EP4232168A1

EP4232168A1 - Device for physical rehabilitation, training or preparation

Info

Publication number: EP4232168A1
Application number: EP21794167.3A
Authority: EP
Inventors: Arnaud DECATOIRE; Antoine EON; Pierre LAGUILLAUMIE
Original assignee: Centre National de la Recherche Scientifique CNRS; Universite de Poitiers
Current assignee: Centre National de la Recherche Scientifique CNRS; Universite de Poitiers
Priority date: 2020-10-22
Filing date: 2021-10-19
Publication date: 2023-08-30
Also published as: WO2022084283A1; FR3115467A1; FR3115467B1

Abstract

The invention relates to a device (100) for rehabilitation or training comprising: - a movable support (102); - a first motorisation means (106) with positional control and designed to move the movable support (102); - a first force measurement means (108) designed for measuring a first torque; - a control means, characterised in that the control means is designed to control the position of the first motorisation means (106) so as to move the movable support (102) in the trajectory thereof as long as the first measured torque equals a setpoint torque and, otherwise, the control means is designed and/or programmed to slow down or stop the first motorisation means (106) in the series of positions of the movable support (102) if the first measured torque is outside said torque setpoint.

Description

DESCRIPTION

Title: Device for rehabilitation, training or physical preparation

Technical area

[001] The present invention relates to a device for rehabilitation, training for athletes or physical preparation.

[002] The field of the invention is the field of rehabilitation devices used for example when recovering motor skills or sports training devices, used for example for learning complex technical gestures or for specific physical preparation. .

State of the prior art

[003] Devices used for joint rehabilitation are known. These devices help recover motor skills by proposing to achieve: either a movement at constant speed by opposing a variable resistive load opposing the movement, or either a movement at constant resistive load and by adjusting the articular speed.

[004] These rehabilitation devices are functional but pose problems of efficiency because the users implement, through these devices, joint efforts different from those they would have to provide in real life, that is to say ie without the use of device.

[005] Devices are also known for learning complex gestures for sports training, such as weight machines. These training or physical preparation aid devices offer joint or guided movements with fixed resistive loads.

[006] These devices for learning are functional but raise problems related to the use of fixed resistive loads. Indeed, in such devices, it is very difficult, if not impossible, to adjust the resistive load offered via the weight of the body or additional masses associated with the intended movement.

[007] An object of the invention is to remedy at least one of the aforementioned drawbacks, and/or to propose an easy-to-use device which can: adapt its resistive load in order to obtain an articular force associated with the targeted movement, and/or personalize the joint kinematics and the joint torque with respect to the targeted technical gesture or rehabilitation movement while taking into account the physical abilities of the subject, and/or personalize and adapt the level of difficulty of the gesture according to the user progress. [008] Another object of the invention is to propose a method making it possible: to adapt the resistive load during the movement, and/or to personalize the articular kinematics and the articular torque with respect to the technical gesture or movement targeted rehabilitation while taking into account the physical capacities of the subject, and/or to adapt and personalize the level of difficulty of the gesture according to the progress of the user.

Disclosure of Invention

[009] The invention makes it possible to achieve at least one of the aforementioned aims by means of a rehabilitation or training device comprising: a mobile support, comprising at least one contact surface arranged to be in contact with a user of said device, the mobile support being arranged to move along a trajectory defined by a succession of positions of the mobile support, said trajectory being imposed by said device, a first motorization means servo-controlled in position and arranged to move the mobile support along an axis of translation and/or around an axis of rotation of the mobile support, a first force measurement means arranged to measure a first force and/or a first torque depending on a force exerted by the user on the contact surface , a control means arranged and/or programmed to control the position of the first motorization means.

The control means is arranged to control the position of the first motorization means so as to move the mobile support in its trajectory as long as: the first force or the first measured torque Ci, or a datum C302 calculated by the means of command as a function of the first force or the first torque measured Ci (the control means being arranged and/or programmed to calculate the datum C302 as a function of the first force or the first torque measured) is equal( e) to a force or torque setpoint, and in the opposite case, the control means is arranged and/or programmed to slow down or stop the first motorization means in the succession of positions of the mobile support if: the first force or the first couple measured Ci , or the datum C302 calculated by the control means as a function of the first force or of the first torque measured Ci is outside of said force or torque setpoint, said force or torque setpoint being defined as a force value or model torque which depends on each position of the mobile support in its trajectory.

The first drive means of the device according to the invention can be arranged to actuate a part in rotation about an axis of rotation of the first drive means so as to move the mobile support, the first measuring means being able to be arranged to measure the first torque around the axis of rotation of the first drive means.

The first means of motorization of the device according to the invention may comprise a modular robotic axis connected to the mobile support and which may include a position-controlled motor coupled to a reduction gear via a belt pulley transmission, the first measuring means being able to be positioned on the reducer so that the axis of rotation of the first motorization means is an axis of rotation at the output of the reducer.

The axis of rotation of the mobile support of the device according to the invention can be coincident with the axis of rotation of the first motorization means.

The torque or force setpoint, for a succession of successive positions of the mobile support of the device according to the invention, can be characterized as: a model curve of a torque or a force measured or simulated (e) varying as a function of the position of the mobile support in its trajectory, said model curve possibly being: o less than or equal to a curve of torque or maximum threshold force varying as a function of the position of the mobile support in its trajectory, o greater than or equal to a minimum threshold torque or force curve varying as a function of the position of the mobile support in its trajectory.

The torque or force curves of minimum threshold and maximum threshold can thus delimit, in each position of the mobile support in its trajectory, an interval between these thresholds of torque or force values for which the first motorization means does not is not slowed down or stopped by the control means so as to move the mobile support when: the first force or first torque Ci measured, or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is within this range. [0014] The torque or force setpoint can be, in each position of the mobile support of the device according to the invention in its trajectory: less than or equal to a maximum torque or force threshold, and/or greater than or equal to a minimum torque or force threshold distinct from the maximum threshold.

The device according to the invention may comprise first means for adjusting the maximum threshold and/or the minimum torque or force threshold by a user.

The device according to the invention may further comprise a display device connected to the first force or torque measurement means and be arranged to simultaneously display on the one hand: the first measured torque Ci or the first measured force , or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci and on the other hand the torque or force setpoint, at the threshold defined previously, in each position of the mobile support in its trajectory.

[0017] When the user is outside the force or torque setpoint, the device according to the invention can be arranged to evaluate, for example to increment, an out-of-setpoint state OUTPUT of the first force or of the first torque or of the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci and the control means can be arranged to: slow down to a new value of a displacement speed or stop the first means of motorization in the succession of positions of the mobile support, if the EXIT off-set state is higher, respectively lower, than a level of flexibility FLEXIBILITY, or advancing the mobile support to a following position in the succession of positions of the mobile support without slowing down the speed of movement of the first motorization means if the OUTPUT off-set state is lower, respectively higher, than the FLEXIBILITY level of flexibility.

Said level of FLEXIBILITY can be programmed to adjust a deceleration in the speed of movement of the first motorization means affecting the movement of the mobile support in its trajectory when the user is outside the force or torque setpoint, said state outside OUTPUT setpoint can be initialized to a reference value, preferably to zero, each time the speed of movement of the first motorization means is slowed down. The control means of the device according to the invention can be arranged and/or programmed to change the OUTPUT off-set state in a first direction when the first force or the first torque measured or the calculated C302 datum by the control means as a function of the first force or the first torque measured Ci is outside the force or torque setpoint and to change the state outside the OUTPUT setpoint in a second direction, opposite to the first direction , when the first force or the first torque measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to the force or torque setpoint couple.

