Classifications

• • 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
  • A61H3/04—Wheeled walking aids for patients or disabled persons
• • 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
  • A61H3/04—Wheeled walking aids for patients or disabled persons
  • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
• • 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
  • A61H3/04—Wheeled walking aids for patients or disabled persons
  • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking 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
  • A61H2201/01—Constructive details
  • A61H2201/0173—Means for preventing injuries
• • 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
  • A61H2201/01—Constructive details
  • A61H2201/0173—Means for preventing injuries
  • A61H2201/0176—By stopping operation
• • 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
  • A61H2201/01—Constructive details
  • A61H2201/0192—Specific means for adjusting dimensions
• • 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
• • 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
  • A61H2201/1635—Hand or arm, e.g. handle
• • 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
  • A61H2201/1657—Movement of interface, i.e. force application means
  • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
• • 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
• • 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
• • 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
  • A61H2201/5064—Position sensors
• • 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
  • A61H2201/5084—Acceleration sensors
• • 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
  • A61H2201/5092—Optical sensor
• • 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
  • A61H2203/00—Additional characteristics concerning the patient
  • A61H2203/04—Position of the patient
  • A61H2203/0406—Standing on the feet

Definitions

• the invention relates to the field of devices for assisting with walking, and more particularly of robotic walkers.
• the invention relates to a robotic walker arranged and configured to prevent a fall of a user as well as a method of preventing a fall of a user using said robotic walker.
• Walkers have been proposed which passively block the movement of a wheel when the user's position is too far forward of the walking aid (CN107693316).
• his weight overcomes the force of a spring which in turn locks the wheel or allows a braking element to gradually come into contact with the ground and to brake.
• these attempts to improve the stability of walkers remain ineffective. Indeed, such arrangements do not meet the needs of users who face potentially very diverse situations so that the system can trigger at the wrong time or worse not trigger.
• these rollators can be difficult to use, as they usually require a part of the frame to be lifted to unlock the wheels.
• Motorized walkers capable of determining the speed or acceleration of the robotic walker and then initiating braking when a limit value is exceeded have also been proposed (WO2009026119).
• robotic walkers capable of measuring the pressure exerted on the antebrachial supports and triggering braking of the body have been proposed. walking aid device when pressure values are determined to be too high or too low (CN107109187).
• the aim of the invention is therefore to remedy the drawbacks of the prior art.
• the invention aims to provide a robotic walker arranged to prevent the fall of a user and more generally to reduce his risk of falling and this preferably while providing him with control means configured to control the movement. of the rollator intuitively.
• the invention further aims to provide a method for preventing a fall of a user of a robotic walker. fShort description of the invention!
• the invention relates to a robotic walker comprising a frame having a front part and a rear part, a pair of wheels being arranged to support the rear part of the frame, and at least one wheel being arranged to support the front part. of the chassis, at least one of the wheels being coupled to a displacement motor, said robotic walker comprising a control module configured so as to be able to control the displacement motor (s), said robotic walker being characterized in that the module control is configured for:
• an indicator of an involuntary movement of a user of the robotic walker which may lead to a fall of said user preferably, the indicator of an involuntary movement of a user of the robotic walker being determined from values generated by one or more sensors selected from: an integrated sensor to an electronic handle, a sensor configured to measure the movement of a wheel, a distance sensor configured to measure the distance between the user and the robotic walker or a sensor positioned on the user of the robotic walker;
• such a robotic walker makes it possible to prevent any risk of the user falling or losing his balance.
• the robotic walker advantageously makes it possible to counterbalance and even help the user suffering from such physical difficulties.
• a walker according to the invention makes it possible on the one hand to reduce the risk of falling by transmitting a stop command to the displacement motor, thus allowing the user to use the robotic walker. to prevent a fall without the latter moving in an inappropriate direction, and, on the other hand, to compensate for the user's loss of balance by allowing the wheels of said robotic walker to return to their previous or initial position, that is, before the detection of unwanted movement.
• the decision to return to a previous position is made more quickly than the human reflex, that is to say preferably in less than 50 ms.
• the robotic walker according to the invention is arranged and configured to compensate for a displacement at risk of falling but also to reposition the user in his initial position before the detection of the imbalance (ie involuntary movement) and this without destabilizing him.
• the robotic walker may optionally include one or more of the following features, alone or in combination:
• the movement control of the robotic walker includes a predetermined time to return to the previous position at the identified given instant (i.e. instant of the measurement of the involuntary movement) allowing the control module to determine a speed of movement of the wheels. This makes it possible to apply a more or less rapid speed to the return in position of the wheels and therefore to the rebalancing of the user. Depending on the users, this speed can be configured to be faster or slower so as to provide maximum comfort for everyone. As will be detailed below, this predetermined duration of return to the previous position may be determined by supervised or unsupervised learning.
• the robotic walker stop command has a predetermined duration of immobilization allowing the control module to determine a speed of movement of the wheels before they stop. This makes it possible to apply a more or less rapid speed to the locking of the wheels. Depending on the imbalance situation, it will be preferable to apply a sudden stop or a gradual stop.
• the previous position at the given instant corresponds to the position of the wheel or wheels at least ten milliseconds before the given instant. This allows the position of the wheels of the robotic walker to be restored to a position previous to the position of the walker when the imbalance was detected and thus helps the user to regain balance.
• the indicator of an involuntary movement of a user of the robotic walker is determined from values generated by one or more sensors selected from: a sensor integrated into an electronic handle, a sensor configured to measure the movement of a wheel, a distance sensor configured to measure the distance between the user and the robotic walker or a sensor positioned on the user of the robotic walker.
• a sensor integrated into an electronic handle a sensor configured to measure the movement of a wheel
• a distance sensor configured to measure the distance between the user and the robotic walker or a sensor positioned on the user of the robotic walker.
• the indicator of an involuntary movement of a user of the robotic walker is determined from values generated by a sensor integrated into an electronic handle and a distance sensor configured to measure the distance between the user and the robotic walker .
• the indicator of an involuntary movement of a user of the robotic walker is determined over a predetermined time interval. In fact, it is possible to determine the risks of falling from values measured instantly, but the measurement of a change over several consecutive measurements allows greater sensitivity and better adaptation to different users.
• the indicator of an involuntary movement of a user of the robotic walker is determined over a time interval between 0.01 ms and 50 ms, preferably between 1 ms and 50 ms, more preferably between 5 ms and 40 ms and even more preferably between 8 ms and 20 ms.
• Such duration advantageously makes it possible to quickly detect a risk of an imminent fall and to allow the stopping and correction of the trajectory of the robotic walker in order to compensate for and prevent the user from falling.
• the indicator of an involuntary movement of a user of the robotic walker is determined from a comparison between a calculated value of variation of the speed of at least one wheel and a threshold value of variation of the speed d 'at least one wheel.
• the robotic walker comprises at least one electronic handle comprising a sensor operatively coupled to a control module, said sensor being configured to determine an interaction force between a hand of the user and the robotic walker and the indicator of a involuntary movement is determined from said force of interaction.
• the indicator of an involuntary movement corresponds to a value calculated from the force of interaction between a hand of the user and the robotic walker such as a calculated value of variation of the force of interaction. in the hands of the user and the robotic walker.
• the robotic walker comprises at least one sensor integrated into an electronic handle configured to allow the determination of an interaction force value between a hand of the user and the robotic walker, and in that the control module is in operation further configured to identify the indicator of unintentional movement of a user of the robotic walker that could lead to a fall of said user from the determined value of the interaction force, preferably when the determined value of force is greater than a predetermined threshold value.
• the control module can also be configured to identify the indicator of an unintentional movement of a user of the robotic walker which may lead to a fall of said user when the determined value of the interaction force is not between predetermined bounds.
• the determined value of the interaction force may advantageously be used in combination with other measured or calculated values.
• control module can also be configured to identify the indicator of an involuntary movement of a user of the robotic walker which may lead to a fall of said user from the determined value of the interaction force. and another measured value such as for example a distance value between the user and the robotic walker.
• a distance value between the user and the robotic walker is particularly advantageous and for example more effective than measuring the displacement of a wheel.
• It includes at least one distance sensor configured to measure a distance value between the user and the robotic walker and the control module is further configured to identify the indicator of an unintentional movement of a user of the robotic walker. may lead to said user falling from the distance value, preferably when the measured distance value is not between predetermined limits.
• This advantageously makes it possible to define a distance interval, a distance, or a variation in distance outside of which the user is considered to be in a position of loss of balance, a distance that is too high will not allow the user to lean on the robotic walker and could be considered as a fall forwards or backwards.
• a data memory coupled to the control module, configured to store a predetermined value of the force multiplying coefficient and a predetermined value of the walking assistance adjustment coefficient
• two electronic handles each comprising at least a sensor operatively coupled to the control module, said sensor being configured to generate data of interaction force between a user's hand and the robotic walker, at least one displacement sensor configured to measure displacement data of the robotic walker walking assistance
• the control module being further configured for: o Determine an interaction force value between a user's hand and the robotic walker for each of the electronic handles from the data generated by each of the sensors of the electronic handles; o Determine a value for the movement speed of the robotic walker from measured movement data; o Calculate, for each of the motorized wheels, an increment value from:
• the electronic handle is arranged so as to allow the measurement of at least two components of a force being applied to it, said electronic handle comprising: a first photoelectric cell, said first photoelectric cell comprising a first diode capable of emitting a light beam and a first receiver arranged to receive said light beam, said first photoelectric cell being configured to generate a current proportional to an amount of photons received by the first receiver, and a first shutter capable element, depending on its position relative to the first photoelectric cell, to modify the quantity of photons received by the first receiver, the first photoelectric cell and the first shutter element being arranged so that the force applied to the electronic handle is able to cause a modification of the quantity of photons received by the first receiver, said modification being pr optional to a first component of the force that has been applied to the electronic handle.
• a second photoelectric cell comprising a second diode capable of emitting a light beam and a second receiver arranged to receive said light beam, said second photoelectric cell being configured to generate a current proportional to a quantity of photons received by the second receiver, a second element shutter capable, depending on its position relative to the second photocell, of modifying the quantity of photons received by the second receiver, the second photocell and the second shutter element being arranged so that the force applied to the electronic handle, is capable of causing a modification of the quantity of photons received by the second receiver, said modification being proportional to a second component of the force having been applied to the electronic handle, said electronic handle being configured to control said motor according to the values of the two calculated force components.
• the electronic handle comprises a central part and an outer casing
• the electronic handle is arranged so that a force, adapted to the control of the walking assistance device, applied to the electronic handle is able to at least partially moving the central part or the outer casing, preferably capable of at least partially moving the central part.
• the central part comprises at least one embedded beam comprising a embedded end and a free end, said free end having a degree of mobility allowing movement of said free end in the direction of the second component of the force applied.
• the invention further relates to a system for controlling the movement of a walker comprising:
• said robotic walker further comprising a beacon associated with the walker
• the robotic walker being configured to actuate the braking when the distance between the beacon associated with the walker and the independent beacon is less than a predetermined threshold value.
