that the body part support (8) can be tilted about the fourth, horizontal axis of rotation (D4) by means of a spring body (13) connecting the body part support (8) to the connecting piece (7), the spring body (13) the body part support ( 8) resiliently resilient in a predetermined basic position on the connecting piece (7). Rehabilitation device after Claim 1 , characterized in that the body part support (8) is automatically driven by means of a fourth drive of the rehabilitation device (1) to be tilted about the fourth, horizontal axis of rotation (D4), in particular by means of a mechanically flexible element assigned to the fourth drive, which element is to be tilted Body part support (8) elastically biased into a basic position. Rehabilitation device after Claim 3 , characterized in that the automatically driven movement of the body part support (8) relative to the connecting piece (7) is coupled to the automatically driven vertical movement of the lifting carriage (4) relative to the lifting column (3), in particular to the automatically driven vertical movement of the lifting carriage (4) and is also coupled to the pivoting movements of the base arm and the forearm. Rehabilitation device after Claim 4 , characterized in that the first drive comprises a first motor (M1) which is arranged in the stand (2) or in the lifting column (3) and is designed to lift the lifting carriage (4) in a motor-driven manner on the lifting column (3) and / or lower, and the rehabilitation device (1) has a mechanical coupling device (14) which forms part of the fourth drive and which is designed to transmit a drive movement of the first motor (M1) to the body part support (8) such that during a lifting movement of the lifting carriage (4), driven by the first motor (M1), the body part support (8) executes a tilting movement that is synchronous with the lifting movement. Rehabilitation device after Claim 4 , characterized in that the first drive comprises a first motor (M1) which is arranged in the stand (2) or in the lifting column (3) and is designed to lift the lifting carriage (4) in a motor-driven manner on the lifting column (3) and / or lower, and the fourth drive has a fourth motor (M4) which is designed to transmit its drive movement to the body part support (8) for executing a tilting movement of the body part support (8), the fourth motor (M4) mechanically and / or is coupled in terms of control technology to the first motor (M1), such that when the first motor (M1) is moved in order to move the lifting carriage (4) relative to the lifting column (3), a simultaneously controlled movement of the fourth motor (M4) causes a synchronous tilting movement of the body part support (8). Rehabilitation device according to one of the Claims 3 to 6 comprising a cable pull (15), which has an automatically controllable motor and a spindle (16) driven by the motor, which is designed to wind up a cable (17) of the cable pull (15) when the motor drives the spindle (16) drives, wherein a free end of the cable (17) is connected to the body part support (8), and having a return spring (13) which is designed to move the body part support (8) into a basic position when the cable (17) does not Exerts tensile force on the body part support (8). Rehabilitation device according to one of the Claims 3 to 6 , Having a linear drive (18), which has a linearly movable, automatically controllable actuator (19), which is connected to the body part support (8), and having a return spring (13), which is formed, the body part support (8) in one Basic position to move when the actuator (19) does not exert any tensile force on the body part support (8). Rehabilitation device according to one of the Claims 3 to 6 comprising a rotary drive (20) which has a rotatable, automatically controllable shaft which is connected to the body part support (8), and has a return spring (13) which is designed to move the body part support (8) into a basic position, if the shaft does not exert any torque on the body part support (8). Rehabilitation device according to one of the Claims 1 to 9 , characterized in that the second drive comprises a second motor, the third drive comprises a third motor and the first motor, the second motor and the third motor by a common control device of the rehabilitation device (1) in a compliance control, in particular an impedance control or Admittance control are controlled. Rehabilitation device according to one of the Claims 1 to 10th , characterized in that the second drive comprises a second motor, the third drive comprises a third motor, the second motor and the third motor being controlled by a common control device of the rehabilitation device (1) in a compliance control, in particular an impedance control or an admittance control and the first motor is controlled by the control device in a position-controlled manner. Rehabilitation device according to one of the Claims 1 to 11 , comprising a stop device which is designed to limit both a maximum pivoting angle of the base arm (5) about the first, vertical axis of rotation (D1) and a maximum pivoting angle of the forearm (6) about the second, vertical axis of rotation (D2) limit both with respect to the base arm (5) and with respect to the lifting carriage (4). Rehabilitation device according to one of the Claims 1 to 12th , characterized in that the forearm (6) is mounted on the base arm (5) so as to be pivotable about the second axis of rotation (D2) by means of a second joint (G2), the second joint (G2) being designed to support the forearm (6) in to store all swivel positions of the forearm (6) above the base arm (5), and the connecting piece (7) is pivotably mounted on the forearm (6) by means of a third joint (G3) about the third axis of rotation (D3), the third joint (G3) is designed to support the connecting piece (7) in all swivel positions of the connecting piece (7) above the forearm (6), and to tilt the body part support (8) by means of a fourth joint (G4) about the fourth axis of rotation (D4) the connecting piece (7) is mounted, the fourth joint (G4) being designed to support the body part support (8) in all pivoting positions of the body part support (8) above the forearm (6). Rehabilitation device according to one of the Claims 1 to 13 , characterized in that a distal end section (E1) of the base arm (5) and / or a proximal end section (E2) of the front arm (6), on which the second axis of rotation (D2) is arranged, is cranked, in such a way that in a superimposed relative position of the base arm (5) and forearm (6) one above the other, a gap space (S) acting as a pinch protection is formed between the base arm (5) and forearm (6). Rehabilitation device according to one of the Claims 1 to 14 , characterized in that the forearm (6) is formed in two parts with a first, proximal forearm part (6.1) and a second, distal forearm part (6.2), the second, distal forearm part (6.2) on the first, proximal forearm part (6.1) is detachably and repositionable in such a way that the second, distal forearm part (6.2) can either be rigidly attached to the first, proximal forearm part (6.1) in a first orientation or rigidly to the second, proximal forearm part (6.1) in a second orientation is attached, which deviates from the first orientation, in particular is rotated by 180 degrees with respect to the first orientation. Rehabilitation device according to one of the Claims 1 to 15 , characterized in that the body part support (8) is removably mounted on the intermediate piece (7) from the intermediate piece (7). Rehabilitation device according to one of the Claims 1 to 16 , characterized in that the body part rest (8) is designed as an arm rest, as a hand rest or as a leg rest. Rehabilitation device according to one of the Claims 1 to 17th , characterized in that the body part support (8) is formed at least in two parts with at least one arm support (8.1) and at least one hand support (8.2), both the arm support (8.1) having a magnetic force with a first body part sleeve (21) cooperating first coupling device (23.1), as well as the hand rest (8.2) has a second coupling device (23.2) interacting magnetically with a second body part sleeve (22) by magnetic force.

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