The control means of the device according to the invention can be arranged and/or programmed to reduce the speed of movement of the first motorization means when the first force or the first measured torque Ci or the datum C302 calculated by the control means according to the first force or the first torque measured Ci is outside the force or torque setpoint and to increase the speed of movement of the first motorization means, preferably up to a certain determined value such as 100 for example, when the first force or the first torque measured Ci or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal ) to the force or torque setpoint.

[0020] The control means can be arranged and/or programmed for, when the first torque Ci or the first force measured by the first measuring means or the datum C302 calculated by the control means according to the first force or of the first measured torque Ci of the device according to the invention is in the force or torque setpoint, modify, preferably increase, the speed of movement of the first motorization means when the EXIT off-setpoint state is in a first variant equal to or less than, or in a second variant equal to or greater than, the reference value, the OUTPUT off-set state being able to be initialized at the FLEXIBILITY level. For example, in the case of the second variant, the off-set state cannot be initialized at the flexibility level FLEXIBILITY and the movement speed cannot be increased.

The succession of positions of the mobile support of the device according to the invention can be defined between an initial and final position of said mobile support, the control means being able to be arranged to stop the first motorization means: if the mobile support reaches the final position, or if the speed of movement of the first motorization means reaches a stop value, preferably equal to zero.

The device according to the invention may comprise: a second motorization means controlled in torque or in force or in position by the control means and arranged to exert a second torque or a second force on the user at the level of the contact surface in the succession of positions of the mobile support in its trajectory, a second force measurement means arranged to measure the second force and/or a second torque depending on the force exerted by the user on the contact surface.

The device according to the invention may comprise connection means arranged to connect the second motorization means with the mobile support so that the control means is arranged and/or programmed to calculate the data item C302 according to: the first force or the first measured torque Ci, and the second force or the second measured torque C2, the control means being arranged and/or programmed to torque control the second motorization means: from a force setpoint F _ux and the second torque C2 measured by the second force measurement means, and/or as a function of the datum C302 calculated by the control means.

[0024] The second motorization means may comprise a second modular robotic axis connected to the mobile support by the connecting means, the second modular robotic axis possibly comprising a torque or force-controlled motor coupled to a second reducer via a belt pulley transmission so that the axis of rotation of the second motorization means is an axis of rotation at the output of the second reducer.

[0025] According to another aspect of the invention, a method is proposed which comprises: servo-control in position of a first motorization means so as to move a mobile support along a translation axis and/or around of an axis of rotation of the mobile support, the displacement of the mobile support along an imposed trajectory defined by a succession of positions of the mobile support, the mobile support comprising at least one contact surface in contact with a user, a measurement, by a first means for measuring forces, a first force and/or a first torque Ci depending on a force exerted by the user on the contact surface, a position control, by a control means, of the first means of motorization.

The control means can control the position of the first motorization means so as to move the mobile support in its trajectory as long as: the first force or the first torque Ci measured, or a datum C302 calculated by the control means in function of the first measured force or torque Ci is equal to a force or torque setpoint, and in the opposite case, the control means slows down or stops the first motorization means in the succession of positions of the mobile support if: the first force or the first torque Ci measured (e ), or the datum C302 calculated by the control means as a function of the first force or of the first torque measured Ci is outside of said force or torque setpoint, said force or torque setpoint being defined as a model force or torque value which depends on each position of the mobile support in its trajectory.

The first motorization means of the method according to the invention can actuate a part in rotation about an axis of rotation of the first motorization means so as to move the mobile support, the first measuring means can measure the first torque around the axis of rotation of the first motorization means.

The first means of motorization of the method according to the invention can comprise a modular robotic axis connected to the mobile support and can comprise a position-controlled motor coupled to a reduction gear via a belt pulley transmission, the first measuring means can be positioned on the reducer so that the axis of rotation of the first motorization means is an axis of rotation at the output of the reducer.

The axis of rotation of the mobile support of the method according to the invention can be confused with the axis of rotation of the first motorization means.

The torque or force setpoint of the method according to the invention, for a succession of successive positions of the mobile support, can be characterized as: a model curve of a torque or a force measured or simulated (e) varying as a function of the position of the mobile support in its trajectory, said model curve may be: o less than or equal to a maximum threshold torque or force curve varying as a function of the position of the mobile support in its trajectory, o greater than or equal to a minimum threshold torque or force curve varying as a function of the position of the mobile support in its trajectory.

The torque or force curves of minimum threshold and maximum threshold can thus delimit, in each position of the mobile support in its trajectory, an interval between these thresholds of torque or force values for which the first motorization means does not is not slowed down or stopped by the control means when: the first force or the first torque measured, or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is in this range.

The torque or force setpoint of the method according to the invention can be, in each position of the mobile support in its trajectory: less than or equal to a maximum torque or force threshold, and/or greater than or equal to a minimum torque or force threshold distinct from the maximum threshold.

[0031] The method may comprise an adjustment, by first means for adjusting, of the maximum threshold and/or of the minimum torque or force threshold by the user.

The method according to the invention may comprise, in addition to a simultaneous display, by a display device connected to the first force or torque measurement means, on the one hand: of the first force measured or of the first torque Ci measured , or the data C302 calculated by the control means as a function of the first force or the first torque measured Ci and on the other hand of the torque or force setpoint, to within the threshold defined in the method according to l invention, in each position of the mobile support in its trajectory.

[0033] When the user is outside the force or torque setpoint, the method according to the invention may comprise an evaluation, for example incrementing, by technical means, an OUTPUT off-set state of the first force or first torque Ci or data C302 calculated by the control means as a function of the first force or of the first measured torque Ci and in that the control means: can slow down to a new value of a speed for moving or stopping the first motorization means in the succession of positions of the mobile support, if the EXIT off-set state is higher, or respectively lower, than a level of flexibility FLEXIBILITY, or can advance the mobile support to a following position in the succession of positions of the mobile support without slowing down the speed of movement of the first motorization means, if the off-set OUTPUT state is lower, or respectively higher, than the level of flexibility FLEXIBILITY.

The FLEXIBILITY level of flexibility can be defined to adjust a deceleration of the speed of movement of the first means of motorization affecting the movement of the mobile support in its trajectory when the user is outside the force or torque setpoint.

Said EXIT non-setpoint state can be initialized to a reference value, preferably to zero, each time the speed of movement of the first motorization means is slowed down.

The control means of the method according to the invention can change the OUTPUT off-set state in a first direction when the first force or the first torque Ci measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is outside the force or torque setpoint and cause the OUTPUT off-setpoint state to evolve in a second direction, opposite in the first direction, when the first force or the first torque Ci measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to the setpoint force or torque.

The control means of the method according to the invention can reduce the speed of movement of the first motorization means when the first force or the first torque Ci measured or the data C302 calculated by the control means as a function of the first force or the first torque measured Ci is outside the force or torque setpoint and increase the speed of movement, preferably up to 100, of the first motorization means when the first force or the first torque Ci measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to the force or torque setpoint.