• Such a system advantageously makes it possible to prevent the user of the walker from approaching a zone comprising a beacon (ie an independent beacon) and thus makes it possible to limit access to this zone.
• the beacon associated with the walker can for example be a transmitting beacon and in this case the independent beacon is a receiving beacon capable of reflecting the signal transmitted by the beacon associated with the walker, and vice versa.
• the invention further relates to a method of preventing a fall of a user of a robotic walker, said method of prevention comprising the following steps implemented by a control module: determination, at a given time, of an indicator of an unintentional movement of a user of the robotic walker which may lead to a fall of said user;
• Such a method of preventing a fall of a user makes it possible, from the identification of a risk of falling, to reposition the robotic walker so that it finds a previous position at the instant of. identification of a fall risk.
• the method can identify a fall risk and a safety position and prevent the fall while returning the walker to a position allowing the user to be rebalanced.
• implementations of this aspect include computer systems, apparatus, and corresponding computer programs stored on one or more computer storage devices, each configured to perform the actions of a method according to the invention.
• a system of one or more computers can be configured to perform particular operations or actions, in particular a method according to the invention, by installing software, firmware, hardware or a combination. of software, firmware or hardware installed on the system.
• one or more computer programs can be configured to perform particular operations or actions through instructions which, when executed by a data processing apparatus, cause the apparatus to perform the actions.
• FIG. 1 represents an illustration of a perspective view of a robotic walker according to one embodiment of the invention.
• FIG. 2 represents an illustration of a perspective view of an electronic handle according to an embodiment of the invention.
• the outer envelope having been made transparent so as to allow viewing of the inside of the handle.
• Figure 3 shows an illustration of a side view of a longitudinal section along a z axis of a handle according to one embodiment of the invention.
• Figure 4 shows an illustration of a top view of a longitudinal section along a y axis of a handle according to one embodiment of the invention.
• Figure 5 shows a curve of light intensity received by the receiver of a photoelectric cell as a function of the displacement of a shutter element.
• Figure 6 is an illustration of a perspective view of a handle according to one embodiment of the invention.
• the outer casing has been omitted.
• Figure 7 shows an illustration of a side view of a longitudinal section along a z axis of a handle according to one embodiment of the invention.
• Figure 8 shows an illustration of a front view of the center piece of a handle according to the invention.
• Figure 9 shows a block diagram of the motors and controls of a robotic walker according to one embodiment of the invention.
• FIG. 10 is an illustrative diagram of a method of preventing a fall of a user of a robotic walker according to the invention.
• FIG. 11 is an illustrative diagram of steps in a method of controlling a robotic walker according to the invention. Steps framed in dotted lines are optional.
• each block in the flowcharts or block diagrams may represent a system, device, module or code, which comprises one or more executable instructions for implementing the specified logic function (s).
• walker corresponds to a walking aid device comprising at least three wheels and preferably four wheels. It can for example be named rollator.
• front part and rear part can be defined as all the elements of the robotic walker located respectively on either side of a longitudinal section plane of a front view of the robotic walker, said plane longitudinal section passing through the center of gravity of said robotic walker.
• the rear part being that intended to accommodate a user.
• the expression “electronic handle” corresponds for example to a device making it possible to support the weight of a user, arranged to accommodate a hand of said user and comprising within it one or more sensors arranged so as to allow a measurement of a force.
• Form within the meaning of the invention corresponds to a mechanical action exerted by a user on a surface and in particular on the electronic handle.
• an “applied force” corresponds within the meaning of the invention to a user exerting pressure on the outer surface of said electronic handle.
• component of a force corresponds to a projection of a force on a direction.
• a “first component” thus corresponds, for example, to a projection of a force along a Z axis represented by an ascending vertical axis and orthogonal to the longitudinal axis of the electronic handle.
• a “second component” thus corresponds to a projection of a force along an X axis, corresponding to the longitudinal axis of the electronic handle.
• fixed corresponds to the joining of two separate entities from one another.
• two entities can have a removable or non-removable attachment.
• removable corresponds according to the invention to the ability to be detached, removed or dismantled easily without having to destroy the fixing means either because there is no fixing means or because the fixing means are easily and quickly removable (eg notch, screw, tongue, lug, clips).
• notch, screw, tongue, lug, clips e.g notch, screw, tongue, lug, clips
• non-removable or “irremovable” fixing corresponds according to the invention to the ability not to be detached, removed or dismantled without having to destroy the fixing means either because there is no fixing means or because the fixing means are not easily and quickly removable.
• non-removable it should be understood that the object is fixed by welding or more generally by any means of irreversible securing.
• tubular corresponds to a substantially elongated element forming a duct, the lumen of which is enclosed by a wall of said duct. Such a light thus designates a hollow interior space circumscribed by the wall of the duct.
• the term “substantially” is associated with a particular value, it is necessary to understand a value varying by less than 30% with respect to the compared value, preferably by less than 20%, even more preferably by less than 10%.
• the vectorized shape varies by less than 30% from the compared vectorized shape, preferably less than 20%, even more preferably less than 10%.
• polymer is understood to mean either a copolymer or a homopolymer.
• a “copolymer” is a polymer grouping together several different monomer units and a “homopolymer” is a polymer grouping together identical monomer units.
• a polymer can for example be a thermoplastic or thermosetting polymer.
• thermoplastic polymer or “thermoplastic” is understood to mean a polymer which, in a repeated manner, can be softened or melted under the action of heat and which takes on new forms by application of heat and pressure.
• thermoplastics are, for example: high density polyethylene (HDPE), polyethylene terephthalate (PET), polyvinyl chloride (PVC), polystyrene (PS) or acrylonitrile butadiene styrene (ABS).
• thermosetting polymer is understood to mean a plastic material which irreversibly transforms by polymerization into an insoluble polymer network. Once the shape of the thermosetting polymer is fixed and cooled, it can no longer be changed under the action of heat.
• Thermosetting polymers are for example: unsaturated polyesters, polyamides, polyurethanes or vinyl esters which can be epoxy or phenolic.
• Coupled is meant within the meaning of the invention, connected, directly or indirectly with one or more intermediate elements. Two elements can be coupled mechanically, electrically or linked by a communication channel.
• the term “learning” within the meaning of the invention corresponds to a method designed to define a function f making it possible to calculate a value of Y from a base of n labeled observations (X1 ... n, Y1 ... n ) or not labeled (X1 ... n).
• Such a function can correspond to a prediction model. Learning can be said to be supervised when it is based on labeled observations and unsupervised when it is based on unlabeled observations.
• learning is advantageously used for the personalization of the operation of the walker and therefore its adaptation to a particular user.
• the learning may correspond to the learning of a model capable of predicting a time series.
• prediction model is understood to mean any mathematical model making it possible to analyze a volume of data and to establish relationships between factors allowing the evaluation of risks or that of opportunities associated with a specific set of conditions, in order to '' orient decision-making towards a specific action.
• operations refer to actions and / or processes of a data processing system, for example a computer system or an electronic computing device, which manipulates and transforms the data represented as physical (electronic ) in computer system memories or other information storage, transmission or display devices. These operations can be based on applications or software.
• sample program code may include, but are not limited to, a subroutine, function, executable application, source code, object code, library, and / or any other sequence of instructions designed for the purpose. execution on a computer system.
• processor designates at least one hardware circuit configured to execute instructions contained in the program code.
• the hardware electronic circuit can be an integrated circuit.
• Examples of a processor include, but are not limited to, a central processing unit (CPU), a network processor, a vector processor, a digital signal processor (DSP), a field programmable grid network (FPGA), a programmable logic assembly (PLA), an application-specific integrated circuit (ASIC), a programmable logic circuit and a controller.
• CPU central processing unit
• DSP digital signal processor
• FPGA field programmable grid network
• PLA programmable logic assembly
• ASIC application-specific integrated circuit
• programmable logic circuit programmable logic circuit and a controller.
• human-machine interface within the meaning of the invention corresponds to any element allowing a human being to communicate with an electronic device or with the robotic walker to inform the user.
• the term "motorized” means a device or device equipped with any known suitable means (e.g. motor) making it possible to generate a displacement of all or part of the device with which said means is associated.
• robotic is understood to mean an apparatus or device equipped with any known suitable means (eg motor) making it possible to generate a movement of all or part of the device with which said means is associated, said movement being controlled by means of an automatic control system.
• a robotic walker corresponds to a walker whose motor control adapts to the environment from the data of the sensor (s).
• walking assistance devices such as robotic walkers are designed for people with reduced mobility, their use sometimes causes falls for the user. Indeed, people with reduced mobility can also have balance disorders. As has been presented there are robotic walkers configured to stop all movement when a risk situation is identified. However, such robotic walkers cause discomfort in use and may not be able to prevent some falls.
• the inventor has determined that in addition to stopping the walker, fall prevention will be more effective in the presence of a rebalancing of the user in his initial position before the occurrence of the event that could lead to a fall and this without destabilizing it.
• the present invention therefore provides a robotic walker comprising a control module 40 configured to directly or indirectly control the wheels of the rollator so as to allow fall prevention and configured to prevent a fall by locking the wheels and initiating a return to a position. previous.
• the invention relates to a robotic walker 1.
• a robotic walker 1 comprises a frame 10 having a front part 10a and a rear part 10b.
• the frame 10 can be made of metal, a metal alloy, a polymer, a composite assembly, or a mixture of these materials.
• the frame 10 is made of stainless steel, aluminum or both.
• the frame 10 can be covered with a shell.
• Such a shell can be made of polymers, composites or any other materials.
• a robotic walker 1 comprises a pair of wheels 11a, 11b arranged to support the rear part 10b of the frame 10, and at least one wheel 12 which is arranged to support the front part 10a of the frame.
• the chassis preferably has two wheels at the rear and two wheels at the front.
• the robotic walker 1 will include motorized wheels arranged to support the rear part 10b of the frame 10.
• the only motorized wheels can be those supporting the rear part 10b of the frame 10.
• the walker 1 is a robotic walker.
• a displacement motor 20 is arranged at the level of a wheel and is not directly visible. in FIG. 1.
• the displacement motor 20 is hidden by a shell positioned at the level of one or more wheels.
• several wheels can each be connected to a displacement motor 20.
• Any type of electric motor can be used such as servomotors, stepping motors and direct current motors, preferably a brushless motor such as a motor. brushless electronically commutated motor.
• a speed reducer can be integrated into the motors.
• the displacement motor (s) 20 can also serve as brakes. That is, in one embodiment, the displacement motors 20 can serve as drive units to drive the rear wheels 11 a 11 b and as brake units to brake the rear wheels 11 a. , 11b. In particular, the displacement motors 20 can be used to brake the rear wheels 11a, 11b.
• the displacement motors 20 serve only as drive units for driving the rear wheels 11a, 11b and that brake units for braking the rear wheels 11a, 11b are provided separately from the motors. 20 displacement.
