EP3458009A1

EP3458009A1 - A robotic device for verticalization and aiding the motion of subjects with severe motor disabilities

Info

Publication number: EP3458009A1
Application number: EP17733014.9A
Authority: EP
Inventors: Stefano MAZZOLENI; Stefano Roccella; Fabio LEONI; Paolo Dario; Paolo CATITTI; Elisa TAGLIONE
Original assignee: Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna; Istituto Nazionale per lAssicurazione contro gli Infortuni sul Lavoro INAIL
Current assignee: Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna; Istituto Nazionale per lAssicurazione contro gli Infortuni sul Lavoro INAIL
Priority date: 2016-05-16
Filing date: 2017-05-16
Publication date: 2019-03-27
Anticipated expiration: 2037-05-16
Also published as: PT3458009T; EP3458009B1; ES2913124T3; ITUA20163483A1; WO2017199164A1; EP3458009B8

Abstract

The present invention relates to a robotic device for aiding the motion of subjects with severe motor disabilities, both due to pathologies such as spinal injuries, multiple sclerosis and other neuromuscular pathologies, and due to the progressive advancing of age, which allows them to raise themselves gradually from a seated position to a standing position and to move autonomously in any indoor ambient, approaching objects frontally and in a close manner due to the reduced front size of the device.

Description

TITLE

"A ROBOTIC DEVICE FOR VERTICALIZATION AND AIDING THE MOTION OF SUBJECTS WITH SEVERE MOTOR DISABILITIES"

DESCRIPTION

Field of the invention

The present invention relates in general to the field of robotics for aiding subjects with motor disabilities, and more specifically the subject is a robotic device for verticalization and aiding the motion of subjects with severe motor impairment of the lower limbs.

State of the art

Several devices and equipment are known that propose to restore a certain motion and a certain level of independence at least in indoor environments to persons with more or less severe motor impairment. In particular, there are already devices on the market for subjects with severe disabilities to the lower limbs that succeed in having the subject take on a standing position, such as the "Struzzo" of Chinesport SpA, Udine, Italy, or the "TEK Robotic Mobilization Device" manufactured by Matia Robotics, Istanbul, Turkey. Such commercial devices are mainly stabilizers for the standing posture, characterized by verticalization which is servo-assisted by electric motor and motion on wheels, while the object does not include offering various functionalities to the subject other than verticalization or simple motion. Wanting instead to perform various operations, such as move frontally close to an object to take advantage thereof, both in standing position and in seated position, or wanting to use the toilet facilities, the subject in any case is to change device once he/she has arrived close to them. Frontally moving close to objects is in any case always prevented by the overall dimensions of the known systems, which force the user to move close laterally to perform quick operations of gripping an object, but do not allow for example, moving close frontally to a table and sitting under it.

There are also known various prototype devices for verticalization, which are described in scientific literature, which are generally systems provided with a seat that prevents for example, the use of toilet facilities without passing from the device to the toilet facility. A prototype device described in Mori Y. et al., Development of Straight Style Transfer Equipment for Lower Limbs Disabled; Robotics and Automation, 2004. Proceedings ICRA '04. 2004 IEEE International Conference, vol. 3, 2004, does not instead have a seat but consists of an exoskeleton to be used together with crutches. This apparently limits the use of the device by subjects capable of perfectly using the upper limbs and moreover, as the latter are engaged in handling the crutches, the control options by the user are limited. As far as the Applicant knows, only one other device has been described in literature which does not provide a seat (van den Berg J. P. et al., The Standmobile: a new, electrically powered, mobile stand up device for use in paraplegia. Case report, International Medical Society of Paraplegia, vol. 32, pp. 202-204, 1994): this is a verticalizer which allows the subject to reach the standing position due to the use of a trapeze harness for surfers as backrest. Despite the reduced overall front dimensions which may facilitate frontally moving close to objects, this system does not allow the user to move into intermediate positions nor to have the glutes free to use the toilet facilities directly without moving from the device either.

As much as they may ensure a safe gripping of the subject for verticalization and allow the person then to move on wheels in standing position, the devices to date known therefore all have the problem of the overall front dimensions preventing the subject from frontally moving close to the objects and/or the problem of not leaving free the glutei and perineal area for the use of toilet facilities without having to move from the device.

