EP3860545B1 - Robot actif portable comprenant des moyens de détection pour une commande de rétroaction - Google Patents

Robot actif portable comprenant des moyens de détection pour une commande de rétroaction Download PDF

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Publication number
EP3860545B1
EP3860545B1 EP19798126.9A EP19798126A EP3860545B1 EP 3860545 B1 EP3860545 B1 EP 3860545B1 EP 19798126 A EP19798126 A EP 19798126A EP 3860545 B1 EP3860545 B1 EP 3860545B1
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Prior art keywords
motion
torque
distribution element
robot
robot according
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EP19798126.9A
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German (de)
English (en)
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EP3860545A1 (fr
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Andrea BALDONI
Simona CREA
Nicola Vitiello
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Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
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Scuola Superiore di Studi Universitari e di Perfezionamento SantAnna
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    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • 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
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A61H2201/1223—Frequency controlled AC motor
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1445—Overrunning clutches; One-way clutches
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • 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
    • A61H2201/1628—Pelvis
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—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
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the present invention is in connection with an underactuated wearable active robot comprising a transmission unit equipped with torque sensor means adapted to detect the actually absorbed output torque from said group.
  • active wearable robot in the present description is used to generically indicate any mechanically implemented prosthetic or exoskeletal device intended to be worn by a user to aid motion or to replace a limb and/or body portion.
  • the technology is therefore shifting with a view to seeking to reduce the size and weight of wearable robots.
  • the reduction of weight and dimensions in exoskeletal robots would not only allow more user-friendly use but also greater tolerability of the robot itself.
  • very heavy or even simply bulky robots are poorly accepted by the user, either because of the difficulty of use, or because of the strong aesthetic and emotional impact they cause in use.
  • the present invention provides an active wearable robot according to claim 1.
  • An object of the present invention is therefore to provide a robot which is "transparent" with respect to the residual movement of the user when the robot itself is worn, or which does not hinder such movement but supports it and assists it.
  • An object of the invention is to provide a robot capable of compensating an action of external force exerted in the opposite direction to that of the actuator, external force for example due, for example, to a residual mobility of the user.
  • a further object is to resolve the aforementioned problems of weight and structural complexity with the same functionality and reliability of the current robots.
  • Another object of the present invention is to provide an active wearable robot which allows a simplification of the mechanical power transmission chain of the robot while simultaneously maintaining a high functional reliability.
  • a torque transmission unit generally indicated with the reference number 1 is described.
  • the torque transmission unit is installed on an active wearable robot, globally indicated with the reference number 2; in this example of use, the torque transmission unit performs an underactuation of at least two joints of the robot, therefore it is henceforth also referred to also as an underactuation unit.
  • active wearable robot is generally indicated as any prosthetic or exoskeletal device mechanically actuated and intended to be worn by a user in aid of or in replacement of a limb and/or body portion.
  • the underactuation unit 1 comprises actuation means 10 adapted to generate a torque at a single primary motion output 100 thereof.
  • the primary motion output is associated with at least two articulable exoskeletal modules 20, 21 of the robot destined to correspond, in use, with respective mono- or poly-articular body joints of the user.
  • the actuation means comprises one or more actuators commanded by an energy source controlled by an electronic controller (not shown).
  • actuator can be understood as linear actuators but also, for example and not limited to, electric motors, electro-active polymers, hydraulic power systems such as a hydraulic pump.
  • articulable exoskeletal module means any joint actuatable by the robot that has at least one degree of freedom, such as for example knee, ankle, elbow, wrist joints.
  • poly-articulated structures comprising kinematic chains are also comprised in this definition; structures of this kind are adapted to be particularly associated with the back and markedly with the spinal articulation of the user and in this case follow and reproduce the movements of the user's spine or pelvis and in this case reproduce the movement of the pelvis-hip joint.
  • An example of a poly-articulated structure adapted to the application in association with the pelvis-hip joint is described in patent application WO2017216663 by the same applicant.