[0036] The control means can modify, preferably increase, when the first force or the first torque Ci measured by the first measuring means of the method according to the invention or the datum C302 calculated by the control means in function of the first force or the first measured torque Ci of the method according to the invention is in the force or torque setpoint, the speed of movement of the first motorization means when the OUTPUT off-setpoint state is in a first variant equal to or less than, or in a second variant equal to or greater than, the reference value, the OUTPUT off-set state can be initialized at the FLEXIBILITY level.

The succession of positions of the mobile support of the method according to the invention can be defined between an initial and final position of said mobile support, the control means can stop the first motorization means: if the mobile support reaches the final position, or if the speed of movement of the first motorization means reaches a stop value, preferably zero.

The method according to the invention may comprise: a torque or force or position servo-control, by the control means, of a second motorization means which exerts a second torque or a second force on the user at the level of the contact surface in the succession of positions of the mobile support in its trajectory, a measurement, by a second force measurement means, of the second force and/or a second torque C2 depending on the force exerted by the user on the contact surface.

The method according to the invention may comprise: a connection, by connection means, of the second motorization means with the mobile support so that the datum C302 is calculated by the control means is a function: o of the first force or of the first torque Ci measured, and o of the second force or of the second torque C2 measured, a torque command, by the control means, of the second motorization means: o from a force setpoint F _ux and the second torque C2 measured by the second force measurement means, and/or o as a function of the datum C302 calculated by the control means.

[0040] The second motorization means according to the invention may comprise a second modular robotic axis connected to the mobile support by the connecting means, the second modular robotic axis possibly comprising a motor which is slaved in torque or in force coupled to a second reducer via a belt pulley transmission, so that the axis of rotation of the second motorization means is an axis of rotation at the output of the second reducer.

Brief description of figures

[0041] Other advantages and characteristics will appear on examination of the detailed description of non-limiting examples, and of the appended drawings in which:

FIGURE 1 is a schematic representation of a first non-limiting exemplary embodiment of a first embodiment of a rehabilitation or sports learning device according to the invention, FIGURE 2 is a schematic representation of an example of a method according to the non-limiting invention used in the different embodiments of the devices according to the invention,

FIGURE 3A illustrates a first example of a software interface implemented by the algorithm used in the various device embodiments according to the invention,

FIGURE 3B illustrates a second example of a software interface implemented by the algorithm used in the various device embodiments according to the invention,

FIGURE 4 is a schematic representation of a first non-limiting example of a second embodiment of a sports rehabilitation or learning device according to the invention, and

FIGURE 5 is a schematic representation of a second non-limiting embodiment of the second embodiment of a sports or learning device according to the invention.

Detailed description of figures

It is understood that the embodiments which will be described below are in no way limiting. It is possible in particular to imagine variants of the invention comprising only a selection of characteristics described below isolated from the other characteristics described, if this selection of features is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art. This selection includes at least one preferably functional feature without structural detail, or with only part of the structural detail if only this part is sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art.

[0043] In particular, all the variants and all the embodiments described can be combined with each other if nothing prevents this combination from a technical point of view.

In the figures, the elements common to several figures retain the same reference.

[0045] The term model curve defines an ideal curve being recorded beforehand and which can be the result of a simulation of the exercise or the result of a measured torque or a measured force on a professional (i.e. athlete) performing the movement with the device according to the invention. This model curve can also be recorded by conventional motion capture means such as motion capture by optoelectronic system, force platforms, force sensors.

In the case of rehabilitation, the movement that can be performed with the device according to the invention corresponds to that of a "healthy" reference person, as opposed to "pathological". In a movement learning context other than sport (in ergonomics for example), the movement can be that performed by a professional considered as a reference movement.

In the description, the term “simulated” encompasses the fact that the model curves are personalized (i.e. optimized) beforehand according to the use of the device, that is to say that they are generated according to the gesture to be learned, the anthropometry of the learners (i.e. users) and their physical abilities.

The LIGURE 1 illustrates a first embodiment of a device 100 for rehabilitation or sports learning according to the invention.

The device 100 is positioned on a frame 110.

The rehabilitation or training device 100 comprises a mobile support 102, comprising at least one contact surface 118 arranged to be in contact with a user 104 of said device 100.

The mobile support 102 is arranged to move along a trajectory defined by a succession of positions of the mobile support 102, said trajectory being imposed by said device 100.

The device 100 further comprises: a first motorization means 106 controlled in position and arranged to move the mobile support 102 along a translation axis and/or around an axis of rotation of the mobile support 102, a first force measurement means 108 arranged to measure a first force and/or a first torque Ci depending on a force exerted by the user 104 on the contact surface 118, a control means arranged and/or programmed to control in position the first means of motorization.

The trajectory is stored in the control means. It is fixed, and not modified during its course.

In other words, the succession of positions of the mobile support 102 defining the trajectory is predefined. These positions differ from each other at least in part (because some may be identical, in the case of a round trip in the trajectory for example). But the device 100 is arranged so that each of these positions does not change over time, in particular during the movement of the mobile support 102 along this trajectory. There is no adjustment of the different positions making up the trajectory as this trajectory travels.

The control means can memorize several possible trajectories corresponding to several distinct exercises, but the device 100 is arranged so that, once the mobile support 102 starts a trajectory, the different positions defining this trajectory are imposed and cannot be modified. On the other hand, the instants at which these different positions will be reached by the mobile support 102 can vary according to the success of the user 104 in practicing his exercise, as will be explained later.

The control means of the device 100 is arranged to control the position of the first motorization means 106 so as to move the mobile support 102 in its trajectory as long as: the first force or the first measured torque Ci, or a datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to a force or torque setpoint, and in the opposite case, the control means is arranged and/or programmed to slow down or stop the first motorization means 106 in the succession of positions of the mobile support 102 if: the first force or the first torque measured Ci, or the datum C302 calculated by the control means in function of the first force or the first torque measured Ci is outside of said force or torque setpoint, said force or torque setpoint being defined as a model force or torque value which depends on each position of the support mobile 102 in its path. In the case of device 100, the first force or the first torque Ci measured is equal to the calculated datum C302 to the nearest sign. The calculated datum C302 is also called the torque C302 or the force supplied (e) by the user 104 which is in particular a torque in the case of the device 100 because the user 104 performs a rotational movement.

Indeed, the device 100 comprises a single means of motorization 106. Thus, by applying simplification hypotheses (i.e. negligible mass and transmission inertia, force of gravity not considered), the dynamic equation of the device 100 is written under the following equation:

[Math 1]

Cl X ' F _U y

[0059] With:

Ci the torque at the output of the first motorization means 106, that is to say the torque measured directly by the first force measurement means 108, x the position of the contact surface 118 (here a handle 418) by relative to the axis of rotation of the first motorization means 106, and

F _uy the transverse force exerted by the user 104 on the device 400 at the level of the contact surface 118.

Thus, the term x. F _uy corresponds to the torque supplied C302 by the user 104.

In the device 100, the first measured torque Ci is therefore equal to the torque provided by the user C302 to the nearest sign (Ci = -C302).

Thus, the measurement of the first torque Ci by the first force measurement means 108 directly gives (to the nearest sign) the torque provided by the user C302, which is the quantity of interest, that is to say - say the one that is compared to the torque setpoint. The control means therefore acts on the first motorization means 106 as a function of the first measured torque Ci with respect to the force or torque setpoint. If this first measured torque Ci is within the force or torque setpoint, the control means does not slow down or stop the first motorization means 106, and in this contrary case, the control means slows down or even stops the first means of motorization 106. The user 104 is seated on a seat of the frame 110.

