EP3768470A2 - Load transfer belt adapted to carry at least one accessory of a passive exoskeleton - Google Patents
Load transfer belt adapted to carry at least one accessory of a passive exoskeletonInfo
- Publication number
- EP3768470A2 EP3768470A2 EP19782646.4A EP19782646A EP3768470A2 EP 3768470 A2 EP3768470 A2 EP 3768470A2 EP 19782646 A EP19782646 A EP 19782646A EP 3768470 A2 EP3768470 A2 EP 3768470A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- belt
- operator
- charge transfer
- accessory
- backrest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
- A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
- A45F3/14—Carrying-straps; Pack-carrying harnesses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G7/00—Devices for assisting manual moving or tilting heavy loads
- B65G7/12—Load carriers, e.g. hooks, slings, harness, gloves, modified for load carrying
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
- A61H2201/1626—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
Definitions
- Charge transfer belt adapted to carry at least one accessory of a passive exoskeleton
- the present invention is in the field of assistance to human effort, and in particular in the context of handling assistance for both punctual and repetitive tasks.
- exoskeletons have been developed to improve the working conditions of a service operator. Exoskeletons find application in a multitude of fields of activity such as industry, mechanical maintenance (automotive, aeronautical, railway, naval etc.), handling, health, building etc.
- the exoskeleton is a mechanical structure that doubles the structure of the human skeleton and gives it physical abilities that it does not have or no longer.
- the robotic exoskeleton constitutes a first type of exoskeleton that is intended to equip both the lower limbs and the upper limbs.
- the robotic exoskeleton considerably increases the strength of the operator wearing it.
- it has the disadvantage of being heavy and bulky, which limits the agility of the operator who wears it, especially when working in a restricted environment.
- this type of exoskeleton is not adequate in the face of a workstation presenting a great variability of tasks.
- the robotic exoskeleton generally has a limited autonomy due to the capacity of its batteries.
- a second type of exoskeleton refers to passive exoskeletons. Unlike the robotized exoskeleton, the passive exoskeleton or ergoskeleton does not seek to increase the strength of the operator who wears it, but aims at reducing the efforts that the operator provides. Thus, the passive exoskeleton is part of a process of reducing the arduousness during the execution of repetitive and / or binding work while preventing the occurrence of musculoskeletal disorders (MSD).
- MSD musculoskeletal disorders
- Several types of passive exoskeleton are known that equip the lower and / or upper limbs of the operator's body. Most passive exoskeletons aim to relieve the operator through an elastic mechanical structure carried by the operator. In general, the passive exoskeleton is lighter than a robotic exoskeleton and is composed of mechanisms with elastic return comprising, as the case of cylinders or springs, as well as articulated arm systems.
- the belt comprises a backrest from which extend on both sides side flanks may be secured to their free end.
- these lateral flanks are in principle provided with locking means such as a strap and buckle system to close the belt.
- Other passive skeletons may include a belt combined with a harness to secure the passive exoskeleton to the anatomy of the operator.
- the harness is usually supported, via straps, on the shoulders of the operator and applies tension on the actuator muscles of the shoulder joints such as deltoids and / or trapezoids.
- the application of tension on the shoulder actuator muscles inadvertently contributes to limiting the range of motion of the shoulder and thus decreasing the pressure of the shoulder. agility of the operator.
- the belt has on the back side of the back a coupling plate for the reception of one or more accessory (s) such as an arm of carrying, tool holder, wrist support, etc.
- accessory such as an arm of carrying, tool holder, wrist support, etc.
- the coupling plate Positioned in the back of the operator the coupling plate does not allow the operator to equip himself and requires the help of a third person to mount and dismount the accessory on this coupling plate. This lack of autonomy can be problematic, for example in the context of a single worker.
- the charges are directly transmitted from the accessories to the coupling plate and contribute to increase the loads that apply to the spine and can lead to a compression of the vertebrae. This phenomenon is all the more likely when the belt is coupled with a harness resting on the upper body and especially on the shoulders.
- this belt can also be against use and cause musculoskeletal disorders.
- the document WO 2018/069594 describes a load transfer belt which comprises a backrest equipped with two flexible side flanks which extend on either side of the backrest.