  • the actuation means 10 defines the motion output 100 to which a first motion distribution element 11 is connected.
  • the first motion distribution element 11 therefore receives in input 100' the torque generated in output by the actuation means 10.
  • the first motion distribution element 11 also defines two differential derivative motion outputs 110 and 111.
  • each differential motion output is adapted to connect with a respective articulable module 20, 21 of the robot or with a second motion distribution element 12, 12' in turn operatively interfaced with at least two further articulable exoskeletal modules 20', 21', 20", 21".
  • the actuation means 10 although defining a single primary motion output 100, obtains themselves the movement of at least two articulable modules 20, 21, thanks to the interposition of the first motion distribution element 11 which receives the motion input from the actuation means and distributes it in differential mode (as a differential gearing) to the two derivative outputs 110, 111 and therefore, consequently, to the articulable exoskeletal modules operatively connected thereto.
  • the articulable exoskeletal modules that can be actuated with the actuation means 10 are therefore potentially infinite.
  • Second and third groups of actuatable modules of the robot 20', 21', 20", 21" are in turn connected to the differential motion outputs 120', 121', 120", 121" of each of said second and third distribution elements. Therefore, in this case four articulable exoskeletal modules are implemented with the actuation means 10.
  • the potentially feasible exoskeletal modules starting from the single primary output 100 defined by the actuation means 10 would be in even greater numbers.
  • the underactuation unit thus obtains the movement of complex robotic structures with a constructive simplicity that has never been reached by the currently known robots.
  • the torque transmission unit further comprises torque sensor means.
  • These sensor means can comprise, for example but not limited to, a transmissive element with elastic response for the transmission of a torsional stress associated with at least one position encoder to determine its torsional bending and therefore the torque, knowing the elastic constant of the elastic transmission element.
  • Figure 6 shows an embodiment example of SEA architecture (series elastic actuator), comprising sensor means in series with actuation means.
  • SEA architecture series elastic actuator
  • the sensor means 13 is interposed between the first motion distribution element 11 and the actuation means 10, therefore corresponding to the primary motion output 100.
  • the torsional elastic transmissive element is indicated in the figure with the number 130.
  • the actuation means in turn comprises a motor 10a and a crankshaft 10b which defines a reduced motion output 10c.
  • This reduced motion output of the crankshaft 10b is interfaced to a first connection flange of the transmissive element 130a; a second flange 130b longitudinally opposite to the first is connected to a cup-like connection element 131 which supports on its outer periphery the primary motion output 100 of the actuation means 10.
  • the sensor means comprises two encoders in this specific embodiment, of which a first encoder 132 is mounted so as to read the movement on the first flange 130a and a second encoder 133 is mounted so as to read the movement on the second flange 130b.
  • the difference in measurement read between the two encoders allows evaluating the torsional flexion of the elastic transmission element and therefore, knowing the elastic constant, the torque transmitted to the cup-like connection element and therefore on the primary motion output 100.
  • the sensor means 13 is therefore adapted to detect the torque actually absorbed by the first motion distribution element.
  • This actually absorbed torque also includes any external perturbation that is exerted in feedback on the actuation means from the derived motion outputs.
  • this external perturbation is a feedback action exercised by a user wearing a robot on which the transmission unit is installed.
  • the user has residual mobility, he or she can move the joint and consequently the module at the associated joint. This movement enters as a force exerted from the outside in the differential, algebraically adding the input power to the differential given by the single primary motion output.
  • the sensor 13 therefore detects a deviation between the power actually managed by the differential and that supplied by the actuator. This deviation, except for the deviation due to the internal frictions of the mechanisms and to possible errors, is therefore a function of the external perturbation mentioned above.
  • the sensor means is typically interfaced with a control unit configured for feedback control of the actuation means as a function of this deviation and consequently also as a function of the external perturbation received from at least one of the two derivative outputs.
  • this feedback control allows making the robot "transparent" in relation to any force exerted by the user directly on the articulable module, a force which, in the absence of such control, would be undesirably and in a substantially uncontrolled way redistributed by the motion distribution element, based on the differential distribution criterion, to one or more articulable exoskeletal modules connected thereto.