The movable support 102 is a movable arm 102. The movable support comprises in the case of the device 100 a degree of freedom in rotation. Thus, the mobile support is arranged to pivot on an axis of rotation A.

The mobile support 102 thus performs a circular movement centered on the axis A. In a device variant 100, the mobile support 102 may include a degree of freedom in translation. The degree of freedom of the mobile support 102 is chosen according to the rehabilitation and/or training movement that one wants to practice and/or make the user 104.

The device 100 therefore covers different movements.

The mobile support 102 further comprises, in the case of the device 100, an upper wall 120 comprising a support 124 on which the user 104, seated, can rest his forearm (in the example shown).

The support 124 is arranged to help the user 104 to maintain an acceptable co-axiality between the axis A of the mobile support and that of the joint of said user 104.

The contact surface 118 is fixed to this upper wall 120 of the mobile support 102.

The contact surface 118 is fixed to the movable support 102 by fixing means (not shown), for example with screws. In the case of the device 100, the contact surface 118 is a handle or a gripping ball arranged to be gripped by the hand of the user 104.

The mobile support 102 comprises at least one orifice 122 positioned on the upper wall 120 of the mobile support 102. The orifice or the plurality of orifices 122 is arranged to fix the contact surface 118 to the mobile support 102.

The mobile support 102 therefore comprises in FIGURE 1 a plurality of orifices 122 aligned successively one behind the other in a longitudinal direction of the mobile support 102.

Thus, the perforation of the mobile support 102 along the longitudinal direction of the mobile support (i.e. its length) makes it possible to be able to fix the contact surface 118 at different distances from the axis A and thus adapt to the morphology of different users 104.

[0074] The mobile support 102 is fixed to the first motorization means 106.

The first motorization means 106 comprises a modular robotic axis connected to the mobile support 102. The motorization means 106 and the mobile support 102 are connected by fitting the mobile support 102 to the first motorization means 106 via the flange 116.

The first motorization means 106 comprises a position-controlled motor 112 coupled to a reduction gear 114 via a belt pulley transmission. Flange 116 is positioned above reducer 114.

The reducer 114 is also part of the first means of motorization 106.

The first measuring means 108 is positioned on the reducer 114 so that the axis of rotation of the first motorization means 106 is an axis of rotation at the output of the reducer 114. In the device 100, the axis A of rotation of the mobile support 102 coincides with the axis of rotation of the first motorization means 106.

The axis of rotation at the output of the reducer 114 is collinear with the axis A of rotation of the movable support 102. Thus, the output axis of the reducer 114 coincides with the axis A of rotation of the movable support 102 .

The first motorization means 106 is arranged to actuate a part in rotation around an axis of rotation of the first motorization means 106 so as to move the mobile support 102.

The measured force or torque Ci or the data C302 depends on the architecture of the device 100, in particular on the movement of the mobile support 102 as defined by the action of the user 104 on the contact surface. 118 in device 100.

The first measuring means 108 is arranged to measure the first torque around the axis of rotation of the first motorization means 106, which in this case coincides with the axis of rotation A of the mobile support 102.

The first measuring means 108 comprises at least one strain gauge positioned on the reducer 114. In the case considered, the first measuring means 108 comprises eight strain gauges.

The plurality of strain gauges are distributed on the output flange of the reducer 114 around the axis of rotation A of the mobile support 102 and/or of the first motorization means 106.

The choice of positioning and wiring of the plurality of strain gauges makes it possible to obtain a torque passing through the output flange 116 of the first motorization means 106. The inter-gauge compensations allow measurement independent of any disturbances applied. on the reducer 114 such as normal and transverse forces, transverse moments.

The device 100 can have symmetrically, a second mobile support 1022, identical to the first mobile support 102 and associated with means IO62, IO82, 1122, I M2, 1162, I I82, 1202, 1222, 1242 not necessarily illustrated and identical to the means 106, 108, 112, 114, 116, 118, 120, 122, 124 respectively. device 100.

[0088] Thus, the device 100 comprises another drive means (not shown) arranged to actuate a part in rotation about an axis of rotation of this other drive means (not shown) so as to move a second mobile support 1022. Another measuring means (not shown) is arranged to measure another torque around the axis of rotation of the other motorization means. The other motorization means comprises a modular robotic axis connected to the second mobile support 1022 and comprising a position-controlled motor coupled to a reduction gear via a belt pulley transmission, the other measuring means being positioned on the reduction gear so that the axis of rotation of the other means of motorization is an axis of rotation at the output of the reducer.

The axis of rotation of the second mobile support 1022 coincides with the axis of rotation of the other means of motorization.

In this way, the device 100 offers the possibility of working with right-handed or left-handed users 104 and/or of working simultaneously and/or separately with the left and right arms of a user 104.

[0092] The device 100 includes various adjustment functionalities which make it possible to adapt the device 100 to the height of different users, ranging for example from 1.30 meters (m) to 2.00 meters.

[0093] The device 100 is arranged to put in place an internal/external rotation movement of the shoulder of the user 104.

The device 100 is also designed to test movements of flexion/extension, abduction/adduction and internal/external rotation by simple reorientation of the device 100 on the frame and this for any joint of the subject (elbow, wrist, hip, knee, ankle . . . ).

FIGURE 2 is a non-limiting schematic representation of a non-limiting exemplary embodiment of a method 200 according to the invention.

The method 200 is implemented by the device 100. It is also implemented by the devices 400 and 500 described below in Figures 4 and 5.

The method 200 is implemented by computer or by any control means comprising at least one calculation card such as a processor or a computer.

The device control means 100 comprises at least one computer, a central or computing unit, an analog electronic circuit (preferably dedicated), a digital electronic circuit (preferably dedicated), and/or a microprocessor (of preferably dedicated), and/or software means, and is arranged and/or programmed to control the other elements of the device 100.

The method 200 includes at least one iteration of an adjustment phase 210 of the position P of the mobile support 102.

[00100] The adjustment phase 210 includes a step 202 for initializing the input parameters.

[00101] This initialization step 202 consists of entering and/or defining the input parameters. Input parameters include: - a choice of operating mode of the device 100,

- a force or torque setpoint comprising at least one threshold THRESHOLD,

- a level of FLEXIBILITY,

- an initial position P of the mobile support 102,

- a reading speed PAS on which the speed of the first motorization means 106 depends,

- a state outside the OUTPUT setpoint.

[00102] The OUT setpoint state is initialized to zero in the initialization step 202.

[00103] The FLEXIBILITY level can vary from 0 to 100.

The method 200 implemented in the devices 100, 400 and 500 comprises two modes of operation, a continuous mode and a sequential mode. These two modes of operation will be explained later in this text.

The device according to the invention can take into account either the speed of movement of the first means of motorization 106 or a reading speed NOT depending on the speed of the first means of motorization 106. The speed of movement of the first means of motorization 106 varies proportionally and in the same direction as the PAS playback speed.

[00106] In the case illustrated in FIG. 2, the read speed NOT as a function of the speed of the first motorization means 106 is considered.

[00107] In particular, the reading speed PAS is interpreted as a reading parameter of a trajectory file, previously recorded, corresponding to a model curve of a measured or simulated torque or force. ) and serving in the position and/or torque or force servo-control of the first and second motorization means 106, 406 according to the devices 100, 400 and 500.

