DE102021117835A1 - Orthopedic joint device - Google Patents

Abstract

The invention relates to an orthopedic joint device with an upper part 10 and a lower part 20, which are connected to one another so that they can pivot about a joint axis 15, with an actuator 30, which has a first actuator component 31 and a second actuator component 32, which can be displaced relative to one another, the first actuator component 31 is mounted on the upper part 10 and the second actuator component 32 is mounted on the lower part 20, with a locking device 40 being assigned to one of the actuator components 31, 32 or to a coupling component 33 mounted on one of the actuator components 31, 32, the locking device 40 locking in one Direction of movement relative movement of the actuator component 31, 32 or the coupling component 33 to the locking device 40 and allows a relative movement in the opposite direction.

Description

The invention relates to an orthopedic joint device with an upper part and a lower part which are connected to one another so that they can pivot about a joint axis, with an actuator which has a first actuator component and a second actuator component which can be displaced relative to one another, the first actuator component being attached to the upper part and the second actuator component is mounted on the lower part. The actuator can provide a resistance to pivoting of the upper part relative to the lower part, if necessary completely prevent this pivoting.

Orthopedic joint devices are, in particular, orthoses or prostheses that have an upper part and a lower part that is articulated to it. In the case of orthoses, the upper part and the lower part are fixed to a limb that is still present, for example by means of shells, straps, straps, cuffs or other fastening devices. Orthoses can be used to guide movements, limit pivoting about a joint axis, prevent pivoting movements, or support or fix the alignment of limbs to one another. In addition, orthoses can be provided with braking or damping elements in order to brake, dampen or block a pivoting movement about the joint axis. The braking or damping devices can be provided with a controller so that a modified damping in the direction of flexion and/or direction of extension can be provided depending on sensor data. It is also known to assign an energy storage device to the upper part or the lower part, so that movement can be supported by releasing the stored energy from the energy storage device.

Prostheses replace a non-existent or no longer existing limb and serve to provide a functionality that is as close as possible to the functionality of the natural limb. In addition, prostheses serve to provide the most natural possible appearance for the prosthesis user. An upper part of a prosthesis is designed, for example, as a prosthesis socket or as a component fastened to a prosthesis socket, in which case the prosthesis socket is used for fixing to a limb or a limb stump. The prosthetic joint, for example a prosthetic knee joint, a prosthetic ankle joint or a prosthetic elbow joint, connects the upper part to a lower part, which in turn can have further prosthetic components, for example a lower leg tube, a prosthetic foot or a prosthetic hand.

In particular in the case of orthotic knee joints and prosthetic knee joints, dampers, in particular hydraulic dampers, or resistance devices are arranged between the upper part and the lower part, which provide different resistances in individual gait situations on the basis of sensor data. Such resistance devices are often designed as linear actuators that provide a defined resistance to a flexion movement or extension movement. The resistance is changed by changing the position of valves. When the flow cross-section is reduced, the corresponding resistance to movement increases. Such control valves, which are used, for example, for damping the stance phase, can be adjusted mechatronically via servo valves or mechanically via a throttle valve. In the swing phase, on the other hand, other resistances are required, which is usually achieved by changing the flow cross section in one of the valves. In particular, it is provided that an extension movement is always possible, even if blocking or high damping of a flexion movement is to be aimed at as the standard configuration in an emergency for safety reasons. In the case of fluid dynamic systems, this is usually implemented using non-return valves.

the U.S. 9,744,093 B2 relates to an orthosis or exoskeleton configured to be coupled to a wearer's lower extremity. The orthosis includes first and second members and a knee joint coupled to the first member and the second member and configured to allow flexion and extension movement between the first member and the second member. A force generator having first and second ends, the first end of the force generator being rotatably coupled to the first member. A restriction mechanism is coupled to the second link, the restriction mechanism having at least a first operative position and a second operative position. When the restriction mechanism is moved to the first operative position, the second end of the force generator engages the restriction mechanism as the first limb and the second limb flex relative to one another. When the restriction mechanism is in the second operative position, the second end of the force generator does not engage the restriction mechanism and the first link and second link are free to move.

The object of the present invention is to provide a simply functioning, cost-effective orthopedic joint device with which the essential functionalities can be reliably implemented.

According to the invention, this object is achieved by an orthopedic joint device with the features of the main claim. Advantageous refinements and developments of the invention are disclosed in the dependent claims, the description and the figures.

