Technical field The present invention relates to an assistive device aimed for helping disabled persons. The invention also concerns a method for use by the assistive device.

Background of the invention Globally, there seems to be an increasing demand for healthcare and personal assistance. A still growing population of elderly and handicapped persons pushes the tendency. Common daily routines such as keeping yourselves clean and groomed can be difficult to handle if a person suffers from even mild disabilities. More specifically some illnesses, such as arthritis, can evolve in a decreased mobility of the upper extremities, hereunder also the arms, hands and chest region. In addition, arthritis also affects the lower extremities, the hip region, the legs, and the feet. Further indications lists cerebral palsy and back injuries. For the person suffering from the illness certain movements can be impossible to perform and/or be associated with severe pain. For patients suffering from mild or severe disabilities it is a desire to be self-contained when it comes to using a toilet. It is highly appreciated to be able to manage without the need for calling personal assistance. Especially the need is higher if personal assistance is to be required on demand and waiting time is to be expected.

However, the resources, economically and in numbers of care keepers seems to be continuously cut off developing the problem further, which is not an acceptable situation seen from a human or social perspective. Thus, the mindset is changing towards providing equipment that can support the persons in need for assistance and make them more and more self-contained. When it comes to own personal care and hygiene it is further a matter of quality of life, freedom and self-esteem to be able to manage without assistance. For the community there is an incitement to provide a system that can support persons living with a disability, such as arthritis, cerebral palsy or back injuries, staying in their own home for a longer time and thus lower the demand for nursing homes. Lowering the need for personal assistance in the home is a gain for both the patient and for the community since the patient is more self-contained and less resource needed from the society. An estimate suggest that one out of 300 persons in a population is in need of personal assistance 5 to 6 times a day just in order to using a toilet. Accumulated this is in average 2 hours needed assistance each day. The related expenses are high and the time could be spend better. Enabling self-contained patients when it comes to using a toilet will enhance the quality of life for the personal assistants with potential to put focus on the social call and mental wellbeing of the patient.

The development of automatic toilets featuring wash and drying facilities was expected to lower the number of patients that needs personal assistance in order to use a toilet. Contrary to expectations, investigations revealed that the number of calls for assistance was not reduced even though the brilliant features of the automatic toilet reduced the service task provided by the caregiver. It was found that patients suffering from disabilities, such as arthritis, cerebral palsy or back injuries still face an obstacle in lowering and raising the pants and underwear before and after using the toilet. Especially the task of gripping the pants after concluding the use of a toilet and redressing seems to be a difficult or impossible exercise.

Thus, there seems to be an urgent need for a technical solution in form of an assisting device for solving the above-explained objective problem.

Summary of the invention

It is an object of embodiments of the present invention to provide a device and a method, which overcomes or at least reduces the above disadvantages.

More explicitly, the invention provides an assistive device for disabled persons that on demand serves to perform the tasks of

gripping the clothing (pants and underwear in contact with the body) and releasing the clothes out from contact with the body; performing firstly on demand the lowering of the clothing vertically down in a lowered position (below the knees of a standing person in order for the partly undressed person to take a seat on the toilet) and subsequently on demand (when the person again has taken a standing position) perform the raising of the clothing in the vertical direction upwards and at last when reaching the desired altitude performing the task of releasing the clothing in order to be in contact with the body.

Appreciated, for the applicability of the invention, pants and underwear must be of the type using an elastic waistband or the textile used must have flexible stretching qualities. There is however, no hindrance against that pants or underwear can be equipped with zippers or buttons if the function of undressing the patient does not rely on the manipulation or operation of said zippers or buttons. Further, it has to be understood that the patient should be able to take a standing position in front of the equipment where it is possible for the patient to secure that the fingers of the finger mechanism are arranged inside the waist loop of the pants or underwear. The fingers of the finger mechanism should be arranged inside the waist loop of the pants or underwear in such a way enabling the fingers to enlarge the waist loop by stretching the elastic waistband of the pants and/or the fabric of the pants and in that way release the clothing from the body.