- the flexible side flanks are extended by a strap to form an adjustable belt to the size of the operator.
- the back portion of the backrest comprises a rigid piece and coupling means to an accessory. The back portion is thus able to support a load transmitted by an accessory such as a mechanical arm.
- the load transfer belt of WO 2018/069594 reduces the loads that apply to the spine, only the dorsal portion of the belt has rigid elements. In this sense, the dorsal part supports the accessories and transfers the loads essentially to the posterior part of the pelvis. The distribution of loads on the basin is not uniform, this can create an imbalance and including anteversion placement of the basin of the operator.
- the Applicant has developed an ergonomic load transfer belt making it possible to optimize the transfer of charges from the accessories to the pelvic bone structure and in particular the iliac crests of the pelvis which distribute the loads over the entire basin. In this sense, the iliac crests have the advantage of receiving the insertion of powerful muscles such as abdominals that allow the bone structure of the pelvis to withstand significant loads.
- the present invention relates to a charge transfer belt adapted to carry at least one accessory of a passive exoskeleton, the charge transfer belt comprising, on the one hand, coupling means of a propulsion device.
- a passive exoskeleton and secondly, a backrest equipped with two lateral flanks which extend laterally from a fastening end connected to the backrest towards a free end.
- each lateral flank comprises at least a first rigid portion which extends from the fastening end towards the free end.
- the rigid nature of the first portion makes it possible to rest on an iliac crest of the pelvis of an operator and to optimize the distribution of the loads on the bone structure of the pelvis.
- the charge transfer belt according to the invention makes it possible to transfer the loads experienced by the accessories to the operator's pelvis. This characteristic contributes to the comfort of the operator and the prevention of musculoskeletal disorders including the spine.
- the load transfer belt of the present invention also allows the operator to equip and dismantle without the help of a third party.
- the first portion of at least one side is equipped with coupling means.
- the coupling means contribute, on the one hand, to release the upper body of the operator and allow him to equip himself without the help of a third person, and on the other hand, to directly transfer the loads suffered by the accessories towards the operator's basin.
- the lateral flanks comprise means for connecting their free end.
- the coupling means are defined by receiving means adapted to form an articulated connection with an accessory of a passive exoskeleton.
- the coupling means comprise an adjustment system making it possible to adjust the position of the coupling means along at least one axis.
- the backrest comprises a polarizer so that an operator correctly positions the load transfer belt.
- the polarizer comprises, on the one hand, a lumbar curve configured to rest on the lumbar curvature of an operator, and on the other hand, a thoracic curve configured to bear on the bottom of the thoracic curvature. an operator .
- the charge transfer belt comprises a concentric adjustment system of each lateral flank so that the operator correctly positions the charge transfer belt according to a synchronized translation of each flank.
- the concentric adjustment system comprises at least one guide in which each lateral flank is engaged through at least one pad which is complementary to the guide.
- the concentric adjustment system comprises a synchronization mechanism which is connected, on the one hand, to each lateral flank, and on the other hand, to the backrest, thereby ensuring a synchronized translation of a lateral flank with respect to the 'other.
- Figure 1 is a representation of a front view of a charge transfer belt according to an embodiment of the invention.
- FIG. 2 is a representation of a side view of a backrest of the load transfer belt of Figure 1;
- FIG. 3 is a representation of a lateral flank of the charge transfer belt of FIG. 1, the lateral flank being equipped with means for coupling an accessory of a passive exoskeleton;
- Figure 4 is a perspective representation of the coupling means of Figure 3;
- Figure 5 is a perspective representation of the charge transfer belt of Figure 1;
- FIG. 6 is a representation of a concentric adjustment system of each lateral flank, the lateral flanks being deployed;
- Fig. 7 is a representation of the concentric adjustment system of Fig. 6 with the side flaps retracted;
- Figure 8 is a perspective representation of a biasing mechanism forming part of the concentric fit system of Figure 7;
- FIG. 9 is an exploded view of the synchronization mechanism of FIG. 8.
- the invention illustrated in Figures 1 to 9 relates to a load transfer belt 1 adapted to carry at least one accessory of a passive exoskeleton in the context of a point or repetitive handling.
- the belt 1 comprises a backrest 2 ensuring optimum positioning of the belt 1 whatever the morphology of the operator.