  • the SEA architecture is able, by reading the deformation of the torsional elastic transmissive element located downstream of the actuation means and upstream of the motion distribution element, to give the control unit the information, of which the torque passes in that transmission section and therefore allows closing the control loop in a timely manner as regards the active provision for the necessary motor task.
  • This architecture also allows the robot to be controlled in feedback if the user wishes to be able to impose motion from the outside. If an irreversible transmission was to occur, all the movement imposed by a derivative output of the motion distribution element would have the same and opposite repercussion on the second, which clearly could not move freely.
  • Sensor means upstream of the motion distribution element therefore allows the motor to cancel the resisting torque by going to cancel the algebraic difference of the motion generated by the two derivative outputs subjected to an input force supplied from the outside, i.e. by the user himself.
  • the motion distribution element is a differential.
  • the differential is mechanical, i.e. materialised by an epicycloidal gearing.
  • FIG. 3a, 3b , 4 and 5 These examples are related to wearable robots for the pelvis and back and for the pelvis only.
  • a SEA-type architecture is used, with actuation means 10 in series with sensor means 13 as in the embodiment cited above.
  • the primary motion output 100 is materialised by a first meshing member.
  • This primary motion output 100 is connected to a first differential 11 which has a second meshing member 110' adapted to mesh with the first meshing member 100 to receive the torque delivered by said actuation means 10.
  • the first and second meshing members are materialised by toothed wheels, even if other equivalent functional solutions can be provided.
  • the first differential 11 provides two derivative/differential motion outputs, of which a first derivative output 110 and a second derivative output 111.
  • the first derivative output 110 is connected to a first articulable module 20.
  • the second derivative output 111 is connected to a second differential 12.
  • the first derivative output 110 is materialised by a meshing member such as a pulley adapted to operatively interface with a respective motion input pulley 20a to the first articulable module 20, as shown specifically in figure 4b.
  • the pulley 20a supplies the input motion to an articulated kinematic mechanism adapted to be associated with the spinal joint, i.e. to the spine of a user.
  • the articulated kinematic mechanism comprises an exoskeletal kinematic chain adapted to assist the movement of a poly-articular bone chain, comprising a number of bone links and a number of anatomical rotoidal joints each of which is such as to allow a relative rotation between two bone links adjacent thereto.
  • the exoskeletal kinematic chain comprises respective exoskeletal links 20b and exoskeletal rotoidal joints 20d; each exoskeletal rotoidal joint allows a relative rotation between two exoskeletal links adjacent thereto.
  • a pulley 20a' is arranged which is adapted to rotate about a corresponding pivot axis, and at least one inextensible cable 20c in contact by friction with each pulley 20a'.
  • the relative derivative motion output is adapted to drive the cable 20c so as to bring the exoskeletal links to rotate around the respective exoskeletal rotoidal joints.
  • two or more cables can be provided which are alternately driven so as to bring the exoskeletal links to rotate clockwise and/or counter-clockwise around respective exoskeletal rotoidal joints.
  • the second derivative output 111 is materialised by a meshing member (specifically a geared wheel, even if also in this case the implementation of other functionally equivalent solutions cannot be excluded).
  • This second derivative output 111 is connected with the motion input 12a of the second differential 12, materialised by a complementary meshing member.
  • the second differential further provides a first 121 and a second motion output 122.
  • These two further derivative motion outputs 121 and 122 are meshed on respective motion inputs 21a and 22a of two second 21 and third articulable exoskeletal modules 22 to provide rotational movement.
  • the two motion inputs 21a, 22a are materialised by pulleys which have a degree of freedom in rotation according to an axis thereof that is perpendicular to the axis of the second differential motion output.
  • These pulleys supply the motion to an articulated kinematic motion which defines the two second and third articulable modules 21 and 22 which in the specific case are adapted to be associated with the articulation of the user's pelvis-hip.