In a first aspect, the invention provides:

An assistive device for disabled persons, comprising :

- at least one vertical rail;

- at least two finger mechanisms including :

- at least two fingers for gripping a piece of clothing;

- a sliding block residing moveable in or on the at least one vertical rail and being guided by the vertical rail;

- an arm for support of the finger mechanism, the arm being attached to the sliding block;

- at least one pneumatic, hydraulic or electrical power supply and a compatible drive serving as a drive for providing a pressure or a mechanical tension or torque for operating the device;

- a transmission between said drive and the finger mechanism;

- a control;

Where the assistive device is configured to perform one or more of the tasks:

- moving the arm over at least a part of the travel of the vertical rail

- moving the arm in a horizontal direction

- moving a finger

In a special embodiment, the assistive device comprises one vertical rail adapted to be arranged in proximity of the toilet. More specifically, the vertical rail is mounted behind the toilet in such a way that it extends in direction from the floor towards the ceiling. A sliding block is residing moveable with the vertical rail and a cross member in form of two cantilevers are fixed to the sliding block in such a way to form a cross with the vertical rail. The cross member is in an embodiment formed like an elongated bar or tube. A part of the transmission is mounted through the sliding block going into the cross member separating in both directions through the cross member. The arms for the finger mechanism is fixedly attached to the cross member in position towards the free end or at the free end of the cantilever. More explicitly, an arm is arranged on both cantilevers and the transmission is extended hereto. The arms are fixed to the cross member cantilever in such a way that they are pointing out in a horizontal direction. The finger mechanism is mounted on the arm and the transmission is connected hereto. As it appears the cross member formed by the two cantilevers can be height adjusted guided by the vertical rail and powered by the drive.

Further, the arm is pivotably mounted on the cantilever in such a way that the arm is sidewards moveable within a fixed boundary. This enables the arm and the attached finger mechanism to move sidewards from a position just in the front of the toilet and towards the side. When the two fingers of the finger mechanism is inserted in the waist loop of the pants of the person they will move from the centerpoint on the back of the person towards the hip and in that way stretch the pants. In the next step of the assistive device a first of the fingers will be kept in position and the second finger will perform a movement in direction of the arm but pivoting out of the arm and thus traveling around the hip and stretching the pants in front of the person. The result is that the pants has been released from the body. For lowering the pants, the two cantilevers are height adjusted until a position is reached where the pants will not avoid the person to take a sitting position on the toilet. In other words, by moving the arm over at least a part of the travel of the vertical rail.

It has to be understood that the assistive device can be operated based on optional techniques being pneumatic, hydraulic or electrical power supply and a compatible drive unit.

A pneumatic or hydraulic drive will feature a transmission based on tubing and a compressor where an electrical drive will feature a transmission and an electrical servo drive.

In an embodiment, the assistive device comprises a combination of one of a pneumatic or hydraulic drive in combination with an electrical drive. The transmission of an electrical servo drive will feature axels, angle drives, spindles, spindlenuts. In an embodiment, the invention comprises at least one spindle and at least one spindle nut arranged rotatable on a spindle together forming a ball-screw, where one of a spindle or a spindle nut is fixed against rotation to a stationary part of the robotic system and the other is arranged rotatable and can be rotatable manipulated by means of a drive unit.

More explicitly the drive unit could be one of a pneumatic, hydraulic or electrical drive configured to rotatably manipulate a mechanical build transmission according to the invention. In an appreciated embodiment, the robotic system comprises two vertical rails especially adapted for being arranged in proximity of a toilet. More specifically the vertical rails are adapted to be arranged in front of, behind of or sideward of a toilet. The proximity of installation to the toilet can be adapted to the preference of the user. The vertical rails are in an embodiment self-supporting columns. In another embodiment the vertical rails are adapted to be arranged in proximity to the toilet as e.g. on a wall, plate, grate, pillar or the like.