The orthopedic joint device with an upper part and a lower part, which are connected to each other so that they can pivot about a joint axis, with an actuator, which has a first actuator component and a second actuator component, which can be displaced relative to one another, the first actuator component on the upper part and the second actuator component is mounted on the lower part and the actuator provides a resistance to pivoting of the upper part relative to the lower part, provides that a blocking device is assigned to one of the actuator components or to a coupling component mounted on one of the actuator components, the blocking device blocks a movement in one direction Relative movement of the actuator component or the coupling component to the locking device and allows a relative movement in the opposite direction. This ensures that the joint device is always movable in one direction of movement, ie no locking effect occurs, but that a locking effect is possible in the opposite direction of movement, in particular a mechanical lock is provided. The blocking, which is necessary for example when securing a stance phase, is not effected by switching valves within the hydraulic device or the other resistance devices of the actuator, but by fixing the connection of an actuator component relative to the upper part or the lower part. A mechanical blocking of the displacement of an actuator component is thus effected. The blocking device blocks a movement in exactly one direction of movement and allows a movement in the other direction of movement. Due to the serial arrangement of the blocking device and the actuator component, in the case of a switchable blocking device, the effect of the actuator component can be activated with a blocking blocking device or deactivated, namely with an unlocked blocking device. The essential functionalities of a prosthetic or orthotic knee joint can thus be reliably implemented, in particular the provision of a secure stance phase and a dynamic swing phase.

In one embodiment, an actuator component is movably mounted on the upper part or the lower part, in particular pivotable, wherein the actuator component can be designed both as a linear actuator and as a rotary actuator and optionally has a resistance device. The blocking device blocks the movable mounting of the upper part or lower part either relative to the mounting point on the upper part or lower part or relative to the opposite part of the orthopedic joint device on which the other actuator component or a resistance device is mounted.

In one configuration, the movably mounted actuator component is guided in a guide, for example in a slot, in an arc, in a connecting link or a telescopic guide, which need not be of linear design. The mobility of the actuator component in this guide is blocked via the blocking device.

The coupling component can be supported by a spring element in relation to an actuator component. The spring element can be designed as a helical spring, spiral spring, disc spring, elastomer, gas cushion, pressure accumulator or another mechanical or pneumatic energy storage element that is able to absorb deformation forces and release them again in the opposite direction. This spring element acts in the opposite direction to the blocking direction and, even when a relative displacement of the actuator component is blocked, enables compression and thus limited rotation about the joint axis, so that, for example when configured as a prosthetic knee joint or orthotic knee joint, with an activated blocking device, a small flexion path can be provided within the scope of the stance phase flexion. since the spring element is compressed and thus allows pivoting from the upper part to the lower part. Alternatively, the coupling component can also be supported in relation to the actuator component via a damper element, for example a hydraulic, magnetorheological or pneumatic damper

In one embodiment, the blocking device is switchable and can be switched from a blocking position to a release position, in which a relative movement of the actuator components in both directions is possible. This makes it possible to correspondingly switch or control the orthopedic joint device for influencing a movement. This is possible in particular when the actuator provides a resistance to pivoting of the upper part relative to the lower part.

A spring element can be assigned to the actuator, which in one embodiment can be switched on via the blocking device. As a result, the actuator can be connected in parallel with the spring element or in series with the spring element.

The locking device can be supported by a spring element in relation to an actuator component, with the spring element acting against the locking device.

In one embodiment, the locking device has an actuating device which keeps the locking device out of engagement with the actuator component and/or the coupling component or moves the locking device out of engagement with one of these components or with both components. A control element for this actuating device can be in the form of a motor drive, for example an electric motor, a piezoelectric element, a solenoid or another mechanical drive. Alternatively, the actuating device can be designed as an element that is manually actuated or can be actuated by the user, for example as a lever, as a cable pull, Bowden cable, as a piston or the like. The actuating device can be used to selectively block or release the blocking device to enable the pivoting movement, in particular the flexing movement. For example, in certain movement situations or usage situations, a blocking can be fundamentally undesirable, for example when sitting, so that a permanent deactivation of the blocking device is desired. If the actuating element is designed as a movement transmission element, for example a Bowden cable, pneumatic system or hydraulic system, the actuating device can also be adjusted depending on the movement of other joints in the body, e.g. the ankle joint. The actuating force can be limited by an interposed elastic element or damping element.

In one configuration, the blocking device has at least one movably mounted clamping body, via which it is possible to block either the actuator component or the coupling component in such a way that no relative movement to the upper part or the lower part is permitted.