[00108] In the devices according to the invention 100, 400, 500, the trajectory of the model curve is recorded at a frequency F _a . This file is then oversampled so that the frequency of the points is F#fii _e = K x F _a with K being an oversampling constant. Thus, for the mobile support 102 to move at the frequency F _a , it is necessary to read 1 point on K in the file of the pre-recorded model curve.

[00109] In the embodiment considered, the operations of moving the mobile support 102 are executed every 400 microseconds. The model curve has been over-sampled every 4 microseconds so that by reading a value out of 100 at each cycle of the control means, the movement is carried out at the "normal" (desired) speed. This is why the reading speed PAS is initialized at 100. The over-sampling constant K is equal to 100. When the reading speed PAS decreases, the control means scans the file relating to the model curve less quickly and therefore moves the mobile support 102 more slowly. Thus, if the read speed PAS is 100 then the movement of gantry 102 is performed at the "normal" (desired) speed of movement. On the other hand, if the reading speed PAS decreases, for example by 1, it is necessary to read 1 point out of 99 and not 1 point out of 100 in the file of the pre-recorded model curve. The mobile support 102 is therefore slowed down.

[00110] The reading speed PAS is initialized to 100 in the initialization step 202. In the example considered, when the reading speed PAS is equal to 100, this corresponds to the desired "normal" reading speed of the model curve file. The first means of motorization 106 has therefore not been slowed down.

[00111] All the operations of the adjustment phase 210, corresponding to the operations of moving the mobile support 102, are performed every 400 microseconds. If the playback speed PAS is 100, the movable support 102 moves at the desired speed. If the reading speed PAS is between 0 and 100 then the mobile support 102 moves slower than expected, it is slowed down by the control means. If the read speed PAS is equal to 0 then the movable medium 102 is stopped.

[00112] The FLEXIBILITY level of flexibility is programmed or defined to adjust a deceleration in the speed of movement of the first motorization means 106 affecting the mobile support 102 in its trajectory when the user 104 is outside the force or couple. The value of the FLEXIBILITY level is used to adjust the difficulty of the exercise. Indeed, the value of the level of flexibility FLEXIBILITY fixes, in a certain way, the time that the first means of motorization 106 takes to stop. The greater the level of FLEXIBILITY, the slower the speed of the first motorization means 106 will decrease. In the case of Figure 2, the device according to the invention must perform a step 230 of modifying the EXIT off-threshold value and a second modification condition 232 of the EXIT off-threshold state a greater number of times before decreasing the PAS reading speed, for example 1. Conversely, the lower the FLEXIBILITY level, the faster the reading speed will decrease.

[00113] The lower the reading speed, the slower it is, until the PAS reading speed is equal to, for example, zero. In the latter case, the device 100 is, for example, stopped. In the embodiment considered, when the reading speed PAS is equal to 100, the first motorization means 106 is at a normal displacement speed, desired because programmed as such in the initialization step 202.

[00114] In the case of process 200, it should be noted that no time parameter is entered and/or configured. In a variant not illustrated, this time parameter can be programmed and/or entered. In the method 200, illustrated in FIG. 2, the time required to stop the first motorization means 102 is regulated thanks to the level of flexibility FLEXIBILITY.

[00115] The calculation of the stopping time is

[Math 2] 1

T = K x (FLEXIBILITY + 1) x —

[00116] With:

K: corresponding to the oversampling constant,

FLEXIBILITY: corresponding to the level of flexibility, and

F _a : corresponding to the recording frequency of the points of the model curve.

[00117] Thus, with the harder setting, that is to say when the FLEXIBILITY level is low, for example if it is equal to 0, the test stops almost instantly. For example, user 104 only has 40 milliseconds to try to return to the torque or force setpoint.

[00118] With the more flexible setting, that is to say when the level of FLEXIBILITY is high, for example when it is between 50 and 100, the user 104 will have more time to provide the desired torque. (i.e. enter the force or torque setpoint). For example, user 104 will have, for example, 4.04 seconds to correct his gesture with the most flexible setting equal to 100.

The method 200 then comprises a measurement phase 204 comprising:

- a step 206 of analysis of the required torque C(P+PAS) to move to the next position P+PAS of the mobile support 102, and

- a step 208 of analyzing the torque or the measured force Ci or the datum C302 (also called measured torque C302 corresponding to the force or torque supplied by the user 104) calculated by the control means as a function of the first strength or of the first couple sure me Ci.

The adjustment phase then includes a verification 212 of a condition of the measurement of the force or torque setpoint. In this case, the method 200 checks whether the calculated torque or force C302 or the first torque Ci or first force measured at the position P of the mobile support 102 is equal to the force or torque setpoint C(P+PAS ) at the next position P+PAS within a threshold. The near threshold was set at initialization step 202 by entering the threshold parameter THRESHOLD.

[00121] The method 200 thus verifies whether the torque or the force provided by the user is adapted to the kinematics of the movement, in particular at all the positions P defining the movement of the mobile support 102.

[00122] This condition is fulfilled when the first measured force or the first measured torque Ci or the calculated datum C302 by the control means as a function of the first measured force or first measured torque Ci (e) is within the force setpoint or of torque, to within a threshold THRESHOLD.

[00123] This condition is not fulfilled when the first measured force or the first measured torque Ci or the calculated datum C302 by the control means as a function of the first force or of the first torque Ci measured (e) is outside the force or torque setpoint, to within a threshold THRESHOLD.

[00124] In the case of the device 100, the mobile support 102 performs a rotational movement around the axis A. The first measuring means 108 therefore measures a torque at the level of the axis of rotation A of the mobile support 102, coincides with the axis of rotation of the first motorization means 106.

[00125] Case where the verification condition 212 is satisfied:

[00126] If this verification condition 212 is satisfied then the method 200 includes a status phase in the instruction 214 comprising a first analysis step 224 of the value of the reading speed PAS.

[00127] The first analysis step 224 of the reading speed PAS comprises a first condition on the reading speed PAS.

• If the reading speed PAS has not been modified during the process 200, that is to say that the value of PAS is equal to its initialization value chosen at the initialization step 202, then the analysis step 224 comprises a step 216 of allocating the position P of the mobile support 102. In this case, the step of allocating the position P 216 consists in controlling in position, by the control means, the first motorization means 106 so as to move the mobile support 102 in its trajectory to the P+PAS position. Mobile support 102 is advanced to the next position P+PAS in its trajectory. The status phase in setpoint 214 is over.

• If this first condition on the reading speed PAS is not satisfied, then the method 200 includes a verification of a first modification condition 218 of the value of the OUT setpoint state.

This first modification condition 218 of the OUTPUT off-set state value is performed when the OUTPUT off-setpoint state is greater than or equal to a determined value, for example if the OUTPUT off-setpoint state is strictly greater than zero. o If the first modification condition 218 of the OUTPUT off-set state value is achieved or satisfied, the method 200 performs an update of the OUTPUT off-set value by decrementing it by 1. Thus, the control means is arranged and/or or programmed to change the state outside the OUTPUT setpoint in one direction, called the second direction as opposed to a first direction (described below), when the first force or the first torque measured Ci or the data calculated C302 by the control means according to the first force or the first torque Ci measured is equal to the force or torque setpoint. The state phase in the phase setpoint 214 adjustment 210 of the method 200 then proceeds to the step 216 of assigning the position P of the mobile support 102. The control means controls the position of the first motorization means 106 so as to move the mobile support 102 in its trajectory . Mobile support 102 is advanced to the next position P+PAS in its trajectory. The status phase in setpoint 214 is terminated. o If the first modification condition 218 of the OUTPUT off-set state value is not performed or satisfied, the adjustment phase performs a first update 220: of the reading speed PAS by incrementing it, for example by 1, and the OUTPUT off-set value, for example, by assigning it the value of the FLEXIBILITY level.