• These braking units can for example be electromagnetic brakes or mechanical brakes.
• each of the rear wheels 11a, 11b comprises a displacement motor 20 coupled thereto to assist the movement of each of the rear wheels 11a, 11b which corresponds to it.
• the displacement motors 20 may be installed in the rear wheels 11a, 11b, but it is also possible that only the front wheel (s) 12 have displacement motors 20 or alternatively that all the wheels front 12 and rear 11a, 11b have displacement motors 20 installed inside.
• a robotic walker 1 according to the invention further comprises a control module 40.
• the control module 40 may include one or more processors 41.
• the control module 40 can control the whole of the robotic walker 1, including the displacement motors 20.
• the control module 40 can advantageously be configured to cooperate with the sensors, collect the data measured by said sensors and calculate one or more values from said measured data. Such cooperation can in particular take the form of an internal communication bus.
• the control module 40 can be provided adjacent to a battery 21. The control by the control module 40 will be described later.
• control module 40 can include or be coupled to a data memory 42.
• the data memory 42 can advantageously include a non-erasable section, physically isolated or simply arranged so that a write or erase access is prohibited.
• the data memory can further be arranged to record the data measured by the sensors present on a robotic walker and / or on the user of the robotic walker.
• the data memory 42 can also comprise one or more programs, or more generally one or more sets of program instructions, said program instructions being intelligible by the processor 41. The execution or interpretation of said instructions by said processor causes the implementation of a method for preventing a fall of a user of a robotic walker 1 according to the invention.
• the data memory 42 is advantageously configured to store threshold values that can be used during the control of the robotic walker 1 by a processor 41 or more generally by a control module 40.
• the data memory 42 is configured to store a predetermined stopping time and the positions of at least one of the wheels as a function of time.
• the stored values may correspond to predetermined values, for example in the factory or during the first configuration of the rollator.
• these values come from a correction as the user uses the walker by learning.
• other values can be set when first used and then their automated correction with learning such as the detection force of a hand on the handle, resistance to walking in a straight line, resistance to walking in bends, a force for which the speed remains constant in translation, a minimum force in advance, a minimum distance between the user and the walker or even a maximum distance between the user and the walker.
• the distance between the user and the walker is used, in combination with a force value measured on a handle, and the minimum distance threshold values between the user and the walker or else. maximum distance between the user and the rollator are learned.
• control module 40 is configured to determine an indicator of an involuntary movement of a user of the robotic walker 1 which may lead to said user falling.
• the determination of an indicator of an involuntary movement of a user of the robotic walker 1 corresponds to the identification of an imbalance or preferably the beginnings of an imbalance of the user of the walker.
• This determination is for example based on monitoring the values generated by one or more sensors.
• This monitoring is preferably carried out continuously.
• Continuous monitoring corresponds for example to measurements carried out at a frequency less than 80 ms, preferably less than or equal to 50 ms, more preferably less than or equal to 30 ms, for example less than or equal to 10 ms.
• a method according to the invention is preferably configured to identify, where appropriate, an indicator of involuntary movement within a period of less than 80 ms, preferably within a period of less than or equal to 50 ms, more preferably less than or equal to 20 ms, even more preferably less than or equal to 10 ms.
• a method according to the invention is configured to predict a risk of falling before its occurrence and closest to the occurrence of the trigger. There is also advantageously an action which takes place before the user's natural reaction.
• control module 40 is configured to perform a continuous and real-time analysis of sensor values so as to identify unintentional movement that may lead to a fall.
• the indicator of an involuntary movement of a user of the robotic walker 1 is determined for a given instant.
• the indicator of an involuntary movement of a user of the walker is determined from values generated by one or more sensors selected from:
• a sensor configured to measure the displacement of at least one wheel 11a, 11b, 12, preferably at least two wheels,
• a sensor configured to measure the movement of the robotic walker
• a sensor integrated into an electronic handle 200 a sensor configured to analyze the user's instantaneous position relative to the robotic walker (camera)
• the coupling between the control module 40 and the sensor (s) equipping a robotic walker 1 according to the invention or even a user allows synchronized access and real-time analysis of the measurements carried out by the sensor (s), by the module. control 40.
• a robotic walker 1 according to the invention allows a continuous and automated analysis of the measurements made by the sensor (s) and makes it possible to prevent any risk of falling during its use by a user.
• the indicator of a user's involuntary movement can be determined from a multitude of sensors.
• this indicator can be identified from several transformations of the data coming from these sensors. Indeed, it is possible to base the determination of the indicator of an involuntary movement of a user on the comparison of an absolute value measured with a predetermined threshold value or on the comparison of a variation calculated on a predetermined time interval at a predetermined threshold value of variation.
• the indicator of an involuntary movement of a user of the walker is determined over a predetermined time interval.
• the indicator of an unintentional movement of a user of the walker can be determined over a time interval between 0.01 ms and 80 ms, preferably between 1 ms and 70 ms, more preferably between between 5 ms and 40 ms.
• an indicator of an involuntary movement can be determined on the basis of a calculation of an evolution over several consecutive measurements. Comparison to thresholds may not allow optimal discrimination between currently measured values and values of sensor (s) reflecting an imbalance. This is all the more true considering the strong heterogeneity of the ailments of the users of the robotic walkers according to the invention. Thus, the inventor proposes the use of learning making it possible, for example, to detect normal values.
• the determination of an involuntary movement can then be adapted according to the users, for example on the basis of a learning model.
• the control module can therefore be configured to implement a learning model.
• the robotic walker according to the invention may include a control module configured to perform a learning step aimed at training a learning model for the analysis of sensor data.
• the learning will be done from sensor data so as to discriminate sensor data corresponding to a current profile of the user compared to sensor data which may correspond to an abnormal situation, in this case. the occurrence of involuntary movement.
• Learning can be supervised or unsupervised.
• control module will advantageously be configured to perform a step of determining an indicator of involuntary movement from a learning model.
• This step may include the implementation of a mathematical method making it possible to generate binary results, percentages of probability of an indicator of involuntary movement or any other value making it possible to identify one or more indicators of involuntary movement.
• the step of determining an indicator of involuntary movement from a learning model is preferably based on the prior construction of an unsupervised learning model which will be able to independently classify the value of a sensor data such as a currently measured value or an abnormal value. More preferably, the control module will be configured to execute a learning model based on a neural network, k-means partitioning or hierarchical grouping.
• Sensor configured to measure the displacement of one wheel 11a, 11b, 12, preferably at least two wheels.
• a robotic walker 1 can therefore include an angular sensor or speed sensor configured to detect the displacement of at least one wheel: the number of revolutions, the acceleration or the speed of at least one of the wheels and send signals representing the number of revolutions, acceleration or speed at the control module 40.
• the speed sensor may be disposed adjacent to the control module 40. It is also possible that the speed sensor is installed at the level of the pair of rear wheels 11a, 11b of the robotic walker 1.
• the speed sensor may also be possible for the speed sensor to be provided only in the front wheel or wheels 12.
• the speed sensor configured to detect the movement of at least one wheel or even angular position sensors can be selected from: incremental sensors, optical sensors, magnetic position sensors, mechanical sensors, for example of the gear type or potentiometers.
• the speed sensor can calculate the number of revolutions or the speed of the wheels or the speed of the robotic walker 1 using a hall sensor included in the motors 20 of displacement.
• the speed can be detected from multiple values depending on the technology used: back-electromotive force values, angular speed values, or even acceleration component values.
• the indicator of an involuntary movement of a user of the rollator can be determined from a comparison between a calculated value of displacement of at least one wheel and a predetermined threshold value of displacement of at least one wheel. wheel.
• the indicator of an involuntary movement of a user of the rollator can be determined from a comparison between a calculated absolute value of a speed of at least one wheel and a predetermined threshold absolute value of one. speed of at least one wheel.
• the indicator then preferably being a calculated speed greater than a predetermined threshold speed.
• the absolute predetermined threshold value of a wheel speed may be equal to 2 ms 1 (for meter per second).
• the indicator of an involuntary movement of a user of the rollator is determined from a comparison between a calculated value of variation of the speed of at least one wheel and a threshold value of variation. of the speed of at least one wheel.
• the threshold value for varying the speed of at least one wheel can be equal to 5 ms -2 .
• the calculated value of variation of the speed of at least one wheel can correspond to an absolute value of the variation of the standard of the speed of the wheels for a period of between 1 ms and 80 ms, preferably for a period between 5 ms to 70 ms and more preferably for a period of between 10 ms to 60 ms.
• the movement of the walker can also be determined from physical measurement systems, video means (2-Dimensional “2D” or 3-Dimensional “3D” camera), ultrasound system, an inertial unit, laser rangefinder. , geolocation (Global Navigation Satellite System) or software measurement systems (Luenberger observers or Kalman filters).
• a robotic walker 1 can therefore include 2D or 3D video means or an inertial unit configured to detect the movement of the robotic walker 1.
• the indicator of unintentional movement of a user of the walker can then be determined from a comparison between a calculated value of movement of the walker and a predetermined threshold value of movement of the walker.
• the indicator of unintentional movement of a walker user can be determined from a comparison between a calculated absolute value of a speed and a predetermined threshold absolute value of a walker speed.
• the indicator then preferably being a calculated speed greater than a predetermined threshold speed.
• a robotic walker 1 may include at least one electronic handle 200 comprising a sensor operatively coupled to a control module 40.
• the sensor integrated into the electronic handle 200 is for example selected from: a force sensor, a pressure sensor, a through-beam photocell, a displacement sensor, and electrodes.
• the sensor integrated in the electronic handle 200 is advantageously configured to allow the determination of an interaction force between a hand of the user and the robotic walker.
• the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of the interaction force between the hands of the user and the robotic walker 1.
• the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of variation of the interaction force between the hands of the user and the robotic walker 1.
• the variation value of the interaction force between the hands of the user and the robotic walker 1 is preferably calculated over a time interval between 0.1 ms and 80 ms, more preferably between 1 ms and 50 ms , even more preferably between 5 ms and 40 ms and for example between 5 ms and 20 ms.
• the indicator of an involuntary movement of a user of the walker could correspond to an absolute value of the variation of the norm of the force of interaction between the hands of the user and the robotic walker 1 during the period. minus 10ms is at least 1000ms -3 . However, as has already been discussed, the variation will preferably be measured over a period of less than 80 ms.
• the indicator of an involuntary movement of a user of the walker could correspond to a value of force applied to the electronic handle 200.
• the indicator of an involuntary movement of a user of the walker could correspond to the exceeding by a measured absolute value of the interaction force between the hands of the user and the robotic walker 1 by an absolute value.
• predetermined threshold of the interaction force for example equal to 100 N.
• control module 40 is preferably configured to further calculate a value of variation of force applied to the electronic handle 200 over a time interval and to determine an indicator of unintentional movement when the calculated value of variation of force applied. is greater than a predetermined threshold force variation value. Indeed, during an imbalance, the user will tend to hold onto the electronic handles 200. The hand-handle interaction force will then increase rapidly in the direction of the imbalance.
