Method for controlling an orthopedic joint device, and orthopedic joint device

Abstract

The invention relates to a method for controlling an orthopaedic joint device of a lower extremity. The joint device has an upper part (2) and a lower part (3) mounted in a hinged manner on the latter. Arranged between the upper part (2) and the lower part (3) is an energy converter (5) by which, during walking, kinetic energy from the relative movement between the lower part (3) and the upper part (2) is converted or stored and supplied again to the joint in order to support the relative movement, wherein kinetic energy within one movement cycle is converted and/or stored and, within the same movement cycle, is supplied again as kinetic energy to the joint device (1) in a controlled manner and staggered in time.

1 - 32 . (canceled) 
     
     
         33 . A method for controlling an orthopedic joint device of a lower extremity, the orthopedic joint device having an upper part and a lower part mounted in an articulated manner thereon, the method comprising:
 providing an energy conversion device arranged between the upper part and the lower part, the energy conversion device comprising a hydraulic cylinder with a piston arranged on a piston rod, and a spring arranged within one of the first and second chambers, the piston separating the hydraulic cylinder into a first chamber and a second chamber, a volume of the first chamber being reduced during a flexion movement of the lower part relative to the upper part and increased during an extension movement of the lower part relative to the upper part, the spring being loaded during the flexion movement and relaxed during the extension movement;   converting and storing kinetic energy from relative movement between the lower part and the upper part with the energy conversion device; and   feeding back the kinetic energy to the orthopedic joint device with the energy conversion device during a stance phase to assist with the extension movement;   wherein within a movement cycle, kinetic energy is converted and stored and, within the same movement cycle, is fed back to the orthopedic joint device in a controlled manner after a time delay such that the energy feedback does not occur immediately after converting and storing of the kinetic energy.   
     
     
         34 . The method as claimed in  claim 33 , further comprising feeding back the kinetic energy during at least one of initiation of a swinging phase to assist the flexion movement of the orthopedic joint device, after reaching a maximum flexion angle to assist the extension movement, and after the flexion movement following an initial heel contact to assist the extension movement. 
     
     
         35 . The method as claimed in  claim 33 , wherein the kinetic energy is at least one of converted and stored during a flexion movement, the method further comprising feeding back the kinetic energy to initiate the swinging phase to at least one of assist the flexion movement and to maintain a bending velocity after a toe lift off. 
     
     
         36 . The method as claimed in  claim 33 , wherein the kinetic energy is at least one of converted and stored after initiation of a swinging phase, the method further comprising feeding back the kinetic energy to assist a flexion movement of the orthopedic joint device after reaching a maximum flexion velocity. 
     
     
         37 . The method as claimed in  claim 33 , wherein the kinetic energy is at least one of converted and stored before reaching an extension stop limit, the method further comprising feeding back the kinetic energy to at least one of initiate and assist a flexion movement of the orthopedic joint device. 
     
     
         38 . The method as claimed in claim  1 , further comprising feeding back the kinetic energy during a swinging phase of the joint device to increase or maintain the extension movement. 
     
     
         39 . The method as claimed in  claim 33 , wherein the kinetic energy is stored during at least one of a standing phase at a beginning of a standing phase flexion with heel loading, before reaching an extension stop limit, and after initiating the standing phase flexion with forefoot loading. 
     
     
         40 . The method as claimed in  claim 33 , wherein the kinetic energy is converted and stored with an initial heel impact, the method further comprising feeding back the kinetic energy as part of at least one of initiating and assisting a flexion movement of the orthopedic joint device. 
     
     
         41 . The method as claimed in  claim 33 , wherein less of the kinetic energy is supplied to the orthopedic joint device with increasing walking speed. 
     
     
         42 . The method as claimed in  claim 33 , wherein the converted kinetic energy is completely fed back to the orthopedic joint device in the movement cycle. 
     
     
         43 . The method as claimed in claim  1 , wherein at least one of the converting and storing of the kinetic energy is carried out only in predetermined phases during the movement cycle. 
     