  • These articulable modules 21 and 22 are for example of the type described in the previous patent application of the same holder mentioned above, i.e. WO2017216663 .
  • the articulable exoskeletal modules 21 and 22 are each materialised by a kinematic chain that allows the transmission of rotary motion between an active rotating element materialised by each of the motion input pulleys 21a and 22a and a distal rotating member.
  • the two rotating members have axes that can assume any relative orientation.
  • the distal rotating member is also materialised by a respective pulley, shown in the figures and indicated with the references 210a and 222a.
  • the first rotating member is therefore adapted to rotate about its own pivot axis X.
  • the second rotating member is in turn adapted to rotate about its own pivot axis Y.
  • the kinematic chain also comprises a plurality of connection elements 21b, 22b each of which comprises at least one passage having at least one rotating element; each connection element further comprises at least one interface adapted to connect the connection element to an adjacent one and to one of the rotating elements, generating a rotational constraint around a pivot axis Z thereof.
  • the chain then comprises a transmission element (not visible), such as a cable or a belt, adapted to extend along a determined path to transmit a rotary motion between the two rotation elements.
  • a transmission element such as a cable or a belt
  • the kinematic chain is adapted to pass between an adjustment configuration in which each connection element is adapted to rotate about its own pivot axis Z to adjust its angular position with respect to an adjacent connection element or to one of the rotation elements, and a transmission configuration in which when the first rotation element rotates about its own pivot axis X, the distal rotation element performs a proportional rotation about its own axis Y; in the transmission configuration each connection element is adapted to not rotate about its own pivot axis Z.
  • Figure 5 shows a further embodiment which is a simplified version of the one just described, in which the second differential 12 is not present and the two derivative outputs of the first differential 121, 122 are connected to as many articulable exoskeletal modules 21, 22, materialised in this case by articulated kinematic mechanisms of the pelvis-hip such as those described above.
  • FIGS. 7a, 7b and 8 a prosthesis or active wearable knee-ankle robot is represented; in general the solution that will now be described applies to any active wearable robot solution for a limb with a pair of consequential exoskeletal joints, i.e. arranged in sequence on the same limb.
  • Examples of pairs of consequential joints are: shoulder-elbow, knee-ankle, elbow-wrist, hip-knee, etc.
  • the pair of joints defines a distal joint and a proximal joint, as a function of their distance from the trunk.
  • the knee joint is proximal, while the ankle joint is distal.
  • the joints of these pairs work in series during movement; if we consider the movement of a step in the case of the specific knee-ankle example, the movement of the ankle is sequential to that of the knee.
  • the robot of these figures comprises at least:
  • the motion distribution member is a differential gearing as described above.
  • the robot can further comprise braking means 14, 14'.
  • the braking means comprises disc brakes.
  • the brakes are used to direct and distribute the torque delivered between the differential motion outputs. In fact, by braking one of the two outputs, the torque delivered by the other motion output is greater. This behaviour can also be used to redistribute the external energy supplied in input as a perturbation by braking one of the two joints and forcing the power to exit in a differential manner from the non-braked or less-braked joint.
  • the braking means therefore has the purpose of modulating the power flow between one or the other output of the unit itself as a function of the movement that the user must perform.
  • the braking means also allows making the joint irreversible, i.e. in the event of a sudden stop, it blocks the joint, making the structure rigid and allowing the user to place his weight on it.
  • the robot for pairs of consequential body joints can also comprise:
  • the control unit when faced with a difference detected between the actual position value of a joint, for example the ankle joint, and the desired value, adjusts the delivery of torque from each of the two derivative motion outputs. If the robot has braking means installed, the control unit carries out this adjustment by operating on the braking means itself. In this way the power supplied by the motor is divided in favour of the non-braked or in any case less-braked derivative motion output. Taking again a step as an example, if the position value of the ankle module does not correspond to the desired one, the control unit acts by braking the derivative motion output associated with the knee module, so that the torque delivered by the derivative motion output associated with the ankle module is greater and can recover the difference in the detected position value.