The blocking device can be pretensioned in the direction of a blocking position, for example via a compression spring, tension spring, an elastomer element, pressure accumulator or via a correspondingly oriented magnetic force. As a result, the blocking position is provided as the standard setting, and release is then only possible through the deliberate adjustment of the actuating element, for example an automatic release movement that is voluntary or controlled by a sensor.

In one configuration, the actuator component is designed as a housing, for example a cylinder housing, a piston rod, a bearing bolt, a telescopic guide or an extension. It can be formed on a component on the housing, the piston rod, the bearing bolt or the telescopic guide. At the point at which the locking device engages with the actuator component, corresponding engagement areas or interaction areas can be provided, which ensure a particularly good locking effect of the locking device in the locking position.

In one embodiment, the coupling element is designed as a sleeve or as a lever; other force transmission devices for mechanical transmission of forces are also possible.

The actuator can be in the form of linear hydraulics, rotary hydraulics, an electric motor, a magnetorheological damper, pneumatics, a clutch or a mechanical resistance device.

In one embodiment, the lower part is pre-stressed relative to the upper part against a relative movement in the blocking direction with a spring force and is pivotably mounted.

The blocking device can in particular be arranged on the component of the orthopedic joint device on which the actuator component is not mounted directly. If, for example, in the case of a linearly acting hydraulic cylinder, the housing is mounted on the upper part and the piston rod on the lower part, the locking device is mounted on the upper part and acts on the piston rod. The blocking device thus acts parallel to the hydraulic cylinder, as a result of which its movement can be blocked. Alternatively, the locking device is mounted on the lower part and acts on the piston housing. In this case, the blocking device acts in series with the hydraulic cylinder. When the lock is unlocked, the hydraulic cylinder loses the connection to the articulation device. As a result, it is bridged in the power flow, which allows free movement of the upper and lower parts in relation to one another. When a movable bearing is blocked, the blocking device acts at the location at which the respective actuator component or the clutch component is arranged. When the piston rod is mounted in a slot on the lower part, the blocking device is mounted on the lower part and blocks a displacement of the bearing point on the lower part.

In one embodiment, the coupling component is supported in relation to an actuator component via a damping element, which in particular provides solid-state damping, hydraulic damping or magneto-rheological damping, with the damping element acting counter to the blocking direction. Alternatively, an elastic element, a pneumatic, a mechanical cal resistance device or a motorized drive unit conceivable as a support for the coupling component.

In one variant, the blocking device is assigned an actuating mechanism, via which the blocking can be canceled, so that free or almost free mobility can be provided when the blocking is canceled. The actuating mechanism can be motor-operated, and magnetic or manual actuation is also provided as an alternative drive for the actuating mechanism.

The force required to switch to the free state on the actuating device is advantageously low, provided no load is applied in the opposite direction to the blocking direction. If, on the other hand, a load is applied in the opposite direction to the blocking direction, the force required to switch to the free state on the actuating device increases, in particular the force required increases as the load increases.

The force applied by the actuating device can be limited or can be limited, in particular it can be adjustable. It can thereby be ensured that the actuator does not switch unintentionally at or above a specific load level. Due to the power limitation, the actuating device is not able to switch to the release position at a critical load, which ensures increased safety.

The fact that the force to be applied by an actuating device on the actuating element can be adjusted and limited can be used to control or adapt the orthopedic joint device. About the set actuating force, which can also be done through the selection of the actuating device, security against unintentional switching to the free state when loaded against the blocking direction is achieved. The load condition of the locking device is detected or estimated, for example, based on the condition or the energy consumption of the actuating device. This type of control is independent of the specific structure of the orthopedic joint device.

• 1 - zwei Darstellungen einer Gelenkeinrichtung;
• 2 - eine Detaildarstellung eines Aktuators mit Sperreinrichtung und elastische Kopplungskomponente;
• 3 - eine Variante mit Linearführung und Kopplungselement;
• 4 - eine Ausgestaltung einer Sperreinrichtung mit Klemmring;
• 5 - eine Variante mit einer Sperreinrichtung an einem Gehäuse;
• 6 - eine Variante mit einer Sperreinrichtung an einer Kolbenstange;
• 7 - eine Ausführung mit einer Verschiebewegbegrenzung
• 8 - eine Ausführung mit einer Sperreinrichtung an einer Kopplungskomponente;
• 9 - eine Ausführung mit Klemmkeilen in Konusform;
• 10 - eine Betätigungseinrichtung mit einem Solenoid;
• 11 - eine Betätigungseinrichtung mit einem Motor;
• 12 - eine Variante der 11; sowie
• 13 - Anwendungsbeispiele der Gelenkeinrichtung.

