Method for controlling a knee orthosis

Abstract

A knee orthosis and a method for controlling a knee orthosis including a thigh structure having a fastening structure to be fixed to a thigh, a lower leg structure which is pivotally coupled to the thigh rail using a joint mechanism and has a fastening structure to be fixed to a lower leg as well as a foot piece for supporting a foot, and an actuator device between the thigh structure and the lower leg structure. The fastening points of the actuator on the thigh structure and lower leg structure and the center of rotation of the joint mechanism form a triangle. The fastening points are arranged on the structures such that the connecting line between the fastening points extends perpendicular to a connecting line between a fastening point and the center of rotation in an angular position of the knee in which the lower leg is bent at an angle ranging from 0° to 90° relative to the thigh.

1 - 20 . (canceled) 
     
     
         21 . A method for controlling a knee orthosis, comprising:
 providing a thigh structure, a lower leg structure, an actuator unit arranged between the thigh structure and the lower leg structure;   providing fastening points for the fastener unit on the thigh structure and on the lower leg structure;   securing the thigh structure to a thigh with a first fastening member;   pivotably coupling the lower leg structure to the thigh structure via a joint mechanism;   securing the lower leg structure to a lower leg with a second fastening member;   forming a triangle among the fastening points and a center of rotation of the joint mechanism;   determining an active ankle moment within the orthosis;   changing a behavior of the actuator unit as a function of at least the ankle moment.   
     
     
         22 . A method according to  claim 21 , wherein the fastening points are arranged on the thigh structure and lower leg structure such that a connecting line between the fastening points is perpendicular to a connecting line between one of the fastening points and the center of rotation in an angular position of a knee in which the lower leg is bent at an angle of between 0° and 90° relative to the thigh. 
     
     
         23 . A method according to  claim 21 , wherein the actuator unit and the fastening points of the actuator unit are mounted so as to be movable or pivotable in a lateral plane. 
     
     
         24 . A method according to  claim 21 , wherein the lower leg comprises a foot part having a dorsal spring, on which or in which at least one sensor is arranged for detecting the ankle moment. 
     
     
         25 . A method according to  claim 21 , wherein the actuator unit comprises a linear hydraulic damper unit. 
     
     
         26 . A method according to  claim 25 , further comprising adjusting damping provided by the linear hydraulic damper unit via two valves separately for extension and flexion, the valves being adjusted via servo motors. 
     
     
         27 . A method for controlling a knee orthosis, comprising:
 providing a thigh structure, a lower leg structure, an actuator unit arranged between the thigh structure and the lower leg structure;   providing fastening points for the actuator unit on the thigh structure and on the lower leg structure;   securing the thigh structure to a thigh with a first fastening member;   pivotably coupling the lower leg structure to the thigh structure via a joint mechanism;   securing the lower leg structure to a lower leg with a second fastening member;   forming a triangle among the fastening points and a center of rotation of the joint mechanism;   measuring or calculating a knee moment;   changing a behavior of the actuator unit as a function of the knee moment.   
     
     
         28 . A method according to  claim 27 , wherein the fastening points are arranged on the thigh structure and lower leg structure such that a connecting line between the fastening points is perpendicular to a connecting line between one of the fastening points and the center of rotation in an angular position of a knee in which the lower leg is bent at an angle of between 0° and 90° relative to the thigh. 
     
     
         29 . A method according to  claim 27 , wherein the actuator unit and the fastening points of the actuator unit are mounted so as to be movable or pivotable in a lateral plane. 
     
     
         30 . A method according to  claim 27 , wherein the actuator unit comprises a linear hydraulic damper unit. 
     
     
         31 . A method according to  claim 30 , further comprising adjusting damping provided by the linear hydraulic damper unit via two valves separately for extension and flexion, the valves being adjusted via servo motors. 
     
     
         32 . A method for controlling a knee orthosis, comprising:
 providing a thigh structure, a lower leg structure, an actuator unit arranged between the thigh structure and the lower leg structure;   providing fastening points for the actuator unit on the thigh structure and on the lower leg structure;   securing the thigh structure to a thigh with a first fastening member;   pivotably coupling the lower leg structure to the thigh structure via a joint mechanism;   securing the lower leg structure to a lower leg with a second fastening member;   forming a triangle among the fastening points and a center of rotation of the joint mechanism;   changing a behavior of the actuator unit as a function of a spatial orientation of the at least one of the thigh structure and the lower leg structure.   
     
     
         33 . A method according to  claim 32 , wherein the fastening points are arranged on the thigh structure and lower leg structure such that a connecting line between the fastening points is perpendicular to a connecting line between one of the fastening points and the center of rotation in an angular position of a knee in which the lower leg is bent at an angle of between 0° and 90° relative to the thigh. 
     
     
         34 . A method according to  claim 32 , wherein the actuator unit and the fastening points of the actuator unit are mounted so as to be movable or pivotable in a lateral plane. 
     
     
         35 . A method according to  claim 32 , wherein the actuator unit comprises a linear hydraulic damper unit. 
     
     
         36 . A method according to  claim 35 , further comprising adjusting damping provided by the linear hydraulic damper unit via two valves separately for extension and flexion, the valves being adjusted via servo motors.