• control module 40 can be configured to actuate the braking, in particular by means of one or more displacement motors 20. serving as brakes or one or more braking unit (s) configured to perform the braking or release of the braking of said robotic walker 1.
• the braking can be activated when: the absolute value of the variation in the interaction force between the hands of the user and the robotic walker 1 for at least a predetermined period of time is at least equal to the absolute value predetermined threshold of the force of interaction; and / or the absolute value of at least one hand-grip interaction force is at least equal to the predetermined threshold absolute value of the interaction force; and / or The absolute value of the variation in the distance measured between the user and the robotic walker 1 for at least a predetermined period, for example 0.5 s, is at least equal to an absolute value of the variation in the distance threshold, for example 700 mm / s.
• Braking can advantageously include several steps in order to avoid accentuating the user's imbalance and also to restore a balanced position:
• Braking can induce immobilization of the wheels for a predetermined period of time
• the wheels return to their previous position, that is to say before the detection of an inappropriate distance (outside the predetermined limits) between the trunk of the user and the robotic walker 1.
• a robotic walker 1 according to the invention may include a distance sensor.
• the distance sensor can for example be selected from laser sensors, such as time-of-flight lasers, or ultrasonic sensors or a camera, preferably a 3D camera.
• the distance sensor is advantageously configured to measure a distance value between the trunk of a user of the rollator and the frame of the rollator.
• the distance sensor being generally fixed on the frame 10 or to an element of the frame, this makes it possible to measure a distance value between a part of the body, preferably the trunk, of a user of the robotic walker 1 and the frame 10. This makes it possible to detect the relative position of the user in relation to the walker.
• control module 40 can also be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which can lead to a fall of said user when the measured distance value is not between predetermined limits.
• the predetermined terminals can for example be stored in a data memory 42 of the control module 40. They can for example correspond to a distance between 250 mm and 850 mm. Advantageously, these limits are determined according to the size of the user of the robotic walker. Further, preferably, they can be changed over the course of use of the walker by a learning mechanism.
• the senor can be configured to analyze the user's instantaneous position in relation to the robotic walker.
• control module 40 can be configured to actuate the braking, in particular by means of one or more displacement motors 20 serving. brakes or one or more braking unit (s) configured to perform the braking or release of the braking of said robotic walker 1.
• the braking can be activated when the distance between the user's trunk and the robotic walker 1 is less than the minimum values, for example 250 mm, and maximum, for example 850 mm, of the predetermined limits.
• Braking can advantageously include several stages in order to avoid accentuating the user's imbalance and also to restore a balanced position:
• Braking can induce immobilization of the wheels for a predetermined period of time
• the wheels return to their previous position, that is to say before the detection of an inappropriate distance (outside the predetermined limits) between the user's trunk and the robotic walker 1.
• the user when the user wishes to sit down or lean on the robotic walker 1, the user will necessarily release at least one electronic handle 200. From the moment the user releases one or both of them. electronic handles 200, the sensor integrated in the corresponding electronic handle can indicate that no interaction force between the user's hand and the electronic handle 200 are detected. This can induce immobilization of the wheels, in particular the wheels can be controlled in position, that is to say that they keep the same position as that measured when at least one electronic handle 200 is released.
• the wheels remain stationary. Then, when the distance between the user and the robotic walker 1 is again greater than the predetermined value, for example 250 mm, and an interaction force between the two hands of the user and the corresponding electronic handles 200 is detected, the immobilization of the wheels stops.
• a predetermined value for example 250mm
• a robotic walker 1 according to the invention can be coupled to a remote sensor positioned on a user of the robotic walker 1.
• a remote sensor within the meaning of the present invention may for example correspond to an electronic device comprising an inertial unit, a heart rate measuring device or even a device comprising pressure sensors.
• Such an inertial unit advantageously makes it possible to follow a user's approach reliably. Indeed, the presence of an inertial unit, integrated for example in an object worn by the user, gives the possibility of independently following the use of the robotic walker the user's gait.
• the inertial unit will analyze, in at least three dimensions, the user's approach. From the data from the inertial unit, the processing module will be able to determine an indicator of involuntary movement, in particular from one-off anomalies appearing in the user's approach.
• the remote sensor positioned on the user of the walker can also correspond to one or more pressure sensors positioned in the soles of the user.
• a pressure sensor advantageously makes it possible to follow the process of a user reliably.
• the pressure sensor (s) can be configured to analyze the user's gait continuously and in real time. From the data from the pressure sensor, the processing module will be able to determine an indicator of an involuntary movement, in particular from specific anomalies appearing in the distribution of the forces exerted by the feet of the user.
• the remote sensor is advantageously configured to communicate with the control module 40 and transmit measured values to it.
• control module 40 can also be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which can lead to a fall of said user from values measured by a remote sensor.
• a robotic walker 1 according to the invention can also include an inclination sensor, for example located on the frame or in the control module 40.
• This inclination sensor can generate values taken into account by the control module during the operation. 'identification of an indicator of involuntary movement. Indeed, the environment may influence the behavior of the user and his interaction with the robotic walker 1. For example, involuntary movement on a flat surface could be intentional movement when starting a slope.
• control module 40 is preferably configured to take into account the values generated by the inclination sensor during a determination of an involuntary movement of the user.
• the inclination sensor may consist of an acceleration sensor with two or more axes, a gyroscopic sensor, or any other sensor making it possible to directly or indirectly measure an inclination value.
• control module 40 can be configured to actuate the braking when the angular position or the distance to a beacon exceeds a predetermined threshold.
• This braking can for example be controlled by means of one or more displacement motors 20 serving as brakes or else one or more braking unit (s) configured to effect the braking or the release of the braking of said walker 1. robotic in stages as described above.
• the robotic walker 1 may include a transmitting and / or receiving beacon.
• Such beacons can in particular be produced as a sensor making it possible to measure distances by calculating the time of flight of a wave.
• the receiving beacon can be configured to detect a signal reflected or transmitted by a transmitting beacon placed in the environment in which the user operates. Indeed, such beacons can be positioned at different locations in the user's place of life and are configured to communicate with the receiving beacon. So, the receiving beacon can be configured to detect the signal emitted by the emitting beacon and the control module 40 is then advantageously configured to actuate a braking of the walker.
• the transmitting and / or receiving beacon of the robotic walker 1 can correspond to any exterior-receptive sensor and in particular to sensors comprising hardware and software components adapted to allow communication according to the Bluetooth® standard, of the NFC type. (for "near field communication" according to English terminology) or of the radio-identification type.
• the transmitting and / or receiving beacon corresponds to an RFID reader (for “Radio Frequency I Dentification” according to English terminology).
• the transmitting beacon can correspond to any beacon capable of reflecting or emitting a signal, and includes hardware and software components suitable for communication according to the Bluetooth® standard, of the NFC type (for " near field communication ”according to English terminology) or radio-identification type.
• the transmitting beacon corresponds to a passive radio tag encoding digital data and comprising an antenna and a chip. When the RFID reader passes near the passive radio tag, the latter sends requests to the passive radio tag to retrieve the data stored in memory. The passive radio tag, remotely powered by the signal from the RFID reader, first generates a code to identify the area in which the robotic walker 1 is located or more generally is moving.
• the control module 40 can determine, by comparing the code received with a correspondence database stored in the data memory 42, whether the code corresponds to a prohibited zone. If this is indeed the case, the control module 40 could be configured to control the braking of the robotic walker 1.
• the environment in which the user operates can thus include a plurality of beacons, thus allowing the user of the robotic walker 1 to avoid being in an area considered to be at risk, such as an area comprising a staircase. , or an area near a road. It is also possible to crisscross an exterior or interior area of a residence in order to prevent users of the robotic walker 1, in particular those suffering from neurodegenerative diseases, from getting lost or leaving the place of residence.
• the transmitting and or receiving beacon is configured to detect and identify a plurality of RFID tags.
• the indicator of involuntary movement can be determined from many sources. Preferably, it is determined from at least two sensors, preferably at least three sensors. Indeed, the involuntary movement indicator will be more reliable when it is determined from at least three sensors such as electronic handle sensors and at least one displacement sensor.
• control module 40 can be configured to process measured values so as to generate calculated values used for determining an indicator of involuntary movement.
• the processing may vary depending on the sensors concerned and may for example include frequency filtering, normalizations, or even resampling.
• the indicator of involuntary movement can be determined from a comparison between a calculated or measured value and a predetermined threshold value.
• Another problem with walkers can be their inability to meet different and changing needs.
• the needs of walker users may change as their conditions improve or deteriorate.
• a walker that is initially suitable for a person may gradually become unusable over time.
• the predetermined values implemented by the robotic walker 1 according to the invention can be entered and updated via a human-machine interface (HMI).
• HMI human-machine interface
• Such an MMI can form an integral part of the robotic walker 1 and be fixed thereto. Nevertheless preferably, I ⁇ HM is punctually coupled, in a wired or non-wired manner, to the robotic walker 1.
• the predetermined values implemented by the robotic walker 1 according to the invention can be calculated automatically from data relating to the user and to his morphology, entered for example by means of I ⁇ HM.
• these threshold values may change depending on the information provided about the user.
• the predetermined values implemented by the robotic walker 1 according to the invention can be modified over time on the basis of a learning process implemented by the control module 40.
• the control module or any computing unit coupled to the walker can advantageously implement a personalization procedure comprising supervised and / or unsupervised learning steps based on values generated from sensors coupled to the walker.
• the threshold values could be particularly adapted to the person using the walker according to the invention.
• the processing unit will be able to determine a personal profile of normality.
• This “normal” profile can for example correspond to a model of the characteristics of use of the walker making it possible to determine usual values such as usual values of force, variation in force, speed, variation in speed, distance or distance. variation of distance.
• the use of the “normal” profile then makes it possible to set threshold values and / or to detect anomalies, the anomalies being in particular observations whose characteristics differ significantly from the “normal” profile and which could lead to a fall.
• the processing unit can determine reference values or predetermined threshold values by implementing a supervised or unsupervised learning method.
• supervised learning methods neural networks, classification trees, nearest neighbor search or regression trees may be among the most robust and efficient machine learning techniques in the context of a method according to the invention.
• the walking profile of the user of the robotic walker 1 according to the invention can be determined automatically from calibration data measured, for example, by the sensors of the robotic walker 1.
• calibration data are for example measured during a calibration step of the robotic walker 1.
• the calibration step may consist of a plurality of measurements by all of the sensors of the robotic rollator 1 during use by the user. Threshold values used by the walker or the method according to the invention may change depending on the specific information acquired about the user.
• the calibration data can be labeled and serve as reference values, the data or measurements being for example associated with a reference approach, that is to say with a voluntary movement of the user.
• the control module or any calculation unit coupled to the walker can advantageously implement a personalized calibration procedure comprising supervised and / or unsupervised learning steps based on the values generated from the sensors coupled to the walker.