[00129] The first update of 220 consists in: modifying, in this case increasing, the reading speed NOT when the EXIT off-set state is equal to or less than the reference value, initializing the OUTPUT off-set state at the level of flexibility SOFTNESS. The reference value of the OUT threshold state is zero.

After the adjustment of the OUTPUT off-setpoint value, the state phase in the setpoint 214 of the adjustment phase 210 then passes to the step 216 of allocating the position P of the mobile support 102. The control means controls by position the first motorization means 106 so as to move the mobile support 102 in its trajectory. Mobile support 102 is advanced to the next position P+PAS in its trajectory. The status phase in setpoint 214 is over.

[00130] When the status phase in the setpoint 214 is finished, the adjustment phase 210 comprises an end of exercise condition 222. The end of exercise condition 222 consists in analyzing whether the mobile support 102 has reached its final position. The final position is defined as being the last position of the predefined movement of the mobile support 102.

• If the end of year condition 222 is fulfilled then the adjustment phase 210 is over. The method 200 then includes a first step 226 of stopping the exercise. The first stopping step consists in stopping the first means of motorization 106. In this case, this means that the exercise with the mobile support 102 is finished. The mobile support has finished its movement.

• If the end-of-year condition 222 is not fulfilled then the adjustment phase 210 passes to the next iteration. A new iteration of the adjustment phase begins 210. We start again at the level of the measurement phase 204. [00131] In the case where the operating mode configured in the initialization step 202 is the continuous mode, then the adjustment phase is repeated until the mobile support 102 reaches its final position.

[00132] Case where verification condition 212 is not satisfied:

[00133] If this verification condition 212 is not satisfied then the method 200 comprises an off-set state phase 228. The off-set state phase 228 includes a first step 230 of modifying the EXIT off-set state , preferably an increase in the EXIT off-set state. The OUTPUT off setpoint state is modified, for example by being incremented by 1.

[00134] The EXIT off-set state thus evolves in a first direction, as opposed to the second direction detailed above. In the case considered, the OUTPUT non-setpoint state increases when the first force or the first torque measured Ci or the data item C302 calculated by the control means as a function of the first force or the first torque Ci measured (e ) is outside the force or torque setpoint.

[00135] After this step 230 of modifying the EXIT off-set state, the off-set state phase 228 includes a second verification of a second condition 232 for modifying the OUT off-set state value. This second condition 232 for modifying the OUTPUT off-set state value aims to compare the level of FLEXIBILITY with the OUTPUT off-set state. This second condition 232 for modifying the OUTPUT off-setpoint state value is performed when the OUTPUT off-setpoint state is greater than or equal to the FLEXIBILITY level.

• If the second condition 232 of the OUTPUT non-setpoint state value is not fulfilled or satisfied, then the adjustment phase 210 of the method 200 returns to the phase in the setpoint 214 by resuming at the step of allocating 216 the position P of the carriage 102. The carriage 102 is advanced to a next position P+PAS in the succession of positions of the carriage 102 without slowing down the playback speed PAS. The status phase in setpoint 214 is over. The method 200 then checks the end of year condition 222.

• If this second modification condition 232 of the OUTPUT off-set state value is satisfied then the method 200 performs a second update 234:

- PAS reading speed. The PAS reading speed is decreased by being decremented by 1 for example, and

- the OUTPUT off-set value by assigning it a determined value, for example, by assigning it the value of zero.

[00136] The second update of 234 thus consists of: modifying, in this case reducing, the PAS reading speed when the OUTPUT off-set state is greater than or equal to the FLEXIBILITY level, initialize the OUTPUT off-set state at a determined value, here by assigning it the value of zero. The OUT setpoint state is therefore reinitialized each time the reading speed PAS decreases.

[00137] Thus, the operations relating to the first modification step 230, the second modification condition 232 and the second update 234 are intended to lower the playback speed PAS more or less quickly depending on the level of flexibility FLEXIBILITY.

[00138] After the step of verification of the second modification condition 232, the method 200 comprises a second step of analysis 236 of the reading speed PAS.

[00139] The second analysis step 236 of the reading speed PAS comprises a second condition on the reading speed PAS.

• If the second condition on the reading speed PAS is not realized or satisfied, that is to say when the value of the reading speed PAS is not equal to the predetermined stop value at the time of the initialization step 202, for example if this reading speed PAS is not equal to zero, then the adjustment phase 210 of the method 200 returns to the phase in the setpoint 214 by resuming at the step of allocation 216 of the position P of the mobile support 102. The mobile support 102 is advanced to a following position P+PAS in the succession of positions of the mobile support 102 without again slowing down the reading speed PAS. The status phase in setpoint 214 is over. The method 200 then checks the end of year condition 222.

• If the second condition on the reading speed PAS is fulfilled, that is to say that the value of the reading speed PAS is equal to the stop value predetermined at the time of the initialization step 202, then the first means of motorization 106 is stopped. The mobile support 102 of the device according to the invention cannot move. The off-set phase 228 is over. In the process 200 illustrated in LIGURE 2, the stop value is equal to zero, i.e. when the reading speed PAS, a function of the speed of the first motorization means 106, is zero.

[00140] The method 200 then includes a condition on the mode of operation 240.

• If the operating mode configured in the initialization step 202 is the continuous mode, then the adjustment phase 210 passes to the status phase in the instruction 214 by resuming at the step of allocation 216 of the position P of the mobile medium 102. The mobile medium 102 is not advanced to a next position because the reading speed PAS is equal to zero (i.e. at the allocation step 216, P = P + PAS). The status phase in setpoint 214 is over. The method 200 then checks the end of year condition 222.

• If the operating mode configured in the initialization step 202 is the sequential mode, then the adjustment phase 210 of the method 200 includes a second stopping step 238. The first motorization means 106 is stopped by the means control. The sentence of adjustment 210 is finished and it cannot go to a following iteration. The user 104 cannot continue the exercise, he must start the process 200 again in order to be able to train, which consists in restarting the movement starting from the predefined initial position of the movement of the mobile support 102.

[00141] To summarize, the method 200 comprises: a position servo-control of the first motorization means 106 so as to move the mobile support 102 along the axis of translation and/or around the axis of rotation of the mobile support 102, the movement of the mobile support 102 along the imposed trajectory defined by a succession of positions P of the mobile support 102, the mobile support 102 comprising at least the contact surface 118 in contact with the user 104, the measurement, by the first force measurement means 108, the first force and/or the first torque Ci depending on the force exerted by the user 104 on the contact surface 118, the control in position, by the control means, of the first means motorization 106.

[00142] The control means controls the position of the first motorization means 106 so as to move the mobile support 102 in its trajectory as long as: the first force or the first torque measured Ci, or the datum calculated C302 by the control means according to the first force or the first torque Ci measured (e) is equal to a force or torque setpoint, and in the opposite case, the control means slows down or stops the first motorization means 106 in the succession of positions P of the mobile support 102: if the first force or the first torque measured Ci , or the datum calculated C302 by the control means as a function of the first force or the first torque Ci measured (e) is in apart from said force or torque setpoint, said force or torque setpoint being defined as a model force or torque value which depends on each position P of the mobile support 102 in its trajectory.

