EP4153385A1 - Exosquelette ameliore pour assistance aux efforts verticaux - Google Patents
Exosquelette ameliore pour assistance aux efforts verticauxInfo
- Publication number
- EP4153385A1 EP4153385A1 EP21727138.6A EP21727138A EP4153385A1 EP 4153385 A1 EP4153385 A1 EP 4153385A1 EP 21727138 A EP21727138 A EP 21727138A EP 4153385 A1 EP4153385 A1 EP 4153385A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- user
- cable
- exoskeleton
- pulleys
- lateral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 45
- 210000000689 upper leg Anatomy 0.000 claims abstract description 26
- 210000004705 lumbosacral region Anatomy 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims abstract description 9
- 210000003127 knee Anatomy 0.000 claims description 13
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 description 19
- 210000000038 chest Anatomy 0.000 description 6
- 230000000295 complement effect Effects 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000002683 foot Anatomy 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 208000023178 Musculoskeletal disease Diseases 0.000 description 2
- 238000009795 derivation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 230000000284 resting effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Definitions
- lumbar belts which are flexible or comprising mechanisms improving the stability of the spine by increasing the intra-abdominal pressure due to the compression exerted by the belt is known.
- Exoskeletons are also known equipped with motor means located on either side of the hips of the body.
- the operator and arranged to assist the straightening of the operator's back by leaning on one side on the thighs of the latter and helping the rotational movement around the lumbar axis on the other side, thus minimizing the compressive stresses on the intervertebral discs.
- Also known (DE 102017 129 021) is a method of using an exoskeleton comprising a back structure and implementing several cables and traction means on the cables allowing bending of the bust and its raising.
- the object of the invention is to overcome these problems
- the exoskeleton according to the invention will make it possible to efficiently transfer a load located in front of the user, while adapting
- the operator has an excellent feeling of comfort allowed by a natural release of the back, and the exoskeleton according to the invention, while allowing walking, allows torsional movements of the body.
- the invention relates to a device of the exoskeleton type intended to assist the vertical forces of an operator, centered or in torsion.
- It also relates to a method of using such a device.
- the present invention proposes in particular an exoskeleton comprising an axial dorsal structure, removable in a removable manner to the shoulders.
- axial back structure is meant a back structure elongated around an axis
- the cable By differential tensioning, the cable being of constant length and fixed on either side respectively on each of the lateral equipment,
- actuator in traction of a cable is meant here any device or means of displacement which
- the 20 provides a tensile work modifying the position of the cable and for example of the central part of the cable. It may in particular be an electric motor, a pneumatic cylinder, but also passive means such as for example a spring.
- 25 compression for example put into compression in an adjustable manner by means of a thumbwheel, or even a mixed actuation system put active - half passive like a screw motorized by a motor.
- dorsal structure belonging to the pulley return means comprises a central pulley attacking a central loop formed by the cable, and two first lateral pulleys symmetrical with respect to said dorsal structure, each respectively forming a pivot axis at the level of the
- said pulley return means furthermore comprise two second adjacent lateral pulleys integral with the lateral equipment, located at a distance from said first pulleys and forming pivot axes at the
- the pivot axes are mutually parallel and perpendicular or substantially perpendicular to the axis of the axial structure.
- pivot axes at the lumbar level are integral with the belt and the axes corresponding to the hips are integral with a lateral equipment.
- the cable passes below the first and second lateral pulleys.
- the vertical traction actuator comprises a vertical actuator for moving an upper central pulley cooperating with the central portion of the cable, forming a loop, for connecting and for differential tensioning of the two lateral equipment items.
- the back structure comprises an elongated horizontal element for lateral displacement of the direction of the tensile force of the cable on either side and symmetrically on the lateral equipment.
- the actuator in vertical traction comprises a ball screw and cable channel comprising a nut and the back structure comprises a differential carriage directly linked to the nut of the ball screw.
- the exoskeleton comprises means for detecting the user's movement, and means for calculating
- the pitch is then determined by an inertial unit as a function of the angle formed by the thorax of the user with the vertical.
- the pitch is deduced from the movement of the hips in which case devices are provided.