- the backrest 2 comprises a polarizer 20 allowing in particular to bear on the lumbar curvature of the operator.
- the polarizer 20 comprises a lumbar curve 200 which is adapted to marry at least in part the lumbar curvature of an operator.
- the lumbar curve 200 has a bearing surface 21 curved so as to bear on the lumbar curvature of the operator.
- the lumbar curvature is characteristic of the human species, it corresponds to vertebrae L1 to L5 located in the lower back.
- the bearing surface 21 extends from a lower end 22 to a curve 23.
- the bearing surface 21 has, between the lower end 22 and the curve 23, a line having three corrugations 24 so as to accommodate the spinous process of at least one of the vertebrae L1 to L5.
- the thickness of the backrest 2 widens from the lower end 22 to the curve 23.
- the lower end 22 is configured to bear on the sacral curvature of the spinal column. the operator.
- Proper positioning of the belt 1 prevents the adoption of a bad working posture. And more particularly poor pelvic posture, a poor adjustment of the belt 1 may lead the operator to adopt an anteversion position (bent forward) and / or retroversion (bent back). However, repetitive work in such positions can lead to the appearance of musculoskeletal disorders such as lumbar hyperlordosis.
- the backrest 2 comprises a thoracic curve 201 configured to rest on the bottom of the thoracic curvature of an operator.
- the thoracic curve 201 overcomes the lumbar curve 200.
- the thoracic curve 201 extends from the curve 23 to an upper end 26 of the backrest 2.
- the thickness of the backrest 2 is reduced from the curve 23 to the upper end 26 of the file 2.
- the thoracic curve 201 makes it possible to resume the couples acting on the belt 1 towards the front and tend to tilt the operator retroversion.
- the backrest 2 can be covered with a comfort coating for example foam type.
- the belt 1 comprises two side walls 3 provided to surround at least partially the hips of the operator. More particularly, each lateral flank 3 extends laterally from an attachment end 30 linked to the backrest 2 towards a free end 31.
- each side flank 3 comprises from its fixing end 30 to its free end 31 a first rigid portion 32 extended by a second portion 33 more flexible.
- each lateral flank 3 is formed in one piece, the first portion 32 being more rigid with a greater thickness than the second portion 33.
- the second portion 33 has a softer character than the first portion 32 of the reduction of the sidewall thickness 3.
- first portion 32 of each lateral flank 3 is designed to rest on an iliac crest of the pelvis of the operator. In this sense, the first portion 32 of each side flank 3 participates in the transfer of the loads taken by the belt 1 to the pelvis of the operator.
- each lateral flank is made of a polymeric material and / or composite such as a material based on carbon fibers.
- each lateral flank 3 comprises a bevel 34 at the lower edge 35 of its free end 31.
- the bevel 34 promotes the mobility of the operator by avoiding applying a stress on the front portion of the operator's pelvis .
- the bevel 34 also prevents the side flanks 3 from opposing the mobility of the thighs of the operator.
- the lateral flanks 3 comprise connecting means 36 of their free end 31.
- the connection means 36 comprise at least one strap 37 cooperating with an adjustment system 38 such that a buckle.
- at least one lateral flank 3 comprises coupling means 4 of an accessory of a passive exoskeleton.
- the first portion 32 of at least one of the lateral flanks 3 is equipped with coupling means 4.
- the first portion 32 of each lateral flank 3 comprises coupling means 4. It is thus possible to couple to the belt 1 with two accessories of a passive exoskeleton such as arm supports.
- each lateral flank 3 is configured to rest on an iliac crest of the operator, the positioning of the coupling means 4 at the level of the first portion 32 makes it possible to avoid the stressing of spine.
- the transfer of charges being effected directly from the accessory coupled with the coupling means 4 to the bone structure of the pelvis of the operator.
- the lateral positioning of the coupling means 4 improves their accessibility and also promotes the autonomy of the operator. Indeed, due to this lateral positioning, the operator is able to equip himself without the help of a third person.
- the coupling means 4 are defined by receiving means 40 adapted to form an articulated connection with an accessory of a passive exoskeleton such as an arm support, a carrying arm, a tool support, a wrist support, a posture harness, elements of an exoskeleton for the lower limbs of an operator, etc.