Exemplary embodiments of the invention are explained in more detail below with reference to the accompanying figures. Show it:

• 1 - Two representations of a joint device;
• 2 - A detailed view of an actuator with locking device and elastic coupling component;
• 3 - A variant with linear guide and coupling element;
• 4 - An embodiment of a locking device with a clamping ring;
• 5 - A variant with a locking device on a housing;
• 6 - A variant with a locking device on a piston rod;
• 7 - a version with a displacement limiter
• 8th - An embodiment with a locking device on a coupling component;
• 9 - a version with clamping wedges in the form of a cone;
• 10 - an actuator with a solenoid;
• 11 - an actuator with a motor;
• 12 - a variant of 11 ; such as
• 13 - Application examples of the joint device.

1 shows a schematic representation of an orthopedic joint device with an upper part 10 and a lower part 20 which are pivotably connected to one another about a joint axis 15. In the embodiment shown, the orthopedic joint device is designed as part of an orthosis, with the upper part being designed as a shell-like fastening element 11 which is fixed to a thigh. The determination is made with repeatedly detachable fasteners such as straps, buckles or the like. The lower part 20 has a corresponding design and has a shell 21 for receiving the lower leg or the calf. The base 20 is also releasably secured to the leg repeatedly. In the exemplary embodiment shown, the joint axis 15 is arranged at the height of the natural knee joint axis, so that the upper part 10 and the lower part 20 can follow the movement when the leg bends and stretches. An actuator is arranged between the upper part 10 and the lower part 20 and influences the pivoting movement of the upper part 10 relative to the lower part 20 . The actuator can be designed as a clutch for blocking and/or releasing a direction of movement and/or as a resistance device and can apply a movement resistance to the bending movement and/or the stretching movement. For this purpose, the actuator 30 can be designed as a damper, in particular as a hydraulic damper, magnetorheological damper, pneumatic damper or generator, in order to absorb the kinetic energy of the relative movement of the upper part 10 and Lower part 20 to convert into electrical energy or heat. The actuator 30 can also have an energy store in order to feed converted energy back to its other point in time of the orthopedic joint device in order to provide a resistance to bending and/or stretching. The energy store can be a mechanical energy store in the form of a solid spring, a pneumatic or hydraulic energy store or an electrical energy store. The stored energy can be returned to support a movement or initiate a counter movement.

In the exemplary embodiment shown, the actuator 30 is designed as a linear actuator, which has a housing with a cylinder and a piston that can be moved longitudinally therein. The piston is mounted on the lower part 20 via a piston rod, and the cylinder is mounted on the upper part 10 . The behavior of the actuator 30 against bending and/or stretching can be adjustable, so that there is an adjusted resistance to movement. The respective movement resistances can be adapted to the patient and/or the respective gait situation or the usage environment. In one configuration, the actuator 30 is coupled to a control device which causes the actuator behavior to be adjusted on the basis of sensor data. The sensors can detect spatial position, forces, moments, accelerations, speeds, angles and other influencing variables or state variables of the orthopedic technical joint device or its user and cause an adjusted adjustment based on the sensor values.

Even if in the 1 the orthopedic joint device is designed as part of an orthosis, it can also be used as part of a prosthesis. In the case of an orthosis, the joint device or several joint devices are located next to the limb or encompass the limb or lie against the limb; in the case of a prosthesis, the orthopedic joint device replaces a nonexistent or no longer existent natural joint. Instead of the shells 11, 21 as a support structure to which the other components are attached, prostheses have a prosthesis socket for connecting the joint upper part to a stump of a patient and a distal prosthesis component for connecting to the lower part 20 of the prosthesis.

In the exemplary embodiment, the lower part 20 is coupled via a spring 80, in the exemplary embodiment a leaf spring, to the leg shell 21 as a lower part component and connection to the lower leg. The spring 80 is attached at its proximal end to the lower part 20 of the hinge device and at its distal end to the leg shell 21 . If a pivoting movement about the joint axis is locked by locking the actuator 30, the lower leg can perform a slight flexion movement with a corresponding load, which is shown in the right-hand representation of FIG 1 is shown. As a result, the lower-leg shell 21 as a lower-part component is pretensioned in relation to the upper part against a relative movement in the blocking direction with a spring force via the spring 80 and is also pivotably mounted relative to the upper part 10 or the thigh shell 11 .

The actuator 30 is mounted with a distal end in the form of the piston rod on the lower part 20 of the orthopedic joint device, the proximal end of the actuator 30 is mounted either directly on the thigh shell 11 or on a support structure of the upper part 10 attached thereto.