- the means for detecting the movement of the user comprise means for detecting the movement of the user's hips, arranged to detect the pitching movement with respect to the
- Gravity during the vertical movement of the dorsal structure comprising two potentiometers each associated with a hip and arranged to be activated at the same time as the other to inform the calculation means on said pitch movement;
- the exoskeleton also comprises two respective actuating motors of the return pulleys at the level of the user's hips. Such an arrangement improves the good transmission of forces;
- piezometric stress sensors for example piezometric stress sensors
- the means for detecting intention and / or movement are for example formed by a sensor with
- strain gauge of known type, suitably installed and / or programmed in a manner known per se.
- Threshold values can be provided to avoid false orders and / or handling errors
- -1'exoskeleton furthermore comprises two identical deformable structures respectively of aid to the articulation movement of each of the knees by
- each deformable structure comprises an elongated chain of identical elements rigidly fixed on one side to a flexible support and linked together on the other side in a sliding manner by a fixed cable
- the identical elements of the chain are T-shaped pieces whose foot is fixed to the flexible support and whose bar is tubular and arranged to allow the cable to pass, so
- the invention also provides a method of using the exoskeleton, as described above.
- said back structure by means of a belt, said back structure being equipped with an actuator in vertical traction of a connecting cable and differential tensioning of said cable fixed on either side to said equipment
- the traction is transmitted
- FIG. 1 is a schematic front view of an operator provided with an exoskeleton according to a first embodiment of the invention.
- Figure 2 is a partial rear perspective view of the exoskeleton according to the embodiment of Figure 1.
- FIG. 3 is a partial rear view illustrating a second embodiment of the pulley return means according to the invention.
- FIG. 4 is a partial rear view illustrating a third embodiment of the pulley return means according to the invention.
- Figure 5 shows a partial rear view illustrating a fourth embodiment of the
- FIG. 6 schematically shows the principle of operation of the return means of the embodiment of FIG. 5.
- Figure 7 is a partial rear perspective view of another embodiment of the exoskeleton according to the invention.
- FIG. 8 is a diagram explaining the controls of an exoskeleton according to one embodiment of the invention.
- Figure 8A illustrates the pitch angle which is one of the parameters used in connection with the diagram of Figure 8.
- Figure 9 illustrates another embodiment of the diagram of Figure 8.
- FIG. 10 illustrates the operating principle of the complementary deformable structure for assisting the movement of a joint, according to another embodiment of the exoskeleton according to the invention.
- Figure 11 shows such a deformable structure applied to the knee joint.
- FIG. 1 shows an exoskeleton 1 comprising an axial dorsal structure 2 (in broken lines) removable in a removable manner to the shoulders 3 of an operator 4, in a manner known per se by straps 5.
- the back structure 2 axial or elongated around an axis 2 ', is equipped with an actuator 6, for example an electric vertical piston 7 arranged to exert a vertical traction (arrow 8). on a cable 9, for example metallic, for connecting and differential tensioning of two lateral equipments 10 and 11, symmetrical with respect to the axial back structure 2.
- a cable 9 for example metallic, for connecting and differential tensioning of two lateral equipments 10 and 11, symmetrical with respect to the axial back structure 2.
- Each side piece of equipment 10 and 11 is respectively provided with means 12 for removable attachment to the thighs 13 of the user or operator 4.
- These means are formed of hook-shaped pieces or straps 14, suitable for resting on the rear and / or the front of the thigh, with which they are made integral, for example by a front strap 15, allowing an adjustable binding adjusted to the volume of the thigh.
- the axial back structure 2 further comprises a lower part 16, for example in the form of a flexible widened band, adjustable to the size of the operator by means of a belt of 15. reattachment of the ends of the straps.
- the back structure and the lateral equipment 10 and 11 are moreover interconnected by a connecting piece or belt 17 designed to be kept away from the lumbar region of the user, for example by means of a lateral offset and / or a adapted shape of said belt 17, protruding from the back of the user, and by the upper part 18 of the dorsal structure, for example curved towards the shoulders 3 of the user.
- a connecting piece or belt 17 designed to be kept away from the lumbar region of the user, for example by means of a lateral offset and / or a adapted shape of said belt 17, protruding from the back of the user, and by the upper part 18 of the dorsal structure, for example curved towards the shoulders 3 of the user.
- the belt 17 comprises a horizontal tube 17 'fixed on a part or support block 17'', for example partly parallelepiped, itself fixed for example by rivets on the external face. of the lower part 16 of the dorsal structure, tube 17 'at the ends of which the side fittings 10 and 11 are attached.