The possibility of arranging a device which offers the disabled subject also these functionalities would instead be significant from a medical and rehabilitation viewpoint within a plan aiming to achieve the maximum autonomy possible and get back an active and productive role in life compatibly with his/her residual abilities. Moreover, the fact of being able to use a device in a hospital environment, but also a domestic and/or work environment, which allows remaining in standing position at least for several hours a day while being able to perform several tasks with the upper limbs and not having to necessarily change devices for example to use the toilet facilities, would also be significant from a therapeutic viewpoint: the standing station contributes indeed to improving the bone trophism, the functionality of the cardio-circulatory system and the gastrointestinal system, and contributes to reducing spasticity, thus also avoiding joint flexion deformities to the lower limbs.

For these reasons, it is apparent how the need is felt in the field to make available a robotic device which in addition to verticalization or simple movement in standing position, allows also new functionalities, such as frontally moving close to objects and the freedom to use the toilet facilities directly on the device itself.

Summary of the invention

A general subject of the present invention is to provide a robotic device for verticalization and aiding the motion of subjects with severe motor disabilities of the lower limbs, which allows such subjects to lift themselves gradually from a seated position to a standing position and to move autonomously in all types of indoor environments, in particular in a domestic environment and/or a work environment.

It is a particular subject of the present invention to provide a robotic device of the type mentioned above which has both reduced overall front and rear dimensions, and which thus allows the disabled subject using it to reach objects and to approach them, thus getting as close as possible in safe conditions and with a minimum expenditure of energy.

It is a further subject of the present invention to provide a robotic device of the type mentioned above which may be used by several types of users, whether they are severely disabled following pathologies such as spinal injuries, multiple sclerosis and other neuromuscular pathologies, or also older subjects with reduced or no motion of the lower limbs due for example to the effects of the progressive advancement of ageing.

It is a further subject of the present invention to provide a robotic device of the type mentioned above which, although it effectively stabilizes the subject, it leaves in any case free the area of the glutes and the perineal area, thus allowing access by the subject to the toilet facilities, also with sanitary facilities not modified, without having to remove the device.

It is again a further subject of the present invention to provide a robotic device of the type mentioned above which may offer several different control and command methods of the device and its functionalities by the disabled subject.

These subjects are achieved with the robotic device for verticalization and aiding the motion of subjects with severe motor impairment of the lower limbs, the essential features of which are indicated in the first of the appended claims.

Other important features of the robotic device according to the invention are defined in the dependent claims, also appended hereto, and are illustrated in the following detailed description of an embodiment thereof, made by way of a non-limiting example, with reference to the accompanying drawings.

Brief description of the drawings

figures 1A and 1 B are perspective views, respectively a front view and a rear view of an embodiment of the present robotic device used by a subject S in standing position, indicated with a dotted line;

figures 2A and 2B are perspective views, respectively a front view and a rear view of the robotic device in figures 1 , used by a subject S in seated position, indicated with a dotted line;

figure 3 is a detailed view of a first component of the device in figures 1-2, represented by a manipulator;

figure 4 is a detailed view of a second component of the device in figures 1-2, represented by a pair of tibial supports;

figure 5 is a detailed view of a third component of the device in figures 1- 2, represented by a single thigh interface;

- figure 6 is a detailed view of a fourth component of the device in figures

1-2, represented by an abdominal interface.

Detailed description of the invention

According to the present invention, figures 1A and 1 B show an embodiment of the robotic device 1 illustrated while in use by a subject S afflicted with severe motor impairment of the lower limbs, with the device in such configuration as to keep the subject in standing position, and shown in the front and rear perspective views respectively.

Figures 2A and 2B show the device in figures 1 respectively in front and rear perspective view, and in such a configuration as to accommodate the subject S in seated position.

Again with reference to figures 1A and 1 B, the robotic device 1 of the invention comprises a platform 2 provided with wheels, of which preferably at least one pair of caster type wheels, so as to increase the possibilities of movement of the device in all directions; in a preferred embodiment shown in the drawings, the platform comprises for example at least two wheels 21 assembled at the sides of the platform 2, preferably at the height of the locking system of the feet, and two pairs of caster wheels 22 at the corners of the platform 2.

In general, within the scope of the present invention, unless otherwise specified, "front" or "frontal" means located on the same side as the front part of the subject S with respect to the centre of the device when it is in use by the subject, while "rear" or "from behind" means located on the side opposite thereto.