In the 2 the internal structure of the actuator 30 with a spring element 60 arranged in series with the locking device 40 is shown as an example. The actuator 30 can be fixed to the components of a joint device via a first actuator component 31 and a second actuator component 32 . Between the two actuator components 31, 32, a guide 12 is arranged, incorporated or formed, which is a telescopic guide in the illustrated embodiment. As an alternative to the telescopic guide, the guide 12 can also be designed as a slotted guide, an arc, a bore, a slot guide, a bushing or the like.

A locking device 40 with two clamping blocks 41 which act on the second actuator component 32 via a clamping region 35 is shown within the guide. The clamping blocks 41 designed as eccentric cams in this illustration allow a relative movement of the second actuator component 32 with respect to the blocking device 40 in one direction due to their eccentric suspension, while precisely this relative movement is blocked in the other direction. The clamping blocks 41 can be lifted from the clamping area 35 by means of an actuating element 50 (not shown), whereby the clamping effect is canceled, the blocking device 40 is deactivated and free movement in both directions is made possible. In the exemplary embodiment shown, the locking device 40 is coupled to the first actuator component 31 via a spring element 60 . In the blocked state of the blocking device 40, an elastic transmission of force takes place between the actuator components 31 and 32 when pressure is applied, as a result of which an elastic behavior of the actuator 30 is realized in this load case. An Extensionbe movement, even beyond the relaxed position of the spring element 60, is always possible due to the properties of the locking device 40. If the blocking device 40 is deactivated via the actuating element 50, the two actuator components 31, 32 can move freely relative to one another.

The actuating element 50 can be adjusted via various actuating elements, not shown, for example electromechanical, hydraulic or pneumatic actuating elements, as well as mechanical movement transmission elements such as a Bowden cable or hydraulic coupling. As an alternative to the spring element 60, another resistance device, e.g. a damping element, a drive unit or a combination of these elements can also be provided.

In the 3 a variant of the blocking device 40 for the actuator 30 based on a slot guide 12 is shown. As an alternative to a slot guide, the guide can be designed as a link guide, an arc, a bore, a telescopic rod, a bushing or the like. A clamping block with a clamping area 35 is arranged inside the guide. A bore or a bolt for receiving a corresponding device of the actuator 30 is arranged or formed on the coupling component 33 . The clamping block 33 is mounted for longitudinal displacement within the guide 12 and has clamping jaws 41 on both sides next to the guide 12 as part of a locking device 40 . The clamping jaws 41 are mounted eccentrically and are coupled to an actuating device 50 with which it is possible to pivot the clamping jaws 41 about their pivot axis 42 . The clamping jaws 41 rest against the clamping area 35 on the outside of the coupling component 33 , the contact surface lying above the pivot axis 42 . If the clamping block 33 is displaced upwards along the guide 12 in the direction of the arrow, the outside of the clamping block 33 slides along the clamping jaws 41 and enables the actuator components (not shown) to be displaced. This results in the entire orthopedic joint device being displaceable and flexible along a direction of movement over the possible displacement path of the coupling component 33 within the guide 12. If a load occurs in the opposite direction, in the exemplary embodiment according to FIG 3 downwards, the clamping jaws 41 rotate about their pivot axes 42 due to the frictional force between the clamping jaws 41 and the coupling component 33, the right clamping jaw 41 counterclockwise, the left clamping jaw 41 clockwise, which blocks further downward movement comes. In order to release this blockage, the actuating device 50 is activated, for example a motor, a piezo element stack, a solenoid, a lever, a cable, a piston, a thread or another actuating element, so that the clamping effect is released. The clamping effect is also canceled when the direction of movement reverses again, i.e. there is an upward movement. The blocking device 40 thus blocks a relative movement of the actuator 30 or an actuator component in one direction, but always allows a relative movement in the opposite direction.

In the 4 a further variant of the blocking device 40 for the actuator 30 is shown. The actuator 30 as a linear actuator, for example a hydraulic damper, has a housing 31 and a piston rod 32 . The hydraulic cylinder is arranged or formed within the housing 31 with a piston accommodated therein, the piston being coupled to the piston rod 32 . In an embodiment as a hydraulic damper, overflow channels with optionally valves are arranged within the cylinder in order to provide or adjust the flow resistance. The housing 31 as the first actuator component is fixed, for example, to the upper part 10 or a support structure 11 fixed thereto, the piston rod 32 as the second actuator component is fixed to the lower part 20 or a support structure 21 fixed thereto. In the exemplary embodiment shown, the first actuator component 31 is fixed in a displaceable manner on the upper part 10, and the locking device 40 has a clamping ring 41a which is positioned at an angle. A rotatable bearing is provided, for example, on the upper edge of the clamping ring, so that displacement of the cylinder 31 to the left is always possible, but is blocked to the right. Here, too, the blocking device 40 can be assigned an actuating element 50 in order to prevent a blocked position or to release a blocked position by shifting the clamping ring.