The patient can when starting using the equipment be in a standing position turning the back to the toilet intending to take a sitting position when the pants and underwear has been moved away freeing and exposing the pelvic region. In another use situation, the person takes a standing position turning the front to the toilet intending to use the toilet in a standing position when the clothing has been moved away freeing and exposing the pelvic region.

In an embodiment, the vertical rails serve for supporting the finger mechanism. In an embodiment, the finger mechanism will pivot out from the vertical rails in a horizontal direction. In a further embodiment, the finger mechanism is arranged on a sliding block that is arranged secured against rotation inside the vertical rail. More specifically the finger mechanism is arranged on an arm that connects with the sliding block. It has to be understand that the angle of orientation of the finger mechanism out of the vertical rails can be configured freely, and is not restricted to be in a straight horizontal angled direction.

In an embodiment, the finger mechanism is sideward pivotably mounted around a hinge connection arranged with a sliding block arranged inside the vertical rails. This allows for the arm to swing and thus move both fingers sidewards. In an embodiment, the vertical rails are adapted to include at least one spindle. In a further embodiment the vertical rails include a transmission. In yet another embodiment the vertical rails include an electrical actuator.

The sliding block includes in a further embodiment a spindlenut secured against rotation relative to the sliding block and being rotateably mounted on the spindle arranged with the vertical rail.

The sliding block is in an embodiment supplied with an armrest intended for supporting the standing person when using the assistive device. More specifically, the armrest is pivotably mounted to the sliding block. In an embodiment, the armrest is supplied with a hinge connection that provides the freedom for the armrest to be moved to stand in an upright position. Rotating the spindle will cause the sliding block and the attached armrest or finger mechanism to be moving up or down the vertical rail depending on the direction of the rotation. In an embodiment, a compartment is arranged between the vertical rails comprising the power system of the robotic system. More explicitly, it comprises one or more of spindles, spindlenuts, axles, transmissions, electrical drives or motors, electrical actuators, power supplies, controls and means for interfacing with the system. Arranging the compartment above the toilet brings obvious advantages when it comes to a more compact design of the system. When arranged above the toilet the compartment and its content is kept clean and away from liquids that can influence the function or decrease the lifetime of the system. Further a more elegant and simple arrangement of the finger mechanism can be provided since all motors and controls are remote arranged and driven. An electrical motor or an electrical actuator arranged in the compartment above the toilet thus provides the rotational force that via appropriate means (axles, spindles, spindlenuts, angle drives, transmissions) extends the rotational force via the vertical rails to the desired functions. The functions appreciated are height adjustment of a support for resting the arms, height adjustment of a finger mechanism, which is driven by spindles and rotational movement for driving the finger mechanism executing the function releasing the pants driven via axles and angle drives, extended with spindles.

In a further embodiment, the drives and all related transmission means are arranged directly in the vertical rail/s. In an embodiment, a drive is arranged directly in the finger mechanism.

In an appreciated embodiment, a pair of finger mechanisms are arranged side by side and the movement pattern of a first finger mechanism is mirrored on the second finger mechanism. The movements can be carried out synchronously or on one of the finger mechanisms at a time. In a practical embodiment, a servomotor is mechanically coupled to both finger mechanisms when it comes to the height adjustment of the arm for the finger mechanism. Another servomotor is mechanically coupled to both finger mechanisms when it comes to executing the function of releasing the pants. Additionally a single servo motor can drive the function of height adjustment of the two arm rests.

For an easy explanation, the function of only one finger mechanism is explained. It is thus to be understood that a pair of finger mechanisms includes four fingers, which should be sufficient for gripping inside the waist loop of a pair of trousers and enlarging the

circumference of said waist loop enabling the desired undressing function. It should also be understood that the fingers are orientated pointing downwards towards the ground in order to grip the pants from over the waist loop.