• the processing unit will be able to determine a calibrated profile.
• This “calibrated” profile can for example correspond to a prediction model trained from the characteristics of use of the walker.
• This prediction model may have been trained from usual values of displacement such as usual values of force, variation in force, speed, variation in speed, distance or variation in distance.
• the use of the “calibrated” profile then allows a more sensitive and specific detection of a non- movement. voluntary user. For example, if the prediction model corresponds to a model capable of predicting a time series then a measured value deviating significantly from a predicted value could be considered as an indicator of involuntary movement.
• control module 40 is configured to identify a previous position at the given time of at least one of the wheels 11a, 11b, 12, and therefore more generally of the walker.
• it is configured to identify a previous position prior to the given instant of the wheel or wheels, preferably at least two wheels, 11 a, 11b, 12 being coupled to a displacement motor 20.
• the previous position at the given instant corresponds to a position of the wheel or wheels 11 a, 11 b, 12 at least ten milliseconds before the given instant, more preferably at least 50 milliseconds before l 'given time, even more preferably at least 100 milliseconds before the given time.
• the previous position at the given instant may correspond to a position of the wheel or wheels 11a, 11b, 12 at an instant corresponding to the given instant minus a predetermined duration.
• the robotic walker for example the data memory 42, is configured to memorize the position of the wheel or wheels 11 a, 11b, 12, preferably of those being coupled to a displacement motor 20 as a function of time. In addition, it can store a predetermined duration which will be subtracted at the given instant so as to determine the previous position of the wheel or wheels 11a, 11b, 12.
• control module 40 is configured to transmit to at least one of the wheels 11a, 11b, 12, preferably at least two wheels, a command to stop the robotic walker 1.
• the walker comprises one or more displacement motors 20 serving as brakes or else one or more braking unit (s) configured to achieve the braking or release of the robotic walker 1 braking.
• the brake unit may be friction-type and have a pad, shoe or disc structure which is moved so as to mechanically prevent rotation of the wheel or wheels of the rollator or, preferably, by motor braking. provided by one or more displacement motors 20 serving as brakes.
• the shutdown command can be time-defined and therefore be associated with a predetermined shutdown duration.
• the predetermined stop time is between 1 ms and 1 second.
• the stop is preferably immediate then followed by a movement to find a previous position.
• the stopping is gradual and involves slowing down the walker before stopping and resuming a previous position.
• the stop control may include a predetermined duration of immobilization making it possible to set a speed of movement of the wheels before they stop.
• a predetermined duration of immobilization makes it possible to set a speed of movement of the wheels before they stop.
• the stopping of the walker will not be abrupt but can be softened by defining a predetermined stopping time of between 10 ms and 1 second. This further reduces the discomfort for the user of the robotic rollator 1.
• a predetermined duration of immobilization can for example be between 100 ms and 1 second.
• control module 40 is configured to transmit to at least one of the wheels 11 a, 11 b, 12, preferably at least two wheels, a command to move the robotic walker 1. This can allow the robotic walker 1 to regain a position it previously had to that it had at the given time identified.
• the robotic walker 1 would be stopped for example for a predetermined time and then it would move back so as to find a previous position when the risk of falling was detected.
• the balance of a standing man is achieved by the central nervous system by maintaining the projection of the center of mass in the base of support, this defines static balance.
• a man is in motion, as when he is walking, he does not fall, but his balance is said to be dynamic.
• the projection of the center of mass is no longer in the support base, which should lead to the fall, but which is in fact a catch-up state of equilibrium, because the next step brings the center of mass back from the rear of the body to the base of support (the sole of the foot to the ground) to pass it again, until the new step.
• the balance is disturbed by an unforeseeable event, to regain its balance, humans will react.
• the present invention provides reactive balance assistance where the robotic walker will put the user into a catch-up state and then into static balance.
• the instruction to move the robotic walker 1 comprises a predetermined duration of return to the previous position allowing the control module 40 to determine a speed of movement of the wheels.
• this duration may be a function of the distance to be covered.
• the walker will be configured so that this return to the previous position takes place at a 'slow' speed, preferably at a speed lower than the speed of movement of the walker at the time of the determination of the indicator d. 'involuntary movement of the user.
• the robotic walker 1 can be configured to store a predetermined duration of holding in the previous position. This period corresponds to a period during which the robotic walker 1 remains in the previous position. Preferably, this duration is less than one second.
• a walker according to the invention may include at least one electronic handle 200, preferably two electronic handles 200.
• the electronic handles 200 are arranged so as to be able to measure a force being applied to them by a user.
• Electronic grips 200 configured to measure a force applied to them can be equipped with force transducers, torque transducers, pressure transducers, strain gauges, piezoelectric technology or even simple button sensors.
• the electronic handles 200 used in the context of the invention comprise a coupling between a photoelectric cell and a shutter element.
• a photoelectric cell can in particular correspond to a sensor consisting of an infrared emitter and a receiver placed opposite. The emission zone is therefore an infrared light line.
• a blanking element such as a flag enters between the transmitter and the receiver the amount of light received by the receiver gets smaller and smaller.
• the measurement of the current at the output of the sensor is proportional to the quantity of light measured and therefore to the distance of penetration of the flag. This distance can then be reduced to the force, applied to the handle, which caused the displacement.
• such an electronic handle allows the control of the robotic walker 1 without it being necessary for the user to wear sensors, or to actuate buttons (or other interface).
• Such an arrangement makes it possible to detect a force, applied to the handle, greater than or equal to two kilograms but also much less.
• such an arrangement makes it possible to determine a value of applied force and is not satisfied with detect the crossing of a threshold.
• a processor may process information in a different way depending on the level of force which will have been applied to the electronic handle.
• an electronic handle 200 is arranged so as to allow the measurement of at least one component of a force applied to it.
• an electronic handle 200 has a central part 210 and an outer casing 220.
• the central part 210 of an electronic handle 200 may have a substantially cylindrical shape. However, as can be seen in the illustration of FIG. 2, preferably, the central part 210 comprises at least one portion having a section comprising an edge. It has, for example, a section in the form of a polygon.
• the central part 210 is made with a material preferably exhibiting a Young's modulus of at least 175 GPa (for gigapascals), preferably greater than 200 GPa. This makes it possible to give the central part 210 a rigidity suitable for its use in the electronic handle according to the invention.
• the center piece 210 can be made of metal, a metal alloy, a polymer, or a composite assembly. Preferably, the central part 210 is made of stainless steel.
• the central part 210 preferably has a minimum length of 300 mm (per millimeter) and a maximum of 500 mm.
• the outer casing 220 of an electronic handle 200 may have a substantially tubular, preferably tubular, shape. It may include at least one portion having a section comprising an edge. However, preferably, it has a cross section of ellipsoidal shape and more preferably circular.
• the outer shell 220 is made of a material preferably having a Young's modulus of less than 200 GPa, more preferably less than 150 GPa and even more preferably less than 100 GPa. Such a constitution and the existence of elasticity at the outer shell 220 makes it possible to improve the performance of the electronic handle according to the invention.
• the outer shell 220 can be made of metal, a metal alloy, a polymer, or a composite assembly.
• the outer casing 220 is made of aluminum.
• the outer casing 220 preferably has a minimum length of 300 mm and a maximum of 500 mm.
• the outer casing 220 may have an outer diameter of between 20 mm and 40 mm and a wall thickness of between 1 mm and 3 mm.
• the outer casing 220 is arranged so as to be able, under the effect of a force comprising a vertical component, to move at least one tenth, preferably one thousandth of a millimeter in translation with respect to an orthogonal axis. to a longitudinal axis of the central piece 210.
• a force component value can be quantified from a tenth of preferably a thousandth of a millimeter of displacement.
• a displacement of at least a tenth, preferably a thousandth of a millimeter may preferably correspond to a displacement of at least 0.001 millimeter to 1 millimeter.
• the outer casing 220 may be arranged so as to be able, under the effect of a force comprising a horizontal component, to move at least one tenth, preferably at least one thousandth of a millimeter in translation with respect to a longitudinal axis of the central piece 210.
• a force component value can be quantified from a tenth of preferably a thousandth of a millimeter of displacement.
• An electronic handle 200 comprises a first photocell 230.
• Photoelectric cells are electronic devices generally comprising a light emitting diode capable of emitting light pulses, generally in the near infrared (e.g. 850 to 950 nm). This light is received or not by a photodiode or a phototransistor depending on the presence or absence of an object on the path of the light pulses. The photoelectric current created can be amplified and then analyzed.
• a light emitting diode capable of emitting light pulses, generally in the near infrared (e.g. 850 to 950 nm). This light is received or not by a photodiode or a phototransistor depending on the presence or absence of an object on the path of the light pulses.
• the photoelectric current created can be amplified and then analyzed.
• a photoelectric cell can be selected from a photoelectric cell of the barrier type, of the reflex type, of the proximity type.
• optical fibers it is possible to use optical fibers to modify the arrangement of the photocells within the scope of the invention.
• a photoelectric cell is preferably a photoelectric cell of the barrier type for which the barrier is formed by a first closure element 240.
• Such photoelectric cells can generally be inexpensive but robust compared to the sensors commonly used.
• the first photoelectric cell 230 comprises a first diode 231 capable of emitting a light beam.
• the diode of a photoelectric cell according to the invention may correspond to an infrared diode.
• the first photoelectric cell 230 comprises a first receiver 232 arranged to receive the light beam emitted by the first diode.
• the light beam emitted by the first diode is directed directly towards the first receiver 232.
• the first photoelectric cell 230 is configured to generate a current of intensity proportional to a quantity of photons received by the first receiver 232.
• the first receiver 232 which, as a light transducer, will generate a change in light. an electrical signal in response to the light beam incident on its surface.
• the first receiver 232 can for example be a photoconductor, a photodiode or a photo transistor.
• a photoelectric cell according to the invention is configured to generate an electric current whose intensity will be proportional to the quantity of photons received by the receiver.
• the electronic handle 1 has a first shutter element 240 which is capable of, or arranged to, change the amount of photons received by the first receiver 232.
• this change in the amount of photons received is function of the position of the first shutter element 240 relative to the first photoelectric cell 230.
• a sealing element within the meaning of the invention may consist of metal, a metal alloy, a polymer or a composite assembly.
• the sealing element is made of polymer, more preferably of thermoplastic polymer.
• the first closure element 240 may include a protuberance 241 arranged so as to be positioned between the diode 231 and the receiver 232 of the photoelectric cell 230.
• the protuberance 241 may be removably or non-removably attached to the first element of. shutter 240.
• it is the shutter element which is housed between the diode 231 and the receiver 232.
• the first photoelectric cell 230 and the first shutter element 240 can be movable at least in part with respect to each other. Indeed, it is in particular the movement of one relative to the other, preferably of at least one part relative to the other, which will allow a measurement of a component of a force. applied to the electronic handle 200 according to the present invention.