The platform 2 intended to receive the disabled subject S is typically a flat metal base, substantially rectangular-shaped, which covers a compartment containing batteries for powering the device. Such location of the batteries below the platform allows in particular reducing the overall dimensions of the present device with respect to known devices. The platform 2 has three degrees of freedom and, in addition to supporting the subject S, it acts as support also for manipulators, described in detail in the following, which can be operated by the subject.

According to a preferred embodiment of the invention, on the platform 2 an adjustable system is secured for locking the feet of the subject S, in order to increase the stability of the subject, especially when in standing position and in movement on the device. To facilitate the subject S in the steps of getting on and getting off the device, such locking system may slide on parallel guides placed on the platform 2 so that the subject may reach the most comfortable position for example, for getting on or getting off the device. Obviously during use, such sliding possibility may be locked with a safety retainer in a position which is the most correct for the use of the device, and then released for example, when the subject gets off the device. The locking system of the feet is preferably made so as to be completely adjustable, both in length and in height, so as to be adapted to the feet of any subject, including subjects with the so- called clubfoot syndrome who wear special elevated shoes.

A tibial support 4 intended to frontally support the lower limbs of the subject (S) at the tibias is attached on the platform 2, at the front portion thereof; with particular reference to figure 4 showing a preferred embodiment of such support, it may comprise a frame 41 joined to the platform 2 by means of two pins 42 and ending with a supporting cross-piece 43 to which are symmetrically anchored two supporting plates 44, to which two ergonomic supports 45 are in their turn secured. Such supports 45 are ergonomic in that they are shaped suitably for comfortably and safely accommodating the front part of the lower limbs of the subject S at the height of the tibias; they are preferably padded, for example with polyurethane foam, and coated by a washable material, such as for example faux leather. The two supporting plates 44 may be for example, adjustable in width and/or tilt on the cross-piece 43 depending on the position of the lower limbs of the subject. The pins 42 and the frame 41 are connected by means of two arms 46, which may provide a glyph-oscillating mechanism to be locked in position with an adjusting screw once the correct tilt of the frame 41 is found with respect to the plane of the platform 2, and therefore also the right height of the ergonomic supports 45 with respect to the tibias of the subject S positioned on the platform.

The support 4 having the structure described above optimally meets the requirements of resistance and structural deformation under symmetrical loads which develop on the device during verticalization of the subject.

At the outer sides of the tibial support 4, rising from the platform 2 to which they are linked, are two manipulators 3 for lifting and verticalization of the subject S, ending with handles for gripping with the upper limbs of the subject themselves. With particular reference to figure 3, which shows a particular embodiment thereof, each of the manipulators in the device of the invention comprises at least three links 31 , 32 and 33, and two linear actuators 34 and 35. According to a preferred embodiment of the present invention, each link 31 , 32 and 33 has a rectangular box section which allows it to resist the flexural stresses due to the weight of the subject S bearing on the link 32 through a thigh interface 5 described in detail below. The links 31 , 32 and 33 are connected to one another by means of rotoidal kinematic pairs, in particular rotoidal joints with pins on anti-friction bushings A, B and C, in which the pin A secures the manipulator 3 to the platform 2. The first link 31 is operated around the pin A by means of the first linear actuator 34, while the second link 32 is operated around the pin B by means of the second linear actuator 35. The linear motion of the actuators is transformed into rotary motion of the links 31 and 32 around the respective connection pins A and B due to the connection of a linear element 36, 37 of the actuator 34, 35 to the respective first and second links 31 and 32, through the pins D and E, they also being anti-friction bushings.

The first actuator 34 is connected by means of the pin F directly to the platform 2, while the second actuator 35 is connected by means of the pin G to a balancer 38; this allows regulating the opening angle between the first link 31 and the second link 32, and therefore varying the height from the ground of the link 32 and of the related thigh supports joined thereto, so as to adapt to various anthropometric measures and to different leg lengths of the subject. The adjustment of the balancer 38 is achieved for example, by means of a screw 39 which by means of a glyph-oscillating mechanism, allows changing the angular position of the balancer 38.