[00143] The first motorization means 106 of the method 200 rotates a part around the axis of rotation of the first motorization means 106 so as to move the mobile support 102, the first measuring means 108 measures the first torque Ci around the axis of rotation of the first motorization means 106. [00144] The first motorization means 106 of the method 200 comprises the modular robotic axis connected to the mobile support 102 and comprises the first motor 112 servo-controlled in position coupled to the reducer 114 via a belt pulley transmission, the first measuring means 108 is positioned on the reducer 114 so that the axis of rotation of the first motorization means 106 is an axis of rotation at the output of the reducer 114.

[00145] The axis of rotation of the mobile support 102 of the method 200 coincides with the axis of rotation of the first motorization means 106.

[00146] The torque or force setpoint of the method 200, for a succession of successive positions P of the mobile support 102, is characterized as: a model curve of a torque or a force measured or simulated ) varying as a function of the position P of the mobile support in its trajectory, said model curve is o less than or equal to a maximum threshold torque or force curve varying as a function of the position P of the mobile support 102 in its trajectory, o greater than or equal to a minimum threshold torque or force curve varying as a function of the position P of the movable support 102 in its trajectory.

[00147] The minimum threshold torque or force and maximum threshold curves thus delimit, in each position P of the mobile support 102 in its trajectory, an interval comprised between these thresholds of torque or force values for which the first means motorization 106 is not slowed down or stopped by the control means when: the first force or the first torque Ci measured, or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is in this range.

[00148] The torque or force setpoint of the method 200 is, in each position P of the mobile support 102 in its trajectory: less than or equal to a maximum threshold 306 of torque or force, and/or greater than or equal to a threshold minimum 308 of torque or force distinct from the maximum threshold 306.

[00149] The method 200 comprises an adjustment, by first means for adjusting, of the maximum threshold 306 and/or of the minimum threshold 308 of torque or force by the user 104.

[00150] The method 200 also comprises a simultaneous display, by a display device connected to the first force 108 or torque measuring means, on the one hand: of the first measured force or of the first measured torque Ci , or of the calculated data C302 by the control means as a function of the first force or of the first torque measured Ci, and on the other hand of the torque or force setpoint, to within the threshold defined in the method according to invention, in each position P of the mobile support 102 in its path.

[00151] When the user 104 is outside the force or torque setpoint, the method 200 comprises an evaluation, for example incrementing, by technical means, the OUTPUT off-set state of the first force or the first torque measured (e) Ci or of the datum C302 calculated by the control means as a function of the first force or the first torque measured (e) Ci and in that the control means: slows down to a new value of the speed movement or stops the first motorization means 106 in the succession of positions P of the mobile support 102, if the EXIT off-set state is higher (or respectively lower in a variant not shown) than the FLEXIBILITY level of flexibility, or advances the mobile support 102 to a following position P + NOT in the succession of positions P of the mobile support 102 without slowing down the speed of movement of the first motorization means 106, if the EXIT off-set state is lower, (or respectively higher eur in a variant not illustrated), at the FLEXIBILITY level of flexibility.

[00152] The FLEXIBILITY level of flexibility is defined to adjust a deceleration or reduction in the speed of movement of the first motorization means 106 affecting the movement of the mobile support 102 in its trajectory when the user 104 is outside the force setpoint. or couple.

[00153] Said EXIT off-set state is initialized to a reference value, preferably to zero, each time the speed of movement of the first motorization means 106 is slowed down.

[00154] The process control means 200 causes the OUTPUT off-set state to change in the first direction when the first force or the first torque Ci measured or the data item C302 calculated by the control means as a function of the first force or the first measured torque Ci is outside the force or torque setpoint and causes the OUTPUT off-set state to evolve in the second direction, opposite to the first direction, when the first force or the first measured torque (e) Ci or data C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to the force or torque setpoint.

[00155] The method control means 200 decreases the speed of movement of the first motorization means 106 when the first force or the first measured torque Ci or the data C302 calculated by the control means according to the first force or torque measured for the first time Ci is outside the force or torque setpoint and increases the movement speed of the first motorization means 106 when the first force or the first measured torque Ci or of the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is equal to the force or torque setpoint. The speed of movement of the first motorization means 106 cannot exceed the value of the oversampling constant which is 100 in the case considered.

The control means modifies, preferably increases, when the first torque Ci or the first force measured by the first measurement means 108 of the method 200 or the datum C302 calculated by the control means as a function of the first force or of the first measured torque Ci is in the force or torque setpoint, the speed of movement of the first motorization means 106 when the OUTPUT off-setpoint state is equal to or lower, (or in a second variant not shown equal to or greater), than the reference value, the OUTPUT off-set state is initialized at the FLEXIBILITY level.

The succession of positions P of the mobile support 102 of the method 200 is defined between an initial and final position of said mobile support 102, the control means stops the first motorization means 106: if the mobile support 106 reaches the final position, or if the speed of movement of the first motorization means 106 reaches a stop value, preferably zero.

We will now describe using FIGURES 2 and 3A and 3B an example of a software interface 300 implementing the method 200.

[00159] FIGURE 3A illustrates a display device (not shown) displaying the software interface 300 of the method 200 during use of the device 100 by a user 104.

[00160] Of course, the software interface 300 can also be used and/or adapted when using, by a user 104, the device 400 and the device 500 described respectively in FIGS. 4 and 5.

[00161] The software interface 300 is a man-machine interface.

[00162] It is considered that the first measured torque Ci is equal to the measured torque C302 supplied by the user 104 (to the nearest sign).

The software interface 300 according to the invention comprises a part 310 for entering commands allowing the user 104 to enter data such as user data, backup command data, display command data and on/off. [00164] The device 100 further comprises the display device connected to the first measuring means 108 of force or torque. The display device is arranged to simultaneously display on the one hand:

- the first measured torque Ci or the first measured force, or the torque provided by the user C302 calculated by the control means as a function of the first measured force or of the first measured torque Ci, and on the other hand the setpoint torque or force, within a threshold 306, 308, in each position P of the mobile support 102 in its path. In particular, the first measured torque Ci corresponds to the measured torque C302 provided by the user 104 when the device 100 comprises only one means of motorization (to the nearest sign).

The device 100 thus comprises first means for adjusting the maximum 306 or minimum 308 torque or force thresholds by the user 104.

[00166] Part 310 for entering commands includes:

- A first part 310i arranged to enter user data which may include, for example, a name, a login, an IP address, a password. The entered parameters are used to connect to the device according to the invention and send it data related to the adjustment (model curve, FLEXIBILITY, THRESHOLD, etc.) and receive torques measured by the first and a second measuring means;

- a second part 3102 arranged to program and/or modify and/or enter display data or control data such as the flexibility parameter FLEXIBILITY, the maximum 306 and minimum 308 threshold values, the mode of operation of said device 100. The data entered serves in particular to initialize the control means and to start the execution of the method 200;

- A third backup command part 3 IO3; and

- a fourth part 3 IO4 arranged to display information relating to the state of the device with regard to the method 200.

[00167] The part 310 for entering commands from the user interface 300 or software interface 300 is therefore arranged to communicate with the user 104 and follow orders given by said user 104.

[00168] The software interface 300 according to the invention further comprises a graphic part 312 such as a graphic zone 312.