  • the position detecting means is located downstream of the differential motion distribution unit.
  • the position detecting means comprises, for example, position and/or torque sensors.
  • the detection means comprises a transmissive element with elastic torsional response and at least one position encoder to determine the torsional flexion of this transmissive element.
  • Detection means of this type is substantially similar to that described with reference to figure 6 and associated with the motor 10 in the SEA-type architecture. This solution therefore not only detects the torque but also the position of the module.
  • the solution has a further advantage: the interposition of an elastic element between the motion output and the module gives the robot an elastic interaction with the user and in general with the outside that make its behaviour similar to that of user.
  • the detection means can also possibly only comprise a torque sensor allocated on one of the two modules.
  • the module position can be derived derivatively starting from the torque detection.
  • the detection means can be placed on each module, or it can be one in number. In this case the position information on the other module will be derived from the information obtained by direct detection on the module with the sensor.
  • Figures 7a and 7b also show universal joints of the known type 125, 126 for the connection of the prosthesis to an orthotic shell and/or to a prosthetic foot.
  • further sensor means can be provided between the actuation means and the motion distribution element (as in the SEA architecture described above) to have a further control stage, not only on the derivative motion outputs but also on the power delivered directly at the input to the distribution element from the single motion output 100.

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  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Neurology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
  • Power Steering Mechanism (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (12)

  1. Robot actif à porter sur soi comprenant au moins deux modules articulés (20, 21, 22) conçus pour correspondre à des articulations corporelles respectives d'un utilisateur, ledit robot comprenant en outre :
    - des moyens d'actionnement (10) définissant une sortie de mouvement primaire unique (100) à partir de laquelle un couple est distribué ;
    - au moins un premier élément de distribution de mouvement (11) relié à ladite sortie de mouvement primaire unique (100) pour recevoir ledit couple délivré en entrée et pour le distribuer dans des modes différentiels par l'intermédiaire de deux sorties de mouvement dérivées (110, 111) auxdits au moins deux modules articulés ; caractérisé par le robot actif à porter sur soi comprenant en outre :
    - des moyens de détection de couple (13) interposés entre lesdits moyens d'actionnement (10) et ledit au moins un premier élément de distribution de mouvement mécanique (11), conçus pour détecter l'écart entre le couple délivré par ladite sortie de mouvement primaire unique (100) et le couple réellement absorbé par ledit au moins un premier élément de distribution de mouvement, dans lequel ledit robot comprend en outre une unité de commande communiquant avec lesdits moyens de capteur (13) et lesdits moyens d'actionnement (10), configurée pour mettre en oeuvre une commande de rétroaction pour lesdits moyens d'actionnement sur la base dudit écart.
  2. Robot selon la revendication 1, dans lequel ledit écart est dû à une perturbation externe sur au moins l'une desdites deux sorties de mouvement dérivées (110, 111), moyennant quoi ledit couple délivré est corrigé de manière à compenser ledit écart.
  3. Robot selon la revendication 2, dans lequel ladite perturbation est un couple externe non délivré par ladite sortie de mouvement primaire unique et qui agit de l'extérieur sur au moins un des deux modules articulés.
  4. Robot selon la revendication 3, dans lequel ladite unité de commande agit pour ajuster le couple délivré par ladite sortie de mouvement primaire unique (100) afin d'annuler ledit écart avec ledit couple absorbé par ledit élément de distribution de mouvement différentiel.
  5. Robot selon la revendication 3, dans lequel ledit élément de distribution de mouvement est un engrenage différentiel (11).
  6. Robot selon l'une quelconque des revendications précédentes, dans lequel lesdits moyens de capteur de couple comprennent un élément transmissif (130) avec une réponse de torsion élastique et au moins un codeur de position (132, 133) pour déterminer la flexion de torsion.