Again with reference to the embodiment in figure 3, a third link 33 is not directly operated by the actuators, but the movement thereof is connected to the one of the second link 32 by means of an articulated quadrilateral mechanism consisting of links 32, 33, 31 and of the adjustment sleeve 311. Thereby, when the second link 32 rotates around the pin B due to the effect of the second actuator 35, the third link 33 rotates around the pin C while keeping the handle at the upper end of the third link 33 parallel to the horizontal plane. The adjustment sleeve 311 for example, consists of an entirely threaded cylinder with two screw eyelets 312, 313 having opposite threadings. Thereby, by rotating the sleeve 311 , the eyelets 312 and 313 move close to and far away from each other, thus varying the length of the assembly 311 , 312, 313 and therefore the distance from the pin. Due to this structure described above, two functions are performed: the angular opening is adjusted between the second and third links 32 and 33, and therefore the height of the handle connected to the third link 33 based on the anthropometric measures of the patient, and moreover the kinematic ratios of the articulated quadrilateral, thus modifying the law of movement of the handle, thus changing the kinematics of lifting and verticalization of the patient.

The embodiment of the manipulators 3 described above with particular reference to the accompanying figure 3 is particularly advantageous due to the fact that it replicates the natural kinematic mechanism of the human lower limbs, thus allowing the adjustment of the device of the invention according to the anthropometric measures of the subject. This may be achieved more specifically both by mechanically adjusting the manipulators and by controlling the pins individually.

With particular reference to figure 5, a single element 51 is shown which, together with another mirror-like element to which it is removably connected, constitutes the thigh interface 5 of the present device. Such interface meets the requirements of providing simplicity and ease of access into the device by the subject S, but also meets the kinematic restraints of the device during the verticalization step of the subject. Such thigh interface 5 comprises two equal plates, placed side-by-side, covered by cushion 52 for supporting the rear femoral part of the subject, each intended to carry the subject at a limb. "Rear femoral part of the subject" within the scope of the present invention means the part consisting of the back of the thigh of the subject, excluding glutei and the perineal area. The support constituted by the present thigh interface 5 is such as to support the subject seated, solely at least one part of the femoral area, excluding glutes and the perineal area of the subject, which are left uncovered in the present device also when the subject uses the device in seated position. Unlike devices of the prior art for motor impairments to the lower limbs, including the devices capable of aiding the disabled subject in verticalization, the present device therefore does not have a traditional seat: indeed the device is capable of stably supporting the subject in seated position. This is particularly advantageous, as explained above, and creates a substantial benefit for the disabled subject with respect to the known devices because it allows the subject access to toilet facilities, including those with unmodified sanitary fittings, without having to remove the device, but while remaining comfortably and constantly seated. At the same time, this does not affect the stability of the subject, who is always in any case supported adequately by the thigh interface 5 and by an abdominal interface 6. These plates with cushions 52, as well as the ergonomic supports 45 in the tibial support, may be advantageously padded and covered in washable material. The plates with cushion 52 are secured on a U-shaped supporting element 53, the ends of which are linked to the two manipulators by means of plates 54, which allow adjusting the height of the frame on the manipulators so as to vary the height of the supporting element according to the height of the subject. Each element 51 comprises a plate 52 and is connected to the other one by means of the respective supporting elements 53.

When the disabled subject intends using the device, the two plates with cushion 52 may be disconnected from each other and lowered by inwards rotation under action of specific lateral levers on the manipulators to facilitate access. Once the wanted position is reached, a specific locking screw allows connecting and safely locking the two elements 51.

A console with a touch screen and a support for manual control means and/or a support for an emergency switch may also be placed close to the thigh interface 5. Figure 4 for example illustrates a supporting element 55 for a touch screen, secured to the fixed structure of the thigh interface or of the manipulator so as to be possibly rotated or oriented at will of the user to facilitate the use thereof.

Moreover, at the two upper ends of the two manipulators, an abdominal interface 6 is secured, for example by means of two screwed plates, intended to create an interface between the device and the abdomen of the subject S, which is thus secured to the device and is further stabilized at the abdomen. Such abdominal interface 6, of which a preferred embodiment is illustrated in figure 6, may for example comprise a front portion 61 having a substantially tubular shape, and a rear portion 62 having a substantially tape shape, which widens preferably at the spinal column of the subject, therefore in the middle part, to form a lumbar support 63. The front portion 61 may be for example, made with a series of coaxial cylindrical elements mounted one after the other, or tightened in position for example, by an axial through bolt. By varying the number of cylindrical elements, the perimeter of the abdominal interface may be adjusted according to the sizes of the abdomen of the subject. The structure described above of the abdominal interface 6 of the present device meets the requirement of safety and support on the one hand but also the reduced overall frontal dimensions on the other to allow the subject to move as close as possible to objects and work tables also frontally. The abdominal interface 6 is also easily adjustable on the anthropometric features of the subject.

