Method for controlling a change of damping in an artificial joint

Abstract

A method for controlling a change of resistance in an artificial joint of an orthosis, an exoskeleton or prosthesis of a lower extremity. The artificial joint has an upper part and a lower part which are secured on each other so as to be pivotable about a pivot axis, a damper unit is secured between the upper part and the lower part in order to provide a resistance to flexion or extension of the artificial joint, and the damper unit is assigned an adjusting mechanism via which the resistance is changed when a sensor signal of a control unit assigned to the adjusting mechanism activates the adjusting mechanism. The resistance is changed as a function of the position and/or length of the measured or calculated leg tendon and/or the time derivatives thereof.

1 - 11 . (canceled) 
     
     
         12 . A method for controlling a change in resistance in an artificial joint of an orthosis, an exoskeleton, or prosthesis of a lower extremity, the method comprising:
 providing an artificial joint having an upper part and a lower part which are fastened to one another pivotably about a pivot axis, a resistance unit fastened between the upper part and the lower part in order to provide a resistance to flexion or extension of the artificial joint, the resistance unit being assigned an adjustment device operable to change the resistance if a sensor signal of a control unit assigned to the adjustment device activates the adjustment device;   changing the flexion resistance or extension resistance based on at least one of a position and an orientation of at least one of the upper part and the lower part.   
     
     
         13 . The method as claimed in  claim 12 , wherein a lower leg angle or a thigh angle is directly measured using an inertial angle sensor, or is determined using a position sensor on a thigh or lower leg and a knee angle sensor. 
     
     
         14 . The method as claimed in  claim 12 , wherein a quotient is determined from a change in a thigh speed or a lower leg speed, the quotient being used for an assessment of the walking situation. 
     
     
         15 . The method as claimed in  claim 14 , wherein a force sensor for detecting forces in the lower part detects a stance phase or standing. 
     
     
         16 . The method as claimed in  claim 12 , wherein the resistance is changed additionally in a manner dependent on a change in position of at least one of the upper part and the lower part. 
     
     
         17 . The method as claimed in  claim 12 , wherein the artificial joint is formed as a hip joint, a knee joint, or an ankle joint. 
     
     
         18 . The method as claimed in  claim 12 , wherein during forward walking on level ground, the upper part and the lower part rotate in a forward direction. 
     
     
         19 . The method as claimed in  claim 12 , wherein during walking downwardly on an inclined ground, a thigh angle remains substantially constant. 
     
     
         20 . The method as claimed in  claim 12 , wherein during walking down stairs, the upper part rotates backward. 
     
     
         21 . A method for controlling a change in resistance in an artificial joint of an orthosis, an exoskeleton, or prosthesis of a lower extremity, the method comprising:
 providing an artificial joint having an upper part, a lower part, a resistance unit, and an adjustment device, the upper part being pivotally connected to the lower part, the resistance unit providing a flexion resistance or an extension resistance, the adjustment device including a control unit, the adjustment device being operable to change the flexion resistance or extension resistance if a sensor signal of the control unit activates the adjustment device;   
       changing the flexion resistance or extension resistance based on at least one of a position and an orientation of at least one of the upper part and the lower part. 
     
     
         22 . The method as claimed in  claim 21 , wherein a lower leg angle or a thigh angle is directly measured using an inertial angle sensor, or is determined using a position sensor on a thigh or lower leg and a knee angle sensor. 
     
     
         23 . The method as claimed in  claim 21 , wherein a quotient is determined from a change in a thigh angle or lower leg angle, the quotient being used for an assessment of the walking situation. 
     
     
         24 . The method as claimed in  claim 21 , wherein a quotient is determined from a change in a thigh speed or a lower leg speed, the quotient being used for an assessment of the walking situation. 
     
     
         25 . The method as claimed in  claim 24 , further comprising detecting forces in the lower part with a sensor during a stance phase or standing. 
     
     
         26 . The method as claimed in  claim 21 , further comprising changing the resistance in a manner dependent on a position or change in position of at least one of the upper part and the lower part. 
     
     
         27 . The method as claimed in  claim 21 , wherein the artificial joint is formed as a hip joint, a knee joint, or an ankle joint. 
     
     
         28 . The method as claimed in  claim 21 , wherein during forward walking on level ground, the upper part and the lower part rotate in a forward direction. 
     
     
         29 . The method as claimed in  claim 21 , wherein during walking downwardly on an inclined ground, the thigh angle remains substantially constant. 
     
     
         30 . The method as claimed in  claim 21 , wherein during walking down stairs, the thigh rotates backward.