The transmission for driving the finger mechanism is going through the vertical rail. The spindles serves for height adjustment of the arms. Since the transmission for driving should not be influenced or driven when a height adjustment is done, the transmission is formed by a axle with a trigonometrical cross section and a matching angle drive for transmitting the rotational movement to the finger mechanism. In a preferred embodiment, a hexagonal shaped rod is used, but a rod of any shape not being circular as e.g. a concave or a triangle shaped could also be used. If a circular rod is to be used it will need to be equipped with a longitudinal slit or a notch that form counterpart with a compatible part in the bush of the angle drive and secures that the rotational movement of the axle is transferred through the angle drive but still gives the angle drive the freedom of sliding in the longitudinal direction of the axle. Thus when the arm is moved up or down, the axle gear will just slide up or down the axle without being subject for rotation from the spindle. In a preferred embodiment, the vertical rail includes one axle, connected to the drive via the transmission and where the sliding block includes an angle drive for forwarding rotational movement to the finger mechanism, the angle drive having a bush arranged secured against rotation on the axle but slideably mounted over the longitudinal travel of said axle.

More specifically the finger mechanism comprises two fingers where a first finger is in a fixed connection to the arm of the finger mechanism and a second finger is arranged on a rod that is moveably mounted in a slotted track arranged with the arm. Thus, the second finger is extendable by the movement of the rod between the two stops formed by the slotted track.

In an embodiment, the slotted track has a curved shape that guides the dynamic second finger in its travel. The path serves to move the finger around the hip of the user without catching the user. The four fingers are together forming a rectangular pull in the clothing when the second finger is moved from the first stop to the second stop formed by the slotted track.

In an embodiment the slotted track arranged with the arm is arranged in a flexible connection to the arm. This can be done by arranging the slotted track on a piece of material being rotatably fixed to the arm in one junction point and in another part being fixed to the arm via a spring. This allows for an amount of sideway play, which helps achieving the intended square formation of the fingers and in addition gives added comfort for the end user

The finger mechanism comprises in the center of the arm rotatably fixed a spindle and arranged on the spindle a spindlenut secured against rotation relative to the arm. In a further embodiment the spindlenut comprises at least one mandrel arranged forming a cross member relative to the spindle. By attachment of the at least one mandrel to specific drives, the spindlenut drives one by one the yaw of the whole finger mechanism and the

extension/ retraction of the dynamic finger.

In a preferred embodiment the spindlenut comprises two mandrels which reduces the transition time between the spindlenut attachments from driving the yaw of the whole finger mechanism to driving the extension/retraction of the dynamic finger. Further, the double mandrel increases the free space between moving brackets thus reducing the risk of metallic components grinding against each other causing noise and undesired wear.

In an embodiment, the finger mechanism arm comprises a square pipe extending at least over a distance of the whole length of the finger mechanism arm and at least one slider block arranged moveably with the square pipe and where the square pipe forms a linear guide for the slider block securing said slider block against rotation relative to the square pipe. Further, the square pipe has an opening in the longitudinal direction forming a track for the at least one mandrel. The end of the at least one mandrel protrudes out of the track and the track forms a guideway for the at least one mandrel and for guiding the at least one mandrel towards the attachment positions for attachment to the drives for providing the yaw of the finger mechanism and for the extension/retraction of the dynamic finger. It has to be understood, that the slider block can be arranged inside the square pipe or outside the square pipe where the two parts form mutually working parts of the construction.

In a further embodiment the slider block includes at least two brackets pivoting around a rotation axis forming a slot for interlocking with the at least one mandrel arranged on the spindle nut. The brackets are forced together by means of a spring in a manner like a clothespin. Since the movement of the slider block and the at least one mandrel can only follow the guided direction and the opening of the slot is made in the movement of direction, the at least one mandrel can enter in an out of the interlocking connection with the brackets depending on the spring-load of the brackets.