The present device further comprises one or more control means, chosen for example among control means of various modalities, in particular manual, vocal or by means of GUI (Graphical User Interface), and may also comprise an electronic control unit connected thereto by cable and/or by means of wireless connection. A typical manual control means within the scope of this invention is a controller. According to a preferred embodiment of the invention, the present device comprises two separate controllers, one connected to a cabled control unit, the second with wireless connection. Such manual control means can be used both by the subject and by an operator who is to assist the subject in the use of the device, for example to bring back or move the device away should it be in an unfavourable position for the subject. It is also possible to direct the movement of the platform in the surrounding space, adjust the speed thereof, and change the position of the subject with such control means. The lifting and passing from the seated position to the standing position may also be controlled with the vocal controls.

It is also possible with the present control means, in particular with a GUI, possibly available directly on the touch screen described above, to set the operating parameters of the device, such as for example, the maximum speed, the diagnostics, the anthropometric features of the subject and the power on time of the device, and so on.

The present robotic device may also comprise an alarm mechanism for sending a rescue request and/or a camera, preferably a webcam, placed on the device so as to capture images in the rear area surrounding the device and send the images thereof, by means of a specific interface, to the touch screen described above or to another screen located so that the subject S may view the images captured by the camera without difficulty and have information in real time on possible obstacles present or changes of scenario in the rear part of the device, thus being able to move accordingly safely also in reverse gear.

The robotic device according to the present invention may also provide a control system which may be connected to the Internet, thus allowing a remote connection for example, by medical personnel of rehabilitation centres, to possibly monitor the physiological and movement parameters of the user.

Thereby, advantageously the robotic device according to the invention is also completely remotely programmable, in particular various configurations may be programmed and new functions may be activated for example, for customizing the device on the features of the user without intervening directly on the device.

As described above in detail, the robotic device of this invention has reduced overall frontal dimensions unlike the known devices with similar functions which, as discussed above, usually have overall dimensions in the space in front of the user and obstruct the subject from frontally moving closer to work tables, thus also reducing the space accessible to the upper limbs. Due to the reduced overall front dimensions, the present device allows the user to move close to objects and work tables frontally, and not sideways, as occurs in the majority of the known devices. Moreover, in the cases in which the subject has good control of his/her torso, the present device promotes the slight forwards tilt thereof, thus improving the interaction with the object and a more comfortable arrangement with respect to work tables. The overall height dimensions of the present device also are reduced with respect to the known devices, and this advantageously allows the subject using it to be able to move close to and sit at a table in "seated" position.

A further main advantage of the robotic device of the invention lies in the fact that the gripping of the pelvis of the subject, while remaining effective and safe, leaves free the inner area of the device and the area of the glutei and the perineal area of the subject, whereby the subject has the possibility of using the toilet facilities in a completely autonomous manner without having to remove the device to move to the sanitary fittings, as occurs for wheelchairs or also for the known robotic devices discussed above.

Again, a further advantage of the present robotic device lies in the fact that it may comprise also a vocal control so that the subject may control the device itself without the aid of his/her upper limbs should they be engaged for gripping handles and support points for example, during the steps of passing between standing position and seated position, or vice versa. Thereby, the subject may avoid displacements also in the most delicate steps of use of the device, in complete safety and with a minimum expenditure of energy.

A further advantage of the present robotic device lies in its increased manoeuvrability and improved motion, due to the fact that the position during the movement is centred on the axis of the wheels.

Again, a further advantage of the robotic device of the invention lies in the kinematic feature of the manipulator, which replicates the kinematic joint mechanism of the lower limbs: this allows the adjustment of the device on the anthropometric measures of the subject.

Variances and modifications may be made to the robotic device for verticalization and aiding the motion of subjects with severe motor impairments according to the present invention without departing from the scope of protection of the invention itself, as defined by the claims herein appended.

Claims

A robotic device for verticalization and aiding the motion of a subject (S) with severe motor disabilities of lower limbs comprising a platform (2) adapted to receive said subject (S), equipped with wheels (21 ,22) and with a compartment for the power supply batteries below said platform; two manipulators (3) for the lifting and the verticalization of said subject by means of actuators supplied by said batteries, symmetrically linked to two respective lateral portions of said platform (2) from which said manipulators rise, ending with two respective handles for gripping with the upper limbs of the subject; a tibial support (4) attached to a front portion of said platform (2) and intended to frontally supporting the lower limbs of said subject at its tibias; a thigh interface (5) adapted to provide a support for the weight of the seated subject only at the posterior femoral area leaving uncovered glutes and perineal area, and an abdominal interface (6) adapted for lacing the subject in the abdomen, both linked to both of said two manipulators (3); and one or more control means for parameters regulating the functionality of the device.