  7. Robot selon la revendication précédente, dans lequel lesdits moyens d'actionnement comprennent un moteur (10a) et un vilebrequin (10b) qui définit une sortie de mouvement réduite (10c), ladite sortie de mouvement réduite établissant une interface avec une première bride de liaison dudit élément transmissif (130a), une seconde bride (130b) longitudinalement opposée à la première est reliée à un élément de liaison en forme de coupelle 131 qui supporte sur sa périphérie externe ladite sortie de mouvement primaire (100).
  8. Robot selon la revendication 7, dans lequel lesdits moyens de capteur comprennent deux codeurs, dont un premier encodeur (132) monté pour lire le mouvement sur ladite première bride (130a) et un second codeur (133) monté pour lire le mouvement sur ladite seconde bride (130b), la différence de mesure lue entre les deux codeurs permettant l'évaluation de la flexion de torsion dudit élément de transmission élastique et par conséquent du couple transmis audit élément de liaison en forme de coupelle et donc du couple sur la sortie de mouvement primaire (100).
  9. Robot selon l'une quelconque des revendications précédentes, dans lequel lesdits au moins deux modules articulables comprennent un module conçu pour correspondre à une articulation de genou et un module conçu pour correspondre à une articulation de cheville.
  10. Robot selon l'une quelconque des revendications précédentes, dans lequel lesdits au moins deux modules articulables sont conçus pour correspondre chacun à une articulation de la hanche.
  11. Robot selon l'une quelconque des revendications précédentes, comprenant un premier élément de distribution de mouvement (11) et un second élément de distribution de mouvement (12) relié audit premier élément de distribution de mouvement et en particulier à une sortie de mouvement dérivée associée, tandis qu'un premier module d'exosquelette est relié à l'autre sortie de mouvement dérivée, dans lequel deux modules d'exosquelettes supplémentaires sont reliés audit second élément de distribution de mouvement (12).
  12. Robot selon la revendication 11, comprenant un premier élément de distribution de mouvement (11) et un second élément de distribution de mouvement (12), un module conçu pour établir une interface avec une articulation arrière d'un utilisateur étant relié à une première sortie de mouvement dérivée dudit premier élément de distribution, ledit second élément de distribution de mouvement étant relié à une seconde sortie de mouvement dérivée dudit premier élément de distribution, et des modules respectifs conçus pour établir une interface avec des articulations de la hanche dudit utilisateur étant reliés à chaque sortie desdites sorties de mouvement dudit second élément de distribution.
EP19798126.9A 2018-10-05 2019-10-04 Robot actif portable comprenant des moyens de détection pour une commande de rétroaction Active EP3860545B1 (fr)

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IT102018000009207A IT201800009207A1 (it) 2018-10-05 2018-10-05 Gruppo di trasmissione di coppia con mezzi sensori di coppia
PCT/IB2019/058466 WO2020070703A1 (fr) 2018-10-05 2019-10-04 Robot actif portable comprenant des moyens de détection pour une commande de rétroaction

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CN113425553B (zh) * 2021-06-25 2023-02-03 右江民族医学院附属医院 一种椎骨疾病康复护理装置
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CA2583107C (fr) * 2006-03-31 2011-09-13 Universite De Sherbrooke Actionneur differentiel a hautes performances pour taches a interaction robotique
US8622864B2 (en) * 2008-03-27 2014-01-07 Philippe Fauteux Dual differential semi-active actuator fit for interaction tasks and fast motion
US9855654B2 (en) * 2011-09-06 2018-01-02 Wakayama University Power assist robot apparatus and control method therefor
JP5957751B2 (ja) * 2012-02-28 2016-07-27 国立大学法人 筑波大学 多自由度補助装置
CN102727360B (zh) * 2012-06-06 2014-06-18 常州汉迪机器人科技有限公司 人体上肢康复机器人
JP6449713B2 (ja) * 2015-04-23 2019-01-09 本田技研工業株式会社 動作補助装置
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US11000945B2 (en) * 2017-06-27 2021-05-11 Massachusetts Institute Of Technology Wearable robotic systems for supporting a load

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