In an embodiment, the slider block arranged with the squared pipe is comprising a hinge and a connection rod that connects with a hinge arranged on the sliding block arranged in the vertical rail. Thus, when the sliding block arranged with the squared pipe is moved in the direction controlled by the mandrel, the finger mechanism can be moved from side to side thus moving the two joined fingers sideways. In other words the arm and the finger mechanism is turned in a horizontal direction pivoting around the hinge. As long as the brackets fixate the mandrel, the sliding block moves synchronously with the spindlenut. The spring-load therefore determines the yaw-torque of the finger mechanism by releasing the at least one mandrel and spindlenut when the force from the elastics of the clothing becomes too great.

In a preferred embodiment the finger mechanism comprises a bracket mounted in a slot parallel to the square pipe. The bracket then slides in said slot and functions as an adjustable end stop blocking the travel of the sliding block, thus enabling a user specific width of the fingers when these form a square/rectangular formation in their final position. In other words, the bracket restricts the yaw movement of the whole finger mechanism. The position of the bracket is fixated by a bolt in the desired position.

In a further embodiment, the slider block comprises a bracket with a rack of teeth and with corresponding holes formed on the square pipe together forming counterparts for a braking arrangement. Further the bracket is connected to the slot for interlocking with the mandrel in such a way than when the mandrel is in position in the slot the brake is released and when the mandrel is not in position in the slot, the brake function is enabled. In an embodiment, the bracket is spring-loaded. Taking the yaw function of the finger mechanism as an example, the brake fixates the position of the finger mechanism at the position where the predefined yaw-torque is reached. Further, it is secured, that when the mandrel moves into the slot the brake function ensure that the sliding block is not just moved in front of the mandrel and never being locked in the desired position. For moving the slot, the mandrel when in position in the slot by means of the spring attached to the breaking-bracket releases the teeth' from the interlocked state with the holes in the squared pipe and thereby releasing the fixated yaw-position.

In an embodiment, a slider block is equipped with a finger. Thus when a mandrel is interlocked in the slot and the spindle is rotated the finger can be extended/retracted depending on the direction of the rotation of the spindle. The movement is relative to the fixed finger and thus the fingers can in a first position be united and when the slider block is moved the two fingers separate in order to form the sidewards pull in the pants. Additionally, the two arms are being turned outwards because of the yaw provided by the first slider block and will make the four fingers together form a rectangular pull of the pants fully freeing the pants from contact with the body. It has to be understood that when now performing a height adjustment of the arm for the finger mechanism, in the downwards direction will lower the pants and it will be possible for the person to take a sitting position on the toilet.

In an embodiment, the travel distance of the dynamic finger is determined when certain limits is being reached. A limit can be a pre-set position as indicated by a sensor. Another limit can be if a measured value of force exceeds an indicated threshold force, thus indicating that the clothing being stretched has reached its limit of extension, in which case it is preferred to stop the extension. In a further embodiment, the force of the dynamic finger during extension is calculated from the current draw of the electric motor and the extension of the dynamic finger is stopped when a threshold limit of force is exceeded.

The control features described for controlling the drives for providing rotation and torque for moving the arm in the different directions up and down and side wards as described are contained in the control. Further, the user activation of the functions via a hand control being wired or wireless / joystick / keyboard interface with the control. The control is in an appreciated embodiment arranged in a connection to the assistive device where it is protected against water and other fluid substances. Due to the function and the close proximity to a toilet it might be necessary to perform intensive cleaning as a daily routine. Additionally it might be necessary to perform cleaning with strong washing detergents which might be harsh not only to the mechanics but also to the electrical drives and the control. It might be necessary to use a waterproof casing for the control in order for the system to be reliable. The functions in the control can be implemented exclusively in electronic hardware but it will be appreciated that a microcontroller is used since it provides a greater flexibility of the control functions. Additionally to direct control functions it is possible to use the microcontroller for monitoring and sensing different parameters of the system. A task could be to monitor the drive current and in case the current exceeds a predetermined threshold react by alerting or by stopping the function or maybe take the signal as an indication for proceeding with a new function. The microcontroller can expediently also based on input data perform measurement of the height adjustment or the bending of the arm. This can be done in various ways as e.g. by recording the number of revolutions of the rotating parts that serves to drive the specific functions and calculate the corresponding travel or length adjustment.