The device according to claim 1 , wherein said thigh interface (5) comprises two plates with cushion (52) for supporting the posterior femoral part of the subject, placed side by side, removably connected between each other, each of them being intended for supporting the subject at a limb, and a U-shaped supporting element (53) to which said plates are secured, the ends of said element (53) being linked to said two manipulators (3) by means of plates (54), which allow adjusting the height of said element (53) on the manipulators (3) depending on the height of the subject.

The device according to claim 2, wherein said plates with cushion (52) are disconnectable from each other to be lowered by inwards rotation under action of special lateral levers on said manipulators (3) so as to facilitate the entry of the subject on said platform (2).

The device according to claim 1 , wherein on said platform (2) is secured a locking system for the feet of the subject (S).

The device according to claim 4, wherein said locking system comprises two feet locking elements that run in two parallel slides on said platform (2) for the subject to easily ascend and descend from the device.

6. The device according to claim 4 or 5, wherein said platform (2) comprises at least two wheels (21) mounted at opposite sides of said platform (2) where said locking system of the feet is, and two pairs of caster wheels (22) at the corners of said platform (2).

7. The device according to claim 1 , wherein said tibial support (4) comprises a frame (41) joined to said platform (2) by means of two pins (42) and ending with a supporting cross-piece (43), to which are symmetrically anchored two supporting plates (44), to which are on their turn secured two ergonomic supports (45) for the lower limbs of the subject.

8. The device according to claim 7, wherein said supporting plates (44) are adjustable in width and/or tilt on said cross-piece (43) depending on the position of the lower limbs of the subject.

9. The device according to claim 7, wherein said pins (42) and said frame (41) are connected by means of two arms (46), which provide a glyph-oscillating mechanism in order to adjust the inclination of said frame (41) relative to the plane of said platform (2) and consequently the height of said ergonomic supports (45) with respect to the tibiae of the subject S positioned on said platform.

10. The device according to claim 1 , wherein each of said manipulators (3) comprises at least three links (31 ,32,33) and two linear actuators (34,35), wherein said links are connected between each other by rotoidal joints (A,B,C) and wherein a first link (31) is operated by a first actuator (34), a second link (32) is operated by a second actuator (35) and a third link (33) is operated by a second link (32) by means of an articulated quadrilateral mechanism consisting of said links and of an adjustment sleeve (31 1).

1 1. The device according to claim 10, wherein said first actuator (34) is directly connected to said platform (2), and said second actuator (35) is connected to a balancer (38), which allows regulating the opening angle between said first link (31) and said second link (32), by varying the height from the ground of said second link (32) and of the related thigh supports joined thereto, so as to adapt to different anthropometric measures and to different leg's length of the subject.

12. The device according to claim 10 or 1 1 , wherein said links (31 ,32,33) have a rectangular box section, which confers to said links high resistance to flexural stresses due to the weight of the subject S bearing on said second link (32) through said thigh interface (5).

13. The device according to claim 1 , wherein said abdominal interface (6) comprises a front portion (61), having a substantially tubular shape and adjustable length, and a rear portion (62) having a substantially tape shape, which widens at the spinal column of the subject to form a lumbar support (63).

14. A device according to the claim 2 or 7, wherein said ergonomic supports (45) of the tibial support (4) and/or said plates with cushion (52) of the thigh interface (5) are padded, for example with polyurethane foam, and coated by a washable material, such as skay.

15. The device according to any one of the preceding claims, further comprising one or more means for displaying the functions of the device.

16. The device according to any one of the preceding claims, further comprising an alarm system to signal a possible rescue request of the subject (S) and/or a camera placed on the device so as to capture images of the rear area surrounding the device and send them, via a special interface, to a display means for their vision by the subject.

17. The device according to any one of the preceding claims, further comprising a control system able to be connected to the Internet, for the remote connection by medical personnel of rehabilitation centres, for the monitoring of physiological parameters and of parameters related to the motion of the subject (S).

18. The device according to any one of the preceding claims, further comprising a supporting element (55) for a manual control means, a console with a touch screen, and/or a support for an emergency switch, secured to one of said manipulators (3) or to said thigh interface (5) so as to be possibly rotated or oriented at will of the subject (S).