- the belt 17 comprises means 19 for returning by pulleys the tensile force of the cable 9, between
- the return means 19 are arranged to transmit the differential voltage (arrow 22) to the
- the exoskeleton 1 further comprises a deformable structure 23 (schematically shown), actuated or released by the differential traction of a cable 24, to aid in straightening the knee, with the aid of an actuator 25, and which will notably be
- the embodiment of the back structure 2 of FIG. 1 will now be described more precisely. It comprises an axial part 26, for example made of fibers reinforced in FIG.
- the axial part has an upper or upper part 18 in the form of a flared petal 27 curved towards the back of the user, an intermediate vertical part 28 in the form of a rectangle, for supporting the
- the pulley system 21 includes the pulley
- the cable 9 then attacks vertically on each side an end pulley 32, of axis 32 ', parallel or coincident with that of the tube 17', and perpendicular to the axis 2 'of the back structure 2.
- the cable is then returned by the end pulley 32, to a part where the pivot pulleys 33, in the groove of which it is fixed at 34.
- intermediate pulleys 30 have axes 30 'located in the horizontal plane, but forming an angle
- the pulleys 32 are of axis 32 'forming in turn a beta angle, for example 30 °, to reorientate the cable 9 then attached at 34 to the pulleys.
- the dorsal structure 2 is in one piece with the belt 17 for connection with the lateral equipment 10 and 11 arranged to pivot in an assisted manner around it.
- the cable 9 passes under the pulleys 30, then over the pulleys 32, then is attached under the pulley 33 so that the traction rotates (arrow F) the pulley 33 in the counterclockwise direction.
- FIG. 4 shows another embodiment of a part of the system 21 of pulleys at the level of the central loop of the cable 9.
- the system comprises a differential carriage 36
- the pulley 20 comprises a nut 38 mounted on a ball bearing 39 which revolve around a screw
- Two side pulleys 39 return the cable vertically towards the intermediate pulleys 30 for redirecting the cable 9 towards the end pulleys 32, in a similar or identical manner to that which is described with reference to FIG. 3.
- the carriage movement system such as
- the pulley system comprises two first pulleys 40 forming
- first and second pulleys are each integral with an elongated part or plate 41 pivoting relative to the belt 17 about the axes 40 '.
- pivot axes 33 'and 40' are advantageousously, the pivot axes 33 'and 40'
- a pin 42 allows the cable to pass under the pulley 40 then to return, after passing over the pin 42, under the pivot pulley 33 to which it is
- the pulleys 33 are rigidly integral in rotation with a rod 43 arranged to be substantially parallel and follow the movements.
- FIG. 6 shows the principle of operation of this embodiment with double articulations, by idle pivot pulleys at the level of the lumbar region (first pulleys 40) and pulleys fixed to the cable at the level of the other hips.
- FIG. 7 shows another exemplary embodiment of the exoskeleton according to the invention comprising elements in particular partially described with reference to
- the exoskeleton 1 comprises an axial dorsal structure 2 in one piece (for its upper part and its lower belt 17), on which the actuator 6, formed here and by
- the exoskeleton 1 comprises detector means 49
- These detector means comprise for example an accelerometer and / or two potentiometers 51 each.
- means 52 for detecting the intention of movement and / or movement of the operator comprising a strain gauge sensor of known type, suitably installed and / or programmed in a manner known per se, with for example setting
- the exoskeleton also comprises means for motorizing the additional hips, by adding two small electric motors (not shown) known in themselves, to aid in the rotation of the pulleys 33,
- Figure 8 shows standard operation and Figure 9 shows so-called squat mode operation.
- the exoskeleton is provided for example in the upper part with calculation means or controller 60, and an inertial unit 61 arranged to transmit its orientation with respect to the direction of terrestrial gravity through a rotation matrix.
- this axis is arranged to correspond to the axis of the actuator (sin p) as shown in FIG. 8A.
- the engine torque is thus calculated in such a way that the assistance of the machine is proportional to the effect of gravity on the hips.
- the amplitude 63 of this sine is determined by a user through a manual adjustment method (block 64) known per se.
- boost modifies the amplitude of the sine of the standard command from the speed of the righting movement (line 66).
- This speed is obtained either by derivation in the computer 60 (line 66) of the pitch obtained by the inertial unit 61, and / or by derivation of the angular position obtained by the potentiometers or the encoder of the motor 45 (see below ).