• the first shutter element 240 and the first photoelectric cell 230 are fixed directly or indirectly on parts of the central part and these parts can be movable with respect to one another.
• FIGS. 4 or 5 among the first photoelectric cell 230 and the first shutter element 240, one is fixed to the outer casing 220 and the other is fixed to the central part. 210. In particular, if one is attached to the outer casing, it will not be attached to the central piece and vice versa.
• Figure 3 shows, for example, fastening means 242 of the first closure element 240 to the outer casing 220.
• the fastening is preferably a removable fastening.
• the positioning of the first photoelectric cell 230 and of the first shutter element 240 or the fixing of the shutter element 240 to the outer casing 220 will be carried out so that a force F1 applied to the electronic handle 200, if it is sufficient to move at least part of the outer envelope 220 then it will cause a modification of the quantity of photons received by the first receiver 232.
• the position of the first shutter element 240 allowing to ' influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a first component of the force having been applied to the electronic handle 200 .
• the fixing will be carried out in such a way that a force F2 applied to the electronic handle 200, if it is sufficient to move at least in part the outer casing 220, causes a modification of the quantity of photons received by the first receiver 232.
• the position of the first shutter element 240 making it possible to influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a second component of the force that has been applied to the electronic handle 200.
• the handle may include an element 270 capable of elastic deformation, for example made of polymer, so as to allow a translation of the outer casing 220 relative to the central part 210.
• the electronic handle according to the present invention may include a sensor of a vertical or horizontal force component whether or not passing through a measurement of a displacement. of the outer casing relative to the central part 210, the displacement being caused by a force comprising a vertical component and / or a horizontal component.
• the displacement may concern only part of the outer casing and may be understood as a deformation of the outer casing.
• the electronic handle 200 comprises a fixed horizontal axis, for example made of steel, capable of being linked to a walking assistance device (e.g. walker) and which serves as a reference. It also comprises an outer casing 220 which can take the form of an outer tube which can move, under the effect of the horizontal component of the force, by a tenth of a millimeter in translation with respect to the central axis and which , under the effect of the vertical component of the force, deforms in the sagittal plane like an embedded beam. The measurement of this force can be carried out by a processor, for example placed in the electronic handle 200 or in the walking assistance device.
• a processor for example placed in the electronic handle 200 or in the walking assistance device.
• a photoelectric cell as used in the context of the present invention is preferably configured so as to be able to generate an electrical signal the intensity of which is correlated, preferably proportional, to the position d. 'a shutter element.
• the modification of the quantity of photons received by the receiver will be proportional to a component of the force which has been applied to the electronic handle 200
• the relationship between distance and intensity is preferably linear over at least 1mm.
• an electronic handle 200 according to the present invention can also include at least one second photoelectric cell 250.
• This second photoelectric cell 250 can share the same characteristics as the first photoelectric cell 230 and in particular its preferred or advantageous characteristics.
• the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam. It also includes a second receiver 252 designed to receive said light beam.
• the second photoelectric cell 250 is arranged so that a force applied to the electronic handle 200 is able to cause a change in the quantity of photons received by the second receiver 252.
• the force applied to the handle electronics 200 will be able to cause a modification of the quantity of photons received by the second receiver 250 if it is able to at least partially displace the outer envelope 220.
• the electronic handle 200 may also include a central part 210 arranged so that a part of the central part 210 moves under the action of a force applied F1 to said electronic handle 200, causing a modification of the quantity of photons received by the first receiver 232 and that part of the central part 210 moves under the action of a force F2 applied to the electronic handle 200, resulting in a modification of the quantity of photons received by the second receiver 252.
• the modification of the quantity of photons received is proportional to a second component of the force which has been applied to the electronic handle 200.
• the photoelectric cells 230, 250 can be attached directly to the central part 210.
• the photoelectric cells 230, 250 can be fixed indirectly to the central part 210.
• an intermediate element 211 can be used.
• the intermediate member 211 is attached to the central piece 210 while the photocells 230, 250 are attached to the intermediate member 211. This can make it possible to manufacture a handle according to the invention more quickly and facilitate possible maintenance thereof.
• an electronic handle 200 can also include an electronic card 280.
• Such an electronic card 280 can be configured to measure the output voltage of the photoelectric cell and then transform it into digital data.
• the electronic card 280 is configured to sample the current measurement over 10 bits, which corresponds to 1024 values. Such sampling allows a measurement resolution of the order of a thousandth of a millimeter.
• the electronic card 280 is configured to measure an output voltage or current and sample it on at least 4 bits, preferably at least 10 bits.
• the electronic card 280 or an electronic card arranged outside the handle, can be configured to transform the information generated by a photoelectric cell into information on the intensity of the force applied to the electronic handle.
• an electronic handle 200 may also include a second shutter element 260.
• a first sensor is used to measure the deformation of the electronic handle 200 due to a vertical component F1 and a second sensor is used to measure the horizontal displacement of the handle due to a horizontal component F2.
• a second sensor is used to measure the horizontal displacement of the handle due to a horizontal component F2.
• the presence of two sensors allows automatic calibration (i.e. without manipulation of the sensor).
• This second sealing element 260 may share the same characteristics as the first sealing element 240 and in particular its preferred or advantageous characteristics.
• the second shutter element 260 may include a protuberance 261 arranged to cut the light beam generated by the second diode 251.
• the second shutter element 260 is able to modify the quantity of photons received by the second receiver 252 (not shown in FIG. 7). This modification is in particular a function of its position relative to the second photoelectric cell 250.
• the second closure element 260 may include a membrane 262, said membrane 262 being arranged to transmit a displacement of the outer casing 220, for example subjected to a component of horizontal force, to a protuberance 261.
• the connection with the outer casing 220 may be a strip which deforms according to the force exerted horizontally by the user. On this strip is rigidly fixed a protuberance such as a flag which is used for measurement. The deformed part remaining in its elastic zone, the deformation is proportional to the force.
• the second shutter element 260 and the second photoelectric cell 250 are fixed directly or indirectly on parts of the central part and these parts can be movable with respect to one another.
• the central part is arranged so that the second shutter element 260 and the second photoelectric cell 250 are fixed directly or indirectly on parts of the central part which can move. independently and of the parts of the central part on which are directly or indirectly fixed the first shutter element 240 and the second photocell 250
• the second component of the force will be perpendicular to the first component of the force.
• the electronic handle 200 may include a sensor for the deformation of the outer casing 220, and more broadly of the electronic handle 200, due to a horizontal component.
• the second photoelectric cell 250 is preferably positioned substantially perpendicularly, preferably perpendicular to the first photoelectric cell 230. More particularly, the axis of a light beam formed by the first photoelectric cell 230 is perpendicular to the light axis. formed by the second photoelectric cell 250.
• the electronic handle 200 when the electronic handle 200 includes a second photocell 250 and a second shutter member 260, one is attached to the outer casing 220 and the other is not attached to the. outer casing 220, is fixed to the central part 210.
• the electronic handle 200 comprises a second photoelectric cell 250 and a second shutter element 260
• a part coupled to the electronic handle This part may for example correspond to a junction element between the electronic handle and a frame element of the robotic rollator 1.
• the shutter elements and the photocells can all be attached to the central part. This fixation can be direct or indirect.
• At least one closure element 240, 260 is attached directly or indirectly to the outer casing 220.
• This attachment can be a removable or non-removable attachment. Further, in one embodiment, if a shutter member is attached to the outer shell 220 then it will not be attached to the center piece 210.
• At least one photoelectric cell 230, 250 is attached directly or indirectly to the outer casing 220. This attachment can be a removable or non-removable attachment. Furthermore, if a photocell is attached to the outer casing then it will not be attached to the central piece 210.
• the photoelectric cell or cells 230, 250 are fixed to the ends of the outer casing 220. Preferably, they are fixed to the opposite ends of the outer casing 220. In particular, as illustrated in FIG. 7, the photoelectric cell 230 (not shown in FIG.
• a vertical force component F1 is preferably positioned in a proximal quartile P of the electronic handle 200 while the photoelectric cell 250 arranged for a measurement of a force component horizontal F2 is preferably positioned in a distal quartile D of the electronic handle 200. This allows improved measurement accuracy and sensitivity.
• linear ball bearings are used and a linear ball guide type part makes it possible to make the connection between the central axis and the outer tube.
• the outer casing may further be covered with an ergonomic shape 221 to facilitate gripping of the electronic handle 200.
• the ergonomic shape 221 can be made of polymers or any other material.
• the force applied by a hand on the handle can be modeled as a force, in the sagittal plane, having a vertical component, F1, and a horizontal component, F2, in the direction of travel of the user.
• F1 a vertical component
• F2 a horizontal component
• a robotic walker 1 according to the invention is configured so that it can be controlled intuitively by a user.
• a robotic walker 1 according to the invention is configured so that at least one displacement motor 20 can be controlled by a user from manipulation of the electronic handles.
• an electronic handle 200 can also be arranged so as to allow the measurement of at least two components of a force being applied to it.
• each of the electronic handles 200 can advantageously comprise a central part 210 comprising a first photoelectric cell 230, a first shutter element 240, a second photoelectric cell 250 and a second shutter element 260.
• the shutter elements 240, 260 are arranged so as to be able, depending on their position relative to their respective photoelectric cell 230, 250, to modify the quantity of photons. received by the receiver 232,252.
• the first photoelectric cell 230 and the first shutter element 240 are arranged so that a force applied to the electronic handle 200 comprising a first component and capable of at least partially moving the central part 210, or capable of causing a modification of the quantity of photons received by the first receiver, the modification being proportional to a first component of the force having been applied to the electronic handle 200.
• the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam and a second receiver 252 arranged to receive said light beam.
• the second photoelectric cell 250 is configured to generate a current of intensity proportional to an amount of photons received by the second receiver 252.
• the second shutter element 260 is capable, depending on its position relative to the second photoelectric cell 250, of modifying the quantity of photons received by the second receiver 252.
• the second photoelectric cell 250 and the second shutter element 260 are arranged so that a force applied to the electronic handle 200 comprising a second component and capable of at least partially moving the central part 210, i.e. capable of causing a modification of the quantity of photons received by the second receiver 252, said modification being proportional to a second component of the force having been applied to the electronic handle 200.
• the two electronic handles 200 can thus be configured to control the control. at least one part of a motor fitted to a robotic walker 1 as a function of the values of the two computed force components.
• control of the motor can generate a movement of a motorized device such as a robotic walker 1.
• a motorized device such as a robotic walker 1.
• Such an order may be subject to the determination of the values of the two components of an applied force and calculated respectively for the two handles.
• these last can be arranged so that the first component of the force applied F2 to the electronic handle 200 is not able to cause a modification of the quantity of photons received at the level of the second photovoltaic cell 250 but only at the level of the first photovoltaic cell 230.