In the 5 is a variant of 3 shown, in which instead of blocking or clamping a coupling component, the clamping jaws 41 act directly on the housing 31 of a linear actuator, for example a hydraulic cylinder. Here, too, the clamping jaws 41 are mounted eccentrically about pivot axes. There is always free mobility in a direction of displacement to the right, for a direction of displacement of the cylinder 31 to the left there is always a blockage. The clamping jaws 41 can have elastic properties or be mounted elastically, so that the blocking of the displacement movement of the actuator component 31 is gentle. Again, the jaws 41 can be disengaged by an actuator 50 to allow free movement in either direction.

A variant of 5 is in the 6 shown, in which the clamping jaws 41 do not act on the housing 31 but on the piston rod 32. Unlocking takes place via an actuating device 50, for example via a spring, a motor, a cable pull, a push rod, a magnetic circuit or another power transmission device. This embodiment corresponds to a parallel connection between the blocking device 40 and the linear actuator.

In the 7 is a variant according to the 5 shown with action of the jaws 41 on a rearward extension of the housing 31. This results in a defined length of the clamping area, as a result of which the effective area of the blocking device 40 can be limited. Here, too, a shift to the right is always possible, a shift to the left is usually blocked due to the eccentrically mounted clamping jaws 41, unless the actuating device keeps the clamping jaws 41 disengaged or moves them disengaged.

In the 8th a further variant of the actuator 30 is shown as a resistance device with a housing 31 as the first actuator component and a piston rod 32 as the second actuator component. A sleeve is arranged around the housing 31 as a coupling component 33 for a spring element 60 which is supported on the piston rod 32 via a locking washer. The spring element 60 is arranged between the sleeve 33 and the housing 31 and is designed as a helical spring in the exemplary embodiment shown. Alternatively, the coupling component 33 can be elastically supported in relation to one of the two actuator components 31, 32 via an elastomer element, a pneumatic spring or other spring configurations such as plate springs, helical springs, helical plate springs and the like, and a combination thereof. The spring 60 is comparatively stiff and, with a locked coupling component 33 in the form of the sleeve, provides the functionality that the piston rod 32 can deflect slightly into the housing 31 against a high level of resistance. In addition to the increased rigidity, this makes it possible to support the reversal movement of the joint device, for example to enable resistance in the stance phase flexion when used in an artificial knee joint and to support stance phase extension through spring force. The integrated resistance device only provides a low resistance. This can be used, for example, to control the swing phase, to limit flexion and slow down or dampen an extension movement, in order to prevent a part of the lower leg from hitting an extension stop without braking. The locking device 40 with the eccentrically mounted clamping jaws 41 is mounted at bearing points 36 on the upper part or lower part like the housing 31 with its bearing point 36 . Disengaged them for swing phase. This is done by an actuating device, not shown, which is symbolized by arrows. For the stance phase, the jaws 41 are engaged, the coupling component 33 is locked in the direction of compression of the spring 60 and can no longer move relative to the housing 31 . The spring 60 is then supported on a shoulder within the sleeve 33 and can no longer be displaced around the outer circumference of the housing 31 when the piston rod 32 dips into the housing 31 . The coupling component 33 is thus designed to be switchable, a one-off opening for initiating the swing phase can be achieved via an actuating device 50, for example via a lifting magnet or an electric motor drive. If the clamping jaws 41 are prestressed in the direction of the coupling component 33, in the event of a failure of the actuating device, the clamping jaws 41 rest against the coupling component 33 and an increased flexion resistance is provided. This increases the functional reliability of the orthopedic joint device, since a high level of resistance is made available as standard. If this is not desired, for example when used in an elbow joint, the clamping jaws can also be pretensioned in the opposite direction, so that active locking is required.