Please notice that the term "sliding block" is used to describe the movable block arranged with the vertical rails and that the term "slider block" is used to describe the movable blocks arranged with the finger mechanism in order to clearly distinguish the two different functioning means from each other.

In an embodiment, the fingers are made of a biocompatible material. Preferred materials lists PEEK, PDMS, PU, ETFE, PTFE but should not be limited to the listed materials. The fingers are the parts of the assistive device that can be in skin contact with the user and thus choosing a biocompatible material reduces the risk of an allergic reaction. It is foreseen that other parts, of the assistive device, such as the armrest, can also be made of or include a biocompatible material.

Description of the drawing

Brief Description of the drawing :

Fig. 1 is an isometric representation of the assistive device that constitutes the present invention,

Fig. 2 is an isometric representation of the assistive device, which constitutes the present invention, with some parts hidden and transparent,

Fig. 3 is an isometric representation of one of the arms of Figure 1, without covers,

Fig. 4 is a more simplified view of Fig. 3 of the arms as it appears further inside the technical parts,

Fig. 5 is a side view of a further simplified view of Fig. 4,

Fig. 6 is a top view of Fig. 5,

Fig. 7 is a side view of an isolated key part of the arms that, among other things, functions as braking/locking mechanism when needed,

Fig. 8 is a view of a component in the part from Fig. 7, that ensures the arms stay in position when not fixated by the spindle and spindle nut itself,

Fig. 9-9.6 is a series of illustrations showing the sequence of mechanical actions in the finger mechanism when in action.

Fig. 10 is a side view of another configuration of the internal parts of the finger mechanism, where the spindlenut is equipped with a double mandrel.

Fig 11 is a topview of fig. 10, which serves to show the double mandrel from a different perspective and

Fig. 12 is a side view representation of the internal parts of the finger mechanism, in which an adjustable bracket is mounted. The bracket restricts the travel of the slider block related to yaw, thus resulting in an adjustable maximum width between the fingers in their final (outer) position.

The latter is a description of the invention with appropriate reference to the accompanying drawing.

Description of the Preferred Embodiment:

Referring to the drawings and initially to Figs.1-9, the finger mechanisms (1) are the most significant part of the invention of the assistive device for disabled people (2). In accordance with the preferred embodiment of the present invention the whole unit comprises: vertical rails (3) that mounts to the back wall which functions as linear guides for armrests (4) and the finger mechanism (1), a centralized placement (5) of three servo drives for all actuations in the whole unit with encoder feedback for positioning functions in the controller, angle drives (6) and axels (7) for transferring torque from servo drives (8) to spindles (9), sliding blocks ( 10) for the armrests (4) and finger mechanisms (1) with nylon sliders (11) that make the contact surface between the vertical rails and slider blocks (10), spindle nut (12) fixated to the sliding blocks to convert the rotational energy in the spindles to linear translation of the armrests and finger mechanisms, POM (Polyoxymethylen) constructed fingers (13) for gripping the clothing and contact surface to the skin of the user, a remote control for the user to control the actions of the unit. The finger mechanism (1) is a key part of the invention, which comprises two fingers on each finger mechanism : one static finger (14) and one dynamic finger (15) with respect to the body of the finger mechanism. The dynamic finger (15) is mounted on a rod (16) that slides back and forth in a slotted track (17).

The slotted track (17) has a curved shape (18) that ensures the dynamic finger (15) travels in a path around the hips of the user, in a way that the four fingers are forming a rectangular pull (19) in the clothing at the end position. In the extended position the slotted track (17) is wider resulting in some spring (20) controlled sideways play which helps achieving the intended square formation of the fingers and also gives added comfort for the end user. The rectangular pull (19) at the right positions is of great importance for the assistive device (2) to complete the task correctly every time.