- a passive exoskeleton such as an arm support, a carrying arm, a tool support, a wrist support, a posture harness, elements of an exoskeleton for the lower limbs of an operator, etc.
- the coupling means 4 comprise an adjustment system 41 making it possible to adjust the position of the coupling means 4.
- the adjustment system 41 ensures the adjustment of the position of the reception means 40 according to at least one axis .
- the adjustment system 41 provides adjustment of the position of the receiving means 40 along an axis perpendicular to the direction in which a lateral flank 3 extends.
- the adjustment system 41 comprises a rail 42 which extends along an axis perpendicular to the direction in which the side flank extends.
- the rail 42 extends from the lower edge 35 of the lateral flank 3 towards an upper edge 39 of the lateral flank 3.
- the adjustment means 41 have a sliding piece 43 engaged on the rail 42.
- the sliding piece 43 cooperates with a clamping element 44 movable between an activated position and a deactivated position.
- the clamping element 44 When the clamping element 44 is in the activated position, it blocks the translation of the sliding part 43 on the rail 42 and keeps the receiving means 40 in a determined position. Conversely, when the clamping element 44 is in the deactivated position, the sliding part 43 is free to slide on the rail 42.
- the clamping element 44 can be formed by a screw, a pin co-operating with piercings etc.
- This configuration of the adjustment system 41 allows the operator to adjust the height of the position of the receiving means 40, relative to the lateral flank 2, and according to its template.
- the receiving means 40 comprise a stirrup piece 45, a free end 46 of which is adapted to form a pivot connection with an accessory.
- the free end 46 extends along an axis parallel to the rail 42.
- the free end 46 is formed by a pedicle.
- the free end 46 may provide a pivot connection with a complementary socket of the free end 46, the sleeve being provided on an accessory.
- the pedicle may comprise a median groove 47 which extends in a direction transverse to the axis of the free end 46.
- the belt 1 comprises a concentric adjustment system 5 side flanks 3.
- the concentric adjustment system 5 comprises a synchronization mechanism 6.
- the synchronization mechanism 6 is connected to each lateral flank 3 and to the backrest 2.
- the synchronization mechanism 6 forms an axial pivot connection 60 with a plate 27 which is secured to the rear of the 2.
- the synchronization mechanism 6 comprises an axis 61 secured to the plate 27 and a disk 62 rotatably mounted on the axis 61. The cooperation between the disk 62 and the axis 61 forms the axial pivot connection 60 .
- the synchronization mechanism 6 comprises two rods 63, a first end 630 of which forms a first pivot connection 65 with the disc 62. At the same time, a second end 631 of the link 63 forms a second pivot link 66 with an end. 3.
- the first pivot connection 65 of each link 63 is mounted radially opposite on the disk 62.
- the rods 63 are arcuate to reduce the size of the synchronization mechanism 6, especially when the latter is in the retracted position (shown in Figure 7).
- the synchronization mechanism 6 comprises a stop 67 cooperating with a radial groove 68 formed on the disk 62.
- the synchronization mechanism 6 can be formed by a rack connected, on the one hand, to each lateral flank 3, and on the other hand, to the plate 27.
- the concentric adjustment system 5 comprises at least one guide 50 in which each lateral flank 3 is engaged.
- the concentric adjustment system 5 comprises two guides 50 in which the two lateral flanks 3 are engaged.
- each guide 50 is formed by a slide 51 formed on the plate 27.
- the two guides 50 are parallel to each other and extend on either side of the synchronization mechanism 6 in a plane defined by the plate 27.
- a first guide 51 is disposed superior to the synchronization mechanism 6 while that a second guide 52 is disposed inferiorly with respect to the synchronization mechanism 6.
- each lateral flank 3 is engaged on a guide 50, 51, 52 through at least one shoe 53 complementary to the guide 50, 51, 52 with which it cooperates.
- each guide 50, 51, 52 ensures a smooth translational stroke of each side flank 3 when the operator adjusts the belt 1 to its size.
- the concentric adjustment system 5 promotes optimum positioning and adjustment of the belt 1 by forcing the operator to move synchronously and along the same axis the two lateral flanks 3.