Another constructive variant is in the 9 shown, are mounted in the springs 44 biased, circular segment-shaped cone sections as clamping wedges 41 in a guide ring 45. An actuator component 31, for example a housing of a linear damper, is circumferentially surrounded by a plurality of wedge sections, four in the exemplary embodiment. In the upper left representation of the 9 the locked position is shown. The part-circular clamping wedges 41 are opposite each other around almost the entire circumference on the outside of the actuator component 31, which is shown in the upper right illustration of FIG 9 is shown. This reduces the surface pressure on the contact surfaces 43 between the clamping wedges 41 and the actuator component 31, and at the same time a symmetrical holding force is exerted on the outer circumference of the actuator component 31. The outer contour of the clamping elements 41 is conical, the inner contour essentially cylindrical, so that the clamping elements 41 are pressed onto the outside of the actuator component 31 by the springs 44 . Due to the wedge effect, the actuator component 31 is locked in relation to a support ring 45 in one direction of movement carried out to the left, a displacement of the actuator component 31 to the right is possible at any time. By selecting the cone angle of the clamping elements 41, the contact pressure can be defined and thus a slip behavior defined via the friction parameters can be achieved in the event of an overload.

The lower illustration shows an unlocking of the locking device 40 in which forces are applied via an actuating device 50 against the direction of movement of the actuator component 31 and against the spring force of the springs 44, for example via a motor or another drive. The structure shown has a low level of complexity. The clamping elements 41 are at the same time a guide for the actuator component 31 or a coupling component. The clamping elements 41 are held in the correct position without additional fastening elements. The clamping elements or slips 41 are held circumferentially in a single, annular, tapered mount 45 which is formed as a support ring and may also be formed as a separate component. The holder can also serve as a second actuator component. Due to the low surface pressure, it is possible to make the components small, which means that the overall size can be reduced. The construction can also be applied to non-circular cross-sections of the actuator components. Specially flat contact surfaces for the clamping wedges are ideal here, e.g. in the case of polygon cross-sections of the actuator components, as these are easy to manufacture. In addition, with such a construction, an anti-twist device is achieved.

In the 10a an alternative embodiment for activating and deactivating the blocking device 40 is shown. The basic construction is based on the 9 already explained. The unlocking takes place in accordance with the embodiment 10a via the actuating device 50, which consists of coils 51 and a magnetically displaceable armature 52 in the example shown. In the non-activated state shown in the left illustration of the 10 is shown, the coils 51 are not current-carrying. The springs 44 press the clamping wedges 41 against the actuator component 31, a movement of the actuator component 31 to the left is blocked. If the actuating device 50 is activated and current is flowing through the coils 51 , the magnetically displaceable armature 52 moves to the right, the clamping wedges 41 are moved out of the support ring 45 and are displaced against the spring force of the springs 44 . As a result, the clamping effect and blocking effect are canceled and the actuator component 31 can be shifted to the left.

the 10b shows a variant of 10a , in which the actuating device 50 is actuated by an electromagnetic actuator 30 acting in the reverse direction. If current flows through the coils 51, the magnetically displaceable armature 52 is pulled to the right into the coil against the force of the springs 44, as a result of which the clamping wedges 41 are moved out of the support ring 45 and unlocking takes place.

In the 11 An alternative design for engaging and disengaging the slips is shown. Instead of a magnetic coil, an electric motor 50 is provided, which drives a spindle 54 via a gear 53 , which is mounted in a spindle nut 55 which is fixed relative to the electric motor 50 and/or the support ring 45 . If the motor 50 is activated and the gear 53 rotates in the corresponding direction, the spindle 54 moves to the right and presses the clamping wedges against the spring force of the springs 44 into a release position, which is shown in the illustration on the right. In the illustration on the left, displacement of the actuator component 31 to the left is not possible, but to the right at any time. In the illustration on the right, the blockage has been lifted and there is free movement in both directions.

A variant of 11 is in the 12 shown, in which there is also a motor drive, but both the locking device 40 and the actuating device 50 are located within the actuator component 31. The clamping wedges 41 are located outside on the circumference of a fixed bracket 45 and are via the springs 44 within the actuator component 31 are pressed to the left, whereby they are expanded and pressed from the inside against the cylindrical contact surfaces of the actuator component 31. The motor 50 is coupled to the spindle nut 55 via the spindle 54 . The spindle nut 55 is moved to the right upon activation of the motor 50, which is stationarily mounted relative to the holder 45, as a result of which the clamping wedges 41 are pressed away from the holder 45 against the springs 44. If the direction of rotation of the motor 50 is reversed, the springs 44 move the slips 41 back into the abutting position. In the illustration on the left, the locked position has been reached and the coupling component cannot be displaced to the left, but always to the right. In the illustration on the right, there is free mobility to the right and to the left.