- the amplitude of the sine is increased so as to increase the assist torque and therefore to help the user to get up, if the speed shows an increase in the incline, l 'amplitude
- FIG. 9 shows a complementary and / or alternative mode of operation called in
- the standard control mode does not provide any assistance because the inertial unit does not detect any pitch.
- This command mode is only used in certain cases, because it can provide assistance not
- Figure 10 shows the principle of a deformable structure 73 taken in combination with the back structure and the pulley system described above, to form an exoskeleton allowing relief.
- the principle here is to use in a complementary manner a longilinear chain 74 of identical elements 75 rigidly fixed on one side.
- the cable is attached to a distal member 79 of the chain and arranged to be attached to the other side 80 to traction means (not shown) of the type described with reference to FIG. 7, for example screw 47.
- the identical elements 75 of the chain are T-shaped parts whose feet are fixed to the flexible support 77 and whose tubular bars of the T 82 allow the cable to pass.
- the flexible support is for example a strip of width between 2 cm and 10 cm, flexible and flexible, arranged to be able to adapt to the movement
- FIG. 11 shows a complementary device 83 comprising a structure 84 implementing the principle described above, comprising a strip
- the motor is controlled by detection means
- the device also comprises means for fixing to the thigh and ankle of
- the operator 4 firstly places the exoskeleton 1 on his shoulders and fixes the shoulder straps 5 and the belt 16, then the deformable structures 23 on his knees. It then initializes the computer, the inertial unit, the
- the exoskeleton Once the exoskeleton is operational, it positions itself to move the object to be lifted, for example
- the pitch recovery and / or tracking device As soon as he bends the knees and / or bends the thorax, the pitch recovery and / or tracking device
- the exoskeleton When picking up the object, the exoskeleton releases the cable (by disengaging the motor or by releasing the piston) to give it the necessary flexibility under the control of the detection means described above.
- the load is then entered.
- the exoskeleton reacts by raising the central point of the loop, which causes a tensioning on the pulleys 33 and comes to help and / or relieve the joints of the back and the legs.
- the inertial unit and / or the potentiometers, and the engine are informed of the pitch and allow the computer to adapt the tensile forces on the cables to allow the operator to get up effortlessly with the load.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR2005402A FR3110476B1 (fr) | 2020-05-21 | 2020-05-21 | Exosquelette amelioré pour assistance aux efforts verticaux |
PCT/EP2021/063395 WO2021234061A1 (fr) | 2020-05-21 | 2021-05-19 | Exosquelette ameliore pour assistance aux efforts verticaux |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4153385A1 true EP4153385A1 (fr) | 2023-03-29 |
Family
ID=72644336
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21727138.6A Pending EP4153385A1 (fr) | 2020-05-21 | 2021-05-19 | Exosquelette ameliore pour assistance aux efforts verticaux |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4153385A1 (fr) |
FR (1) | FR3110476B1 (fr) |
WO (1) | WO2021234061A1 (fr) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3132044B1 (fr) | 2022-01-21 | 2023-12-22 | Robotiques 3 Dimensions | Exosquelette d’assistance au maintien en posture penchée en avant et au redressement |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3004230B1 (fr) | 2013-04-05 | 2015-05-15 | Commissariat Energie Atomique | Verin a cable permettant un debattement articulaire augmente |
US9662262B2 (en) * | 2013-05-06 | 2017-05-30 | Springactive, Inc. | Joint torque augmentation system and method for gait assistance |
CN109202863B (zh) * | 2017-07-04 | 2023-06-23 | 现代自动车株式会社 | 可穿戴式肌肉力量辅助装置及其控制方法和系统 |
FR3075914B1 (fr) * | 2017-12-22 | 2019-12-20 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Actionneur reversible a deux axes non synchronises avec un seul moteur |
-
2020
- 2020-05-21 FR FR2005402A patent/FR3110476B1/fr active Active
-
2021
- 2021-05-19 EP EP21727138.6A patent/EP4153385A1/fr active Pending
- 2021-05-19 WO PCT/EP2021/063395 patent/WO2021234061A1/fr unknown
Also Published As
Publication number | Publication date |
---|---|
FR3110476A1 (fr) | 2021-11-26 |
FR3110476B1 (fr) | 2023-09-15 |
WO2021234061A1 (fr) | 2021-11-25 |
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