- both the back 2 and the concentric adjustment system 5 participate in the comfort of the operator by optimizing the positioning and adjustment of the belt 1 while releasing the upper body of the operator of any constraint.
- the optimization of the positioning and the adjustment of the belt 1 actually cause a positioning of the receiving means 40 taking up the axis of insertion of the arm on the shoulder of the operator.
- This configuration makes it possible to create an articulated connection with at least one accessory such as an arm support or an articulated arm resuming an amplitude of movement similar to that of a human arm.
- the belt 1 may comprise additional coupling means to carry other accessories of a passive exoskeleton.
- the belt 1 may comprise additional coupling means secured to the plate 27.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Portable Outdoor Equipment (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1853800A FR3080849B1 (en) | 2018-05-02 | 2018-05-02 | LOAD CARRYING BELT SUITABLE FOR WEARING AT LEAST ONE ACCESSORY OF A PASSIVE EXOSQUELET |
PCT/FR2019/000062 WO2019211532A2 (en) | 2018-05-02 | 2019-04-26 | Load transfer belt adapted to carry at least one accessory of a passive exoskeleton |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3768470A2 true EP3768470A2 (en) | 2021-01-27 |
Family
ID=63683975
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19782646.4A Withdrawn EP3768470A2 (en) | 2018-05-02 | 2019-04-26 | Load transfer belt adapted to carry at least one accessory of a passive exoskeleton |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210237258A1 (en) |
EP (1) | EP3768470A2 (en) |
FR (1) | FR3080849B1 (en) |
WO (1) | WO2019211532A2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115890633B (en) * | 2023-01-10 | 2023-05-12 | 中科携行(北京)科技有限公司 | Quick-wearing and taking-off bionic exoskeleton back frame |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5360196A (en) * | 1992-09-15 | 1994-11-01 | Garrett W. Brown | Adjustable, iso-elastic support apparatus |
EP2373276B1 (en) * | 2008-12-18 | 2018-02-14 | Berkeley Bionics | Wearable material handling system |
US8474672B1 (en) * | 2011-03-29 | 2013-07-02 | Michael R. Keith | Hiker's buddy apparatus for sharing with a hiker the carrying load of a backpack |
FR2993811A1 (en) * | 2012-07-26 | 2014-01-31 | Pierre Andre Davezac | Semi-passive exoskeleton for carrying and handling e.g. riveters in metallurgical industry, has arm provided with structure of parallelograms, where arm preserves isoelastic and passive qualities after short energy consumption |
US9408457B2 (en) * | 2013-06-07 | 2016-08-09 | Antwaine Debnam | Hands-free bag carrying device |
KR102158131B1 (en) * | 2014-05-23 | 2020-09-21 | 삼성전자주식회사 | Walking assist apparatus |
EP3397430A4 (en) * | 2015-12-28 | 2020-04-22 | Enhance Technologies, LLC | Head support systems and methods for use |
FR3057484B1 (en) * | 2016-10-14 | 2018-11-30 | Bmexo | PORTABLE LOAD SUPPORT DEVICE REMOVABLE FROM THE PERSON WHO DOES IT |
CN111148606B (en) * | 2017-09-28 | 2023-04-07 | 奥索冰岛有限公司 | Body engaging device |
FR3076237B1 (en) * | 2017-12-28 | 2021-02-19 | Safran Electronics & Defense | EXOSKELETON STRUCTURE |
US10688010B2 (en) * | 2018-01-02 | 2020-06-23 | Free Bionics Taiwan Inc. | Adjusting assembly and exoskeleton robot comprising the same |
-
2018
- 2018-05-02 FR FR1853800A patent/FR3080849B1/en active Active
-
2019
- 2019-04-26 US US17/049,187 patent/US20210237258A1/en not_active Abandoned
- 2019-04-26 WO PCT/FR2019/000062 patent/WO2019211532A2/en unknown
- 2019-04-26 EP EP19782646.4A patent/EP3768470A2/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
WO2019211532A2 (en) | 2019-11-07 |
US20210237258A1 (en) | 2021-08-05 |
FR3080849B1 (en) | 2020-04-24 |
WO2019211532A3 (en) | 2019-12-26 |
FR3080849A1 (en) | 2019-11-08 |
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