In the 13 two application examples of the orthopedic joint device are shown in the form of knee orthoses and elbow orthoses. Both orthoses have an upper part 10 and a lower part 20 which are mounted on one another in an articulated manner about a pivot axis 15 . The top 10 is fixed to the upper arm with the first fastening element 19, for example a cuff, a shell or straps, while the lower part 20 is fixed to the forearm via a second fastening element 29. The second fastening element 29 is designed in a suitable manner, for example also as a shell, partial shell, collar or the like. The actuator 30 with the two actuator components 31, 32 is arranged between the upper part 10 and the lower part 20, as has been described with reference to the previous figures.

A characteristic of all these designs is that they can be switched to the free state with little actuating force, provided there is no load applied in the opposite direction to the blocking direction. When loaded in the blocking direction, the shifting force required for this increases sharply. This can be used as security against unintentional switching under load, for example by limiting the force of the actuating device for actuating the switching. As a result, the control of an orthotic or prosthetic joint based on the joint device can be simplified. Due to this property, in many cases there is no need for additional sensors to measure the load status, since this can also be estimated, for example, via the energy consumption or the status of the actuator or the operating device.

QUOTES INCLUDED IN DESCRIPTION

This list of the documents cited by the applicant was generated automatically and is included solely 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

• US 9744093 B2 [0005]

Claims (18)

Orthopedic joint device with an upper part (10) and a lower part (20) which are connected to each other so that they can pivot about a joint axis (15), with an actuator (30) which has a first actuator component (31) and a second actuator component (32), which can be displaced relative to one another, the first actuator component (31) being mounted on the upper part (10) and the second actuator component (32) being mounted on the lower part (20), characterized in that a locking device (40) of one of the actuator components (31, 32) or a coupling component (33) mounted on one of the actuator components (31, 32), the blocking device (40) blocks a movement of the actuator component (31, 32) or the coupling component (33) relative to the blocking device (40 ) and allows a relative movement in the opposite direction. Orthopedic joint device according to claim 1 , characterized in that an actuator component (31, 32) is movably mounted on the upper part (10) or lower part (20). Orthopedic joint device according to claim 1 or 2 , characterized in that the movably mounted actuator component (31, 32) is guided in a guide (12). Orthopedic joint device according to one of the preceding claims, characterized in that the coupling component (33) is supported by a spring element (60) relative to an actuator component (31, 32) and that the spring element (60) acts against the blocking direction. Orthopedic joint device according to one of the preceding claims, characterized in that the blocking device (40) is switchable and can be switched from a blocking position to a release position in which a relative movement in both directions is possible. Orthopedic joint device according to one of the preceding claims, characterized in that the actuator (30) provides a resistance to pivoting of the upper part (10) relative to the lower part (20). Orthopedic joint device according to one of the preceding claims, characterized in that a spring element (60) is assigned to the actuator (30). Orthopedic joint device according to claim 7 , characterized in that the spring element (60) via the locking device (40) can be switched on. Orthopedic joint device according to claim 7 or 8th , characterized in that the blocking device (40) is supported by a spring element (60) relative to an actuator component (31, 32) and in that the spring element (60) acts counter to the blocking direction. Orthopedic joint device according to one of the preceding claims, characterized in that the locking device (40) has an actuating device (50) which holds or moves the locking device (40) out of engagement with the actuator component (31, 32) and/or coupling component (33). . Orthopedic joint device according to claim 10 , characterized in that the actuating device (50) has an actuating element (51), which is designed in particular as an electromechanical actuating element, magnet, hydraulic, pneumatic or Bowden cable Orthopedic joint device according to one of the preceding claims, characterized in that the blocking device (40) has at least one movably mounted clamping body (41). Orthopedic joint device according to one of the preceding claims, characterized in that the blocking device (40) is pretensioned in the direction of a blocking position. Orthopedic joint device according to one of the preceding claims, characterized in that the actuator component (31, 32) is designed as a housing, a piston rod, a bearing bolt or a telescopic guide. Orthopedic joint device according to one of the preceding claims, characterized in that the coupling component (33) is designed as a sleeve or lever. Orthopedic joint device according to one of the preceding claims, characterized in that the actuator (30) is designed as a linear hydraulic system, rotary hydraulic system, resistance device, electric motor, coupling or magnetorheological damper. Orthopedic joint device according to one of the preceding claims, characterized in that the lower part (20) or a lower part component (21) is pretensioned and pivotably mounted relative to the upper part (10) against a relative movement in the blocking direction with a spring force (80). Orthopedic joint device according to one of the preceding claims, characterized in that the coupling component (33) is supported by a damper element relative to an actuator component (31, 32) and that the damper element acts counter to the blocking direction.

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