• each of the electronic handles 200 can also be configured so that the force applied to the electronic handle 200, comprising a second component perpendicular to the first component, is not able to cause a modification of the quantity of photons received. at the level of the first photovoltaic cell 230 but only at the level of the second photovoltaic cell 250.
• the central part 210 may include an attachment region 210-1 to a motorized device such as a robotic walker 1 according to the present invention as well as a support region 210-2.
• the attachment region 210-1 can consist of a longitudinal extension of the support region 210-2 and can comprise a plurality of housings, such as for example a plurality of threads, adapted to receive fastening elements, such as by way of nonlimiting example a plurality of screws, making it possible to connect the electronic handle 200 to the robotic walker 1.
• the support region 210-2 is adapted to allow a user to lean on it when the user interacts with the robotic walker 1.
• it is the central part 210 which directly undergoes a deformation during the application of a force exerted by the user.
• the contact region 210-2 of the central part 210 can advantageously comprise at least one embedded beam and a deformation bridge.
• the embedded beam advantageously comprises an embedded end 211 -1, 211 -3 and a free end 211-2, 211-4.
• the recessed end 211 -1, 211-3 is connected to the central part while the free end 211-2, 211 -4 is arranged to be movable along a longitudinal axis of the central part 210 allowing movement of said free end during the application of a force on the electronic handle 200.
• the embedded beam is arranged so that the free end 211-2, 211-4 is able to move during the application of a force according to a first component but not to move during the application of a force according to a second component perpendicular to the first component.
• the free end 211-2, 211 -4 can move (under the effect of the deformation of the beam) along a specific axis, such as the axis of one of the components of the applied force. This thus makes it possible to generate a displacement of the free end 211-2, 211-4 only if the applied force has a given non-zero component.
• the free end 211-2, 211 -4 can have a degree of freedom allowing a displacement of said free end along the axis of the second component of the applied force, said second component of the applied force being able to correspond to a horizontal component F2.
• a deformation bridge 212 of the central part 210 may include a through opening 212-1 opening onto a recess 213.
• the through opening 212-1 is arranged to be able to undergo an elastic deformation during the application of a force on the electronic handle 200. More particularly, the volume of the through opening 212-1 can increase or decrease depending on the application of the force on the electronic handle 200
• the through-opening 212-1 can be arranged so that its volume varies only upon application of a force having a particular component. This makes it possible to generate an increase or a decrease in the volume of the through-opening 212-1, by a displacement of the central part 210 and more particularly of the bearing region 210-2, only if the applied force has a component non-zero data (eg vertical component).
• a component non-zero data eg vertical component
• the increase or decrease in the volume of the through-opening 212-1 can be generated along a specific axis of an applied force, such as the axis of one of the components of the applied force.
• the through opening 212-1 can be arranged so as to allow movement of the bearing region 210-2, and therefore an increase or decrease in the volume of the through opening 212-1 along the axis. of the first component of the applied force, said first component of the applied force possibly corresponding to a vertical component F1.
• the second photoelectric cell 250 can be fixed to the central part 210, within a suitable cavity.
• the second closure element 260 will in this case be fixed directly at a free end 211-2, 211-4 of an embedded beam.
• the application of a force on the support region 210-2 if it is sufficient, will induce an elastic deformation of the central part 210.
• Such a deformation can be measured if the second component of the applied force is non-zero, resulting in a modification of the quantity of photons received by the second receiver 252.
• the elastic deformation will cause a displacement of the second shutter element 260 fixed to the free end 211-2 along the axis of the second component of the applied force thus blocking all or part of the light beam received by the receiver 252 and generated by the diode 251.
• the first photoelectric cell 230 and the first shutter element 240 can respectively be positioned on either side of the through opening 212- 1 of the deformation bridge 212. Indeed, the application of a force on the support region 210-2, if it is sufficient, will induce an elastic deformation of the central part 210. Such a deformation can be measured if the first component of the applied force is non-zero, resulting in a modification of the quantity of photons received by the first receiver 232.
• the elastic deformation will cause a displacement of the first shutter element 240 fixed on the central part 210, more particularly in a suitable housing 214, along the axis of the first component of the applied force, thus blocking all or part of the light beam received by the receiver 232 and generated by the diode 231.
• the central part 210 may include at least two central openings 216-1, 216-2 traversed by a part 215 of the central part making it possible to ensure sufficient rigidity to avoid any significant deformation. or rupture of the central part 210 during its manipulation by the user, said central openings being positioned in the center of the central part, more particularly between the ends of the central part 210.
• the central part 210 can advantageously include a recess (not shown in the figures) running longitudinally through the central part 210.
• a recess allows in particular the passage of the power cables. from the walker to the electronic handle 200 and more particularly said recess makes it possible to connect the photoelectric cells 230, 250 so that the latter are supplied with power.
• each of the electronic handles 200 may include an outer casing 220, said outer casing 220 being coupled and / or fixed to the central part 210.
• the outer casing 220 is not fixed to the central part. 210 but is only coupled, for example, by one or more force transmission elements.
• one or more force transmission elements of the outer casing 20 are arranged so as to pass through a housing made in the free end 211-2, 211-4 of the embedded beam.
• a force transmission element may for example correspond to a screw, a tube, a cylinder, such as a pin connecting the two parts of the outer casing 220 and passing through the central part 210 in a first housing made in the free end 211 -2, 211 -4 of the embedded beam and / or in a second housing made in the central part 210.
• the force transmission element is not in direct or indirect contact with the central part 210.
• the first housing formed in the free end 211-2, 211 -4 of the embedded beam and the second housing formed in the central part 210 has a force transmitting element, such as a pin, having a fit with a clearance.
• the outer casing 220 preferably transmits the forces external to the central part 210 by the pin passing through the central part in its second housing and by the pin passing through the central part in its first housing made in the free end 211-2, 211-4.
• the pins may correspond to metal cylinders passing through the central part 210 at the level of a first housing provided in the free end 211-2, 211-4 and at the level of a second housing provided in the central part. 210 coming to be housed in the outer casing 220.
• These pins are advantageously mounted with play so as to rotate freely, they therefore only transmit forces from the outer part to the central part 210.
• the first housing in order to allow the transmission of a horizontal displacement, during the application of a force on the electronic handle 200, by the force transmission element passing through the first housing made in the end free 211-2, 211-4 of the embedded beam, provision is made for the first housing to be arranged to accommodate the force transmission element.
• the force transmission element advantageously taking the form of a pin, makes it possible to connect to the central part 210 the outer casing 220 of the electronic handle 200.
• the second housing provided in the central part 210 takes the form of an oblong hole and is arranged to receive a ball bearing adapted to surround said force transmission element.
• the element transmission of force passing through the second housing of the central part 210 advantageously taking the form of a pin, has a degree of freedom in translation and in rotation with respect to the central part 210 of the electronic handle 200.
• Such force transmission elements make it possible to avoid torsional forces which can interfere with the measurements during the application of a force by a user.
• Such an arrangement makes it possible to improve the accuracy of the measurement and in particular its linearity.
• An electronic handle 200 may also include a fastening element such as a screw passing through the central part 210 in the central openings 216-1, 216-2 and / or within a cavity comprising the second photoelectric cell 250.
• a fastening element such as a screw passing through the central part 210 in the central openings 216-1, 216-2 and / or within a cavity comprising the second photoelectric cell 250.
• the outer casing 220 to take the form of two half-shells arranged to receive the central part 210.
• the fixing element is arranged to establish a reversible mechanical connection between the two half-shells. shells forming the outer casing 220.
• Such a fixing element makes it possible to avoid the torsional forces which can interfere with the measurements during the application of a force by a user, since the fixing element is not in contact with the central part 210.
• At least one of the electronic handles 200 comprises a sensor coupled, preferably functionally, to a control module 40 and the control module 40 is configured so as to be able to control the displacement motor 20.
• the control module 40 will be able to control the displacement motor 20 as a function of values transmitted by the sensor of the electronic handle 200.
• the electronic handle 200 may include several sensors coupled, preferably functionally, to the control module 40.
• the functional coupling of one or more sensors of one of the electronic handles 200 to the control module can correspond to a transmission of information, such as current values (intensity or voltage) from the sensors to the control module. , this directly or indirectly.
• this functional coupling can include a fusion of the information coming from the sensors so that the control module can give an instruction to one or more motors according to values coming from several sensors.
• Such a sensor fusion makes it possible, for example, to detect the user's intention to stand up in order to synchronize the movement of the walker with the movement of the human.
• the electronic handle 200 being provided with sensors and electronics, it is necessary to bring cables from the location of the electronics on the chassis. The cables are for example integrated directly into the frame or else fixed to it.
• the senor of the electronic handle 200 is arranged so as to be able to measure at least one component of a force applied to the electronic handle 200.
• the electronic handle sensor 200 can be any device arranged and configured to measure the value of a force or an effort.
• a sensor of the electronic handle 200 can be selected from: a force sensor, a pressure sensor, a through-beam photocell, a displacement sensor.
• the sensor of the electronic handle 200 may include a strain gauge, a resistive force sensor or a photoelectric cell.
• the electronic handle 200 according to the invention comprises at least one photoelectric cell 230.
• control module 40 may include a communication module 43 ensuring communication between the various components of the control module 40, in particular according to a suitable wired or wireless communication bus.
• the communication module 43 is configured to ensure the communication of the data measured by the sensors of a robotic walker 1 according to the invention to a data memory configured to record such data.
• the communication module also allows communication between the processor and the data memory in order in particular to calculate a value as a function of the stored data, said value can then be recorded directly in a suitable field in the data memory.
• the communication module also allows the processor to control a displacement motor of a robotic walker 1, in particular a motor control can be associated with a value calculated from the data measured by the sensors.
• control module 40 can include a Human Machine Interface (HMI) 44.
• HMI Human Machine Interface
• the man-machine interface can correspond to one or more LEDs, indicator light, sound signal, tactile signal (vibrations), a screen, a printer, a communication port coupled to a computer device or any other interface allowing communication with a human, perceptibly through one of his senses or a computer client through a communication link.
• Such an HMI can also be used to configure the control module.
• the control module can interact via an HMI with other electronic devices or connected objects 5 so as to collect parameter data.
• parameter data may for example correspond to predetermined threshold values or predetermined durations.
• a robotic walker 1 is equipped with a power source (not shown in the figures) suitable for allowing the various elements of said robotic walker 1 to operate.
• a power source generally consists of a battery or a plurality of batteries arranged to deliver sufficient electrical energy to allow the operation of the motion motor or motors or to ensure the operation of the various components of the control module.
• a robotic walker 1 according to the invention cannot be limited to a single control module 40, provision is made, in a particular embodiment, for the robotic walker 1 to include a control module dedicated to each handle. Each of the control modules can thus be arranged inside or outside the handle to which it is associated.
• the rollator may include an electronic motor power card which controls the energy sent to said motor.