In the center for the finger mechanism (1) is a spindle (21) and spindlenut (12) which drives both the yaw of the whole finger mechanism and the extension/ retraction of the dynamic finger (15). The arm pivots around a point (22) on the sliding block (10) for the vertical rails (3). The pivot point is off centered from the spindle (21) which converts the linear force from the spindle (21) to a torque that generates the yaw of the whole finger mechanism.

On the sliding block (10) for the vertical rail is arranged an angle drive (23) which transfers the vertical hex-axel's (7) rotation to rotation of the spindle (21) in the finger mechanism (1). The vertical hex-axle runs through the angle gear in a bush with a corresponding hex- shape (34) thus permitting torque from the axle to be transferred to the gear, yet ensuring vertical travel of the angle gear. More explicitly this arrangement ensures the angle gear (23) slides freely up and down the vertical hex-axle (7) when the whole finger mechanism (1) is lifted and lowered. This eliminates the need of electrical drives located in the finger mechanism, since the energy is transferred from the motors in the top of the unit all the way to the finger mechanism via said hex-axles (7) and angle drives (23). Surrounding the spindle (21) is a square pipe (24) in the whole length of the finger mechanism, which composes the structural integrity of the whole finger mechanism (1) and also acts as a linear guide for slider block A (25A) and B (25B).

Slider block A relates to the yaw of the finger mechanism (1), and sliding block B relates to finger extension/retraction of the dynamic finger (15) are generally the same construction rotated 180 degrees.

On slider block A and B are two brackets (26, 35) on each side that pivots in the same junction point (27) forming a slot/groove (28) that interlocks with a mandrel (29) on the spindlenut (12). The two brackets (26, 35) are forced together around the mandrel (29) by a spring-load (30). As long as the brackets (26, 35) fixate the mandrel (29), the respective slider block (A, B) moves in synchronous with the spindlenut (12). The spring-load (30) therefore determines the yaw-torque of the finger mechanism (1) by releasing the mandrel (29) and spindlenut (12) when the force from the elastics in the clothing becomes too great.

When the mandrel (29) is not in the slot/groove (28), another spring-loaded (31) bracket (33) with a rack of teeth (32) pushes against the square pipe (24) with corresponding holes, which fixates the position of the finger mechanism (the yaw) at the position where the predefined yaw-torque is reached. When the mandrel (29) moves into the slot (28) "fighting" the spring-load (30) the brake function (32) ensures that the slider block (A, B) is not pushed in front of the mandrel (29) instead of locking the mandrel in the slot (28). At the point where the mandrel locks in the slot/groove (28), the breaking-bracket (33) is pushed upward by the mandrel (29), releasing the teeth' interlocked state and thereby releasing the fixated yaw-position.

The double operation in the finger mechanism (yaw and extention/retraction of the dynamic finger) is operated by the same drive. In operation, referring to Figs. 9 - 9.5, Fig 9.1 : The cycle starts with slider block A (25A) locked around the mandrel (29) on the spindle nut (12) making slider block A move in synchronous with the spindlenut (12).

Fig. 9.2: The spindle (21) rotates creating a linear translation of the slider block which creates the torque in the whole finger mechanism (1) around the pivoting point (22) resulting in the yaw. When the torque reaches a certain level the mandrel (29) is released from the brackets/clamps (26, 35) on slider block A (25A). Due to the brake function, sliding block A is locked in the position of release.