     
         44 . The method as claimed in  claim 33 , wherein a supply of stored kinetic energy is converted and fed back to assist the relative movement in the controlled manner. 
     
     
         45 . The method as claimed in  claim 33 , wherein a supply of stored kinetic energy is changed by energy from the spring. 
     
     
         46 . The method as claimed in  claim 33 , wherein the energy is stored in an energy store, the energy store being assigned an actuator, the actuator to fill the energy store to a minimum level if the relative movement is not sufficient. 
     
     
         47 . The method as claimed in  claim 46 , wherein the energy store is assigned a releasing device, the releasing device to release the kinetic energy from the energy store. 
     
     
         48 . The method as claimed in claim  1 , wherein the kinetic energy fed back is dependent upon at least one of the following criteria:
 an angular position of the upper part in relation to the lower part;   a position of at least one of the upper part and the lower part in space;   an angular velocity of at least one of the upper part and the lower part;   a relative velocity between the upper part and the lower part;   a loading situation; and   an acceleration of at least one of the upper part and the lower part.   
     
     
         49 . The method as claimed in  claim 48 , wherein the kinetic energy is stored with the spring and is fed back from the spring dependent upon at least one of the criterion recited in  claim 48 . 
     
     
         50 . The method as claimed in  claim 33 , further comprising adjusting a point in time of an intervention of the energy conversion device to change at least one of an amount of kinetic energy to be converted and an amount of kinetic energy supplied. 
     
     
         51 . The method as claimed in  claim 46 , further comprising charging the energy store by an actuator if the energy conversion device is not active on account of the relative movement between the upper part and the lower part. 
     
     
         52 . The method as claimed claim  1 , wherein the relative movement is influenced by a damper device. 
     
     
         53 . The method as claimed in  claim 33 , wherein feeding back the kinetic energy to the orthopedic joint device with the energy conversion device occurs only during the stance phase. 
     
     
         54 . The method as claimed in  claim 33 , wherein feeding back the kinetic energy also occurs after extension during the stance phase to assist with flexion movement of the lower part relative to the upper part. 
     
     
         55 . A method of controlling an orthopedic joint device of a lower extremity, the orthopedic joint device having an upper part and a lower part mounted in an articulated manner thereon, the method comprising:
 providing an energy store and an energy conversion device arranged between the upper part and the lower part;   converting kinetic energy from relative movement between the lower part and the upper part with the energy conversion device;   storing the converted kinetic energy from the energy conversion device in the energy store as stored energy; and   feeding back the stored energy to the orthopedic joint device with the energy conversion device during a stance phase to assist with an extension movement of the lower part relative to the upper part by supplying the stored energy from the energy store to the energy conversion device;   wherein within a movement cycle, kinetic energy is converted and stored and, within the same movement cycle, is fed back as the stored energy to the orthopedic joint device in a controlled manner after a time delay such that the energy feedback does not occur immediately after converting and storing of the kinetic energy, and the stored energy available for feeding back to the conversion device is supplemented by the energy store.   
     
     
         56 . A method for controlling an orthopedic joint device of a lower extremity, the orthopedic joint device having an upper part and a lower part mounted in an articulated manner thereon, the method comprising:
 providing an energy conversion device arranged between the upper part and the lower part, the energy conversion device comprising a hydraulic cylinder with a piston arranged on a piston rod, the piston separating the hydraulic cylinder into a first chamber and a second chamber, a volume of the first chamber being reduced during a flexion movement of the lower part relative to the upper part and increased during an extension movement of the lower part relative to the upper part;   converting and storing kinetic energy from relative movement between the lower part and the upper part with the energy conversion device; and   feeding back the kinetic energy to the orthopedic joint device with the energy conversion device during a stance phase of walking in order to assist with the extension movement;   wherein within a gait cycle, kinetic energy is converted and stored and, within the same gait cycle, is fed back to the orthopedic joint device in a controlled manner after a time delay such that the energy feedback does not occur immediately after converting and storing of the kinetic energy, and the energy feedback occurs only during specific phases of the gait cycle.