• a robotic walker 1 comprises a frame 10 having a front part 10a and a rear part 10b, a pair of wheels 11a, 11b being arranged to support the rear part 10b of the frame 10, and a wheel 12 or a pair of wheels being arranged to support the front part 10a of the chassis, the two wheels 11 a, 11b, 12 of a pair of wheels being motorized, that is to say each coupled to a displacement motor 20, said robotic walker 1 further comprising: a control module 40 configured to control the displacement motors 20; a data memory 42 coupled to the control module 40 configured to store a predetermined force multiplying coefficient value and a predetermined walking assistance adjustment coefficient value;
• two electronic handles 200 each comprising at least one sensor operatively coupled to the control module 40, said sensor being configured to generating interaction force data between a user's hand and the robotic walker 1;
• the control module 40 being configured to o Determine an interaction force value between a user's hand and the robotic walker 1 for each of the electronic handles 200 from the data generated by each of the sensors of the electronic handles 200; o Determine a displacement speed value of the robotic walker 1 from measured displacement data; o Calculate, for each of the motorized wheels, an increment value from:
• This walking assistance complements the fall prevention capabilities of the walker according to the invention to reduce the risk of falls for users of a walker according to the present invention.
• the robotic walker may optionally include one or more of the following features, alone or in combination: the predetermined force multiplying coefficient value is generated by a learning model. the predetermined value of the walking assistance adjustment coefficient is generated by a learning model.
• the adjustment coefficient can take into account a plurality of calibration parameters such as a detection force F mD of the right hand and / or of the left hand F m G for each of the corresponding electronic handles, a support force F 3 D of the right hand and / or of the left hand F 3G on each of the corresponding electronic handles, a walking resistance k (virtual weight) in a straight line, a walking resistance k '(virtual weight) in turns , a force for which the speed remains constant in translation F n0 m, a minimum force making it possible to actuate the displacement motors F m in, a force for which the speed remains constant in rotation AF n0 m, a minimum force in rotation AF m in, resolution of the handle, a minimum distance D min between the user and the robotic walker, a maximum distance D ma x between the user and the robotic walker.
• a detection force F mD of the right hand and / or of the left hand F m G for each of the corresponding
• the invention relates to a method of preventing 100 from a fall of a user of a robotic walker 1, preferably of a robotic walker 1 according to the invention.
• a prevention method 100 implemented by a control module 40 comprising program instructions previously stored in a data memory 42 of said control module, is illustrated in Figure 10.
• a method 100 for preventing a fall of a user of a robotic walker 1 comprises the steps of determining 110 at a given time, of an indicator of an involuntary movement of a user of the walker 1. robotized, a step of identifying 120 of a previous position at the given instant of at least one of the wheels 11a, 11b, 12, a step of transmitting 130 an immobilization instruction to the displacement motor 20 of the robotic walker 1 for a predetermined stopping time, and a step of transmitting 140 a movement instruction to the movement motor 20 of the robotic walker 1 so that it returns to the previous position at the given identified instant.
• a method 100 for preventing a fall by a user of a robotic walker 1 comprises a step of determining 110, at a given instant, of an indicator of an involuntary movement of 'a user of the robotic walker 1 capable of causing said user to fall.
• the indicator of an involuntary movement of a user can be determined from a multitude of sensors, located on the frame 10 of the robotic walker 1, or in an electronic handle 200 or even directly. on the user of said robotic walker 1.
• This identification step 110 may correspond to the comparison of a value measured by one of the sensors with a predetermined threshold value or even to the comparison of a variation calculated over a predetermined time interval with a predetermined threshold variation value.
• Such a variation may differ depending on the type of sensors. It can in particular be a variation of force for a pressure sensor, or even a variation of distance for a distance sensor, between the trunk of the user. and the frame 10, of the robotic walker 1, or else a speed variation, for a sensor configured to measure the displacement of a wheel of a robotic walker 1.
• a method 100 for preventing a fall of a user from a robotic walker 1 further comprises a step 120 of identifying a previous position at the given instant of at least one of the wheels 11 a, 11 b , 12, preferably at least two wheels.
• the identification step 120 can advantageously make it possible to determine an angular variation and a direction taken by at least one of the wheels 11a, 11b, 12, preferably at least two wheels.
• the positions of at least one of said wheels are stored in the data memory 42 of the control module 40 as a function of time which makes it possible to easily identify the position of at least one of the wheels, preferably of at least two wheels, before the identification of the involuntary movement.
• a method 100 for preventing a fall of a user from a robotic walker 1 further comprises a step 130 of transmitting to the displacement motor 20 an instruction to immobilize the robotic walker 1, for example for a predetermined time d. 'stop previously recorded in the data memory 42 of the control module 40. This makes it possible to completely immobilize the robotic walker 1 in order to prevent the user from falling.
• a method 100 for preventing a fall of a user from a robotic walker 1 further comprises a step 140 of transmitting to the displacement motor 20 an instruction to move the robotic walker 1 so that it finds again. the previous position at the given instant identified, of at least one of the wheels 11 a, 11 b, 12, preferably of at least two wheels.
• Such a step advantageously makes it possible to help the user of the robotic walker 1 to re-establish his position with respect to said robotic walker 1.
• the robotic walker 1 can include various sensors and an involuntary movement can also be associated with a loss of balance, involving for example the application of a pronounced force on an electronic handle 200, or even a moving away or closer the torso of the user relative to the frame 10 of the robotic walker 1, or a sudden acceleration of the rotational speed of one of the wheels of the robotic walker 1, causing in one case or the other a displacement or no of the robotic walker 1.
• the transmission step 140 is particularly suitable for facilitating the re-establishment of the user's balance.
• the invention relates to a method of controlling 300 a robotic walker 1, preferably a robotic walker 1 according to the invention.
• a control method 300 according to one embodiment of the invention is illustrated in FIG. 11
• a control method 300 of a robotic walker 1 comprises the steps of measuring 320 at least one value of force applied to it. an electronic handle 200, for comparing 330 the at least one value of force applied to a predetermined threshold value of force, and for generating 360 of a control instruction to at least one of the displacement motors 20 of the robotic walker 1.
• a method 300 for controlling a robotic walker 1 may include the steps of customizing 310 the robotic walker 1, of calculating 340 a value of variation over time of a force applied to an electronic handle 200, of comparison 350 of the temporal variation value of an applied force with a predetermined threshold value.
• a control method 300 of a robotic walker 1 may include a step of customizing 310 of the robotic walker 1.
• a control method is advantageously adapted to the user of the robotic walker 1.
• the personalization step 310 may include storage, for example on a data memory 42, of:
• these threshold values could have been pre-recorded in a data memory 42 during the design of the robotic walker 1.
• the storage of such data makes it possible on the one hand to adapt the walker in its operation to the morphology of a given user. Indeed, depending on the user's level of autonomy, or his propensity to lose his balance, and depending on the sensors positioned on said robotic walker 1, it may be advantageous to adapt the different thresholds in order to prevent any risk of falling.
• the steps of the control method 300 are described in connection with a force sensor applied to an electronic handle 200.
• the invention is not limited to this embodiment and may include in combination or instead of such a force sensor applied to an electronic handle, a distance sensor or else a sensor configured to measure a variation in speed of a wheel of the robotic walker 1.
• a control method 300 of a robotic walker 1 comprises a step 320 of measuring at least one value of force applied to an electronic handle 200.
• This measuring step 320 may correspond to the generation of a value of a component. of a force applied to the electronic handle 200 by a user.
• the applied force, the value of which is measured corresponds to a vertical component of the applied force.
• the detection of the pressure of a user on said handle is done at least in part by measuring the vertical force of pressing on the electronic handle 200.
• this step can include the measurement 320 of at least two components of the force applied to the electronic handle 200.
• this measurement 320 can preferably be carried out for the two electronic handles 200.
• This step can be carried out by one or more sensors of an electronic handle 200.
• a method 300 for controlling a robotic walker 1 comprises a step 330 for comparing the at least one value of force applied to a predetermined threshold value of force applied and / or of the measurement of the distance between the user and the user. robotic walker 1.
• a comparison makes it possible to generate an indicator of the user's posture.
• the comparison step can lead to generating a binary value (e.g. yes / no).
• a method according to the invention will advantageously be able to detect a posture of a user and in particular his ability or his need to set the robotic walker 1 in motion, by detecting an exceeding of a threshold value by a value measured force applied.
• This comparison step can also include the generation of a posture indicator in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the measured value and the predetermined threshold value.
• a posture indicator value may advantageously be used in combination with other values when generating a control instruction. This step can be performed by a control module 40 and in particular by a processor 41 configured to perform such a comparison and generate the user's posture indicator.
• a control method 300 of a robotic walker 1 can advantageously include a step 340 of calculating a variation value over time of a force applied to an electronic handle 200.
• This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module 40.
• such a time variation value may correspond to a variation in force applied during a predetermined time interval.
• the time interval is preferably less than 1 second, more preferably less than 0.5 second, even more preferably less than 0.2 seconds.
• the method according to the invention makes it possible to monitor in real time the interactions of a user with a robotic walker 1 in order to determine their intention.
• This value can be calculated for an electronic handle 200 and preferably for the two electronic handles 200.
• the applied force whose temporal variation is calculated corresponds to a vertical component and a horizontal component of the applied force.
• This calculated value can be used in a step 350 for comparing the value of the temporal variation of an applied force with a predetermined threshold value of the variation of applied force.
• Such a comparison makes it possible to generate an indicator of user intention.
• the comparison step can lead to generating a binary value (e.g. yes / no).
• Such an intention index can in particular correspond to an indicator of the intention to move the robotic walker 1 and therefore the user.
• This comparison step can also include the generation of an intention indicator in the form of an alphanumeric value or a numerical value.
• a digital value may for example correspond to a difference between the calculated value and the predetermined threshold value.
• An intention flag value can advantageously be used in combination with other values when generating a control instruction.
• a method 300 for controlling a robotic walker 1 can also include a step of determining a distance value between the trunk of a user of the robotic walker 1 and a distance sensor.
• a distance sensor can determine the distance between the user and said distance sensor. This distance value or a position index of the user derived from such a distance value can advantageously be used in combination with other values when generating a control instruction.
• This step can be carried out by a control module 40 and more particularly a processor 41 configured to determine the distance separating a user from a distance sensor positioned on the robotic walker 1, from the data supplied by said distance sensor.
• a control method 300 of a robotic walker 1 can also include a step 360 of generating a control instruction to at least one of the displacement motors 20.
• this step of generating Control instruction can be performed based on the measured value of force applied to an electronic grip or on a posture index value.
• the control instruction may be a function of comparing at least one applied force value to a predetermined threshold applied force value.
• the 360 generation of a control instruction can also take into account other parameters.
• it takes into account the measured value of force applied to an electronic handle 200 or the posture index value in combination with the time variation value of a force applied to an electronic handle or the index value of intention.
• the 360 generation of a control instruction can also take into account the position index value or the measured distance value of the user from the distance sensor.
• This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module.

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• 2019
  • 2019-12-20 FR FR1915381A patent/FR3104942B1/fr active Active
• 2020
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