Fig. 9.3: The spindlenut ( 12) continues in a forward motion towards slider block B(25B). Fig. 9.4: The brake (32) in slider block B ensures that the mandrel (29) locks in the slot/groove (28) formed by the spring loaded brackets (26, 35) before the linear translation starts. When the mandrel (29) is locked to slider block B, the spindle (21) keeps rotating making slider block B move until the adjusted travel distance, or a threshold value of force of the dynamic finger (15) is reached, at which point the spindle (21) stops. The force of the dynamic finger is approximated by measuring the current consumption of the motor driving the dynamic finger. The force threshold being reached is an indicator that the clothing does not expand any further, in which case the dynamic finger should stop. This feature ensures that the adjustment is continuously carried out with respect to the specific clothing that the person wears. Further, the monitoring of force functions as a safety feature ensuring a restricted force, even if the user is standing in the way of the dynamic fingers (15).

When the process is reversed the spring-loaded brackets (26, 35) holding the mandrel (29) on slider block B captures the sliding block, and thereby the dynamic finger (15), is moving in synchronous with the spindlenut (12), resulting in the retraction of the dynamic finger (15) until it reaches the initial position (endstop). At the initial position the mandrel (29) is released. The spindle (21) keeps rotating moving the spindlenut (12) towards slider block A. Again the brakes on sliding block A ensures that the mandrel (29) moves all the way into the slot/groove (28) formed by the brackets (26, 35) before the brake (31) is released and the slider block A is possible to move. In operation of the whole unit, referring to Figs. 1-9, the assistive device is initially with all four fingers (13) placed firmly together in the centre of the unit. The unit is intuitively controlled by two buttons (up/down) that needs to be activated whenever motion is desired. When the end user is placed correctly feeling the fingers touching the back, the finger mechanisms ( 1) are moved downwards making the fingers (13) slide between the skin and the clothing on the user. The height is pre-adjusted for the user. The next action is the yaw of the two finger mechanisms, simultaneously moving away from centre, separating two fingers on each side of the user. When the pre-adjusted yaw-torque is reached, the yaw motion stops and the current position of the finger mechanisms are fixated. The spindle (21) keeps rotating resulting in the dynamic finger (15) being extended until a pre-defined travel distance is reached. The travel distance of the dynamic finger (15) is adjusted by software settings for the specific user. The travel distance and height adjustment of the armrests (4) and finger mechanisms are known due to the encoder feedback on the servo drives.

At this point the clothing is expanded away from the body of the user in a rectangular shape (19). The downward motion of the arm begins and continues until the clothing is at the preferred height (below the knees) and the "down"-button is released. The cycle is repeated in the reversed order when the other button is pushed, which is how the clothing is put back on and the unit returns to the initial position.

In a configuration shown in fig. 10, the single mandrel (29) is replaced by a double mandrel (36A, 36B). The first mandrel (36A) connects to the slider block A (25A) related to yaw and the second mandrel (36B) connects to the slider block B (25B) related to the dynamic finger. This configuration results in a faster transition from the state where the mandrel (36A) is being interlocked with the first sliding block (25A) to the second slider block B (25B) locked to the second mandrel (36B).

In yet another configuration the finger mechanism (1) is equipped with a bracket (37) mounted in a slot to enable sliding parallel to the square pipe (24). The bracket functions as a physical stop for the slider block (25A) related to yaw of the finger mechanism. The bracket thereby enables the user to adjust the maximum width between the fingers (13) when said fingers are forming a square in their final (outer) position. When the slider block (25A) is sliding along the square pipe (24) resulting in a yaw motion of the finger mechanism, the slider block reaches the bracket (37) at some point. This forces the slider block (25A) to stop its motion while the mandrel continues forward, thus separation from one another. This has the same effect as the clothing pulling in the fingers during the yaw motion (previously described). The desired position of the bracket is fixated using a hex bolt (38) which is reachable through the outer covers. Thus, it is achieved that the width of the sideward pull of the clothing can be adjusted to fit the width of the user.

Although the invention has been explained in relation to its preferred embodiment as mentioned above, it is to be understood that many other possible modifications and variations can be made without departing from the scope of the present invention. It is, therefore contemplated that the appended claims will cover such modifications and variations that fall within the true scope of the invention.