[00169] In the case illustrated in FIGURE 3A, the graphic part 312 comprises four graphs 314i, 3142, 3 W3, 314 plots. [00170] A first graph 314it plots the instantaneous torque exerted by the user 104 and measured by the first measuring means 108 and displays the force or torque setpoint as a function of time. In particular, the scale on the abscissa axis adapts to the duration of the movement to be performed and corresponds to 1/10 of the initial total duration of each of the displacement operations of said method 200. When the test is prolonged, it adapts to the duration of the test and the graduations always correspond to 1/10 of the duration.

[00171] A second graph 3142 plots the instantaneous angular speed of the first motorization means 106 and displays the target speed as a function of time. In particular, the scale on the abscissa axis adapts to the duration of the movement to be performed and corresponds to 1/10 of the initial total duration of each of the displacement operations of said method 200. The scale on the axis of abscissa adapts like that of graph 314i.

[00172] In the case of curve 3142 of FIGURE 3A, the target speed and the speed of the first motorization means 106 are superimposed.

[00173] A third graph 3 M3 plots an instantaneous feedback torque curve produced by the user 104 and measured by the first measuring means 108 and displays the force or torque setpoint as a function of the position (P) in the file model curve, to which a position of the device 102 corresponds.

[00174] A fourth graph 3144 displays feedback relating to the instantaneous angular position of the device 102 and the target angular position previously recorded as a function of the position (P) in the model curve file, to which a position of the device 102 corresponds.

[00175] Furthermore, the curve 314i of the torque profiles displays on the same graph the torque setpoint and the torque measured C302 or Ci by the first measuring means 108.

[00176] The software interface 300 is a graphical user interface 300 developed in C# under Visual Studio 13.

The user interface 300 allows communication by "User Datagram Protocol" UDP with the control means. The user 104, via the interface 300 sends requests to the control means of the device 100 which returns to him requested information. The requests relate to the state of the device 100: validation of the UDP link by a "CONNECTION" button 320 at the level of the first part 310i of the part 310 to enter commands, starting of the device 100 and initial position taken by a button 322 positioned in the second part 3 IO2 of part 310 to enter commands, return to the initial position by a "RESET" button 324 positioned in the second part 3 IO2 of part 310 to enter commands, launching of the process 200 (ie man/machine interaction) by a “START” button 326 positioned in the second part 3 102 of the part 310 to enter commands.

[00178] Thus when the method 200 is launched, various settings previously made by the user 104 at the level of the interface 300 are transmitted to the control means. The settings can include: the position and torque profiles to be produced over time in the form of a binary file transmitted by "File Transfer Protocol" (FTP). These profiles appear in a drop-down menu 328, constituting a library of target movements adapted to the device 100, which can be easily supplemented.

A threshold value “THRESHOLD” 330 which makes it possible to define a corridor around the force or torque setpoint, in which the user must remain in order to be able to progress in his movement (i.e. spatial tolerance with respect to the differences between the force or torque setpoint and the torque or force measured). In the case considered, the chosen threshold is 5 N.m with respect to the torque setpoint.

A “FLEXIBILITY” level of flexibility 332 making it possible to define the difficulty of the task, such as the speed at which the device slows down with respect to the differences between the force or torque setpoint and the first measured torque Ci or the first force measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci. The level of flexibility FLEXIBILITY is set to 50 in the case considered on a scale ranging from 0 to 100.

[00179] In the case of the program according to the invention, in particular in the second part 3 IO2 of part 310 for entering commands, three boxes 334 can be used in order to exchange the parameters in abscissa and ordinate of the graphs and reverse the sign of the target couple. This makes it possible to intervene on the congruence between the FEEDBACK displayed and the movement/effort to be produced.

[00180] In the fourth part 3104 of part 310 for entering commands, this zone 3104 is used to display information making it possible to check the proper functioning of the communication between the software and the control means.

[00181] At the level of the graphic part 312, the torque or force setpoint, for a succession of successive positions P of the movable support 102, is characterized as a model curve 304 of a measured torque or force (e ) or simulated varying according to the position P of the mobile support 102 in its trajectory.

[00182] The model curve 304 is: o less than or equal to the maximum threshold torque or force curve 306 varying as a function of the position P of the mobile support 102 in its trajectory, o greater than or equal to the minimum threshold torque or force curve 308 varying as a function of of the position P of the mobile support 102 in its trajectory.

Thus, the torque or force curves of minimum threshold 308 and maximum threshold 306 thus delimit, in each position P of the mobile support 102 in its trajectory, an interval comprised between these threshold torque or force values for which the first motorization means 106 is arranged to follow the "desired" displacement by the control means. In the event that the first measured torque Ci or the first measured force or the datum C302 calculated by the control means as a function of the first force or of the first measured torque Ci is outside these thresholds, the first means of motorization 106 is slowed down or stopped.

The torque or force setpoint is, in each position P of the mobile support 102 in its trajectory: less than or equal to the maximum threshold 306 of torque or force, and/or greater than or equal to the minimum threshold 308 of torque or force distinct from the maximum threshold 306.

[00185] On the curve 314i, the maximum 306 and minimum 308 threshold curve form a corridor thus delimiting the torque or force values for which the first motorization means 106 is not slowed down or stopped by the control means when :

- the first force or first torque Ci measured, or

- the data C302 calculated by the control means as a function of the first force or the first torque Ci measured is in this interval.

[00186] The force or torque setpoint is therefore always positioned in the corridor, i.e. it is always framed by the maximum 306 and minimum 308 threshold curve.

[00187] In order for the first motorization means 106 to be neither slowed down nor stopped, the first force or the first measured torque Ci or the datum C302 calculated by the control means as a function of the first force or the first torque must Ci measured varies in the corridor.

[00188] In the case of curve 314i of the torque profiles, the measured force or torque curve C302 or Ci is always positioned between the maximum 306 and minimum 308 threshold curve. Thus, the first motorization means 106 does not have not been slowed down in this illustration. The kinematics of the movement of the user 104 strictly follows the targeted speed profile defined by the force or torque setpoint. The PAS reading speed is therefore still 100. [00189] When the first torque or the first force measured by the first measuring means 108 is within the force or torque setpoint, the control means is arranged and/or programmed to modify, here increase, the speed displacement of the first motorization means 106, for example when the reading speed PAS is not equal to its initialization value, here 100 or until the reading speed PAS is equal to 100. In this case , the STEP reading speed is increased (if the STEP reading speed is not equal to 100) when the OUT setpoint state is equal to or less than the reference value. The reference value is zero. The EXIT off-set state is then initialized at the FLEXIBILITY level.

The maximum 306 and minimum 308 thresholds are variable and depend on the THRESHOLD parameter configured at the level of the initialization step of the method 200. This parameter can be modified before the start of the movement at the level of the second part 3 IO2 of the part 310 to enter commands by the "THRESHOLD" force or torque setpoint value 330. In this way, the user 104 can manage a level of difficulty of his movement according to the width of the corridor surrounding the target curve , more precisely the difference between the maximum threshold 306 and the minimum threshold 308. For example, for a first use of said device 100, the corridor can be adjusted quite broadly, for example by leaving a difference of 10 N.m between the threshold maximum 306 and minimum 308. In this example, THRESHOLD will be set to 5 N.m in order to obtain a deviation of +/- 5 N.m between the model force or torque curve and the maximum threshold 306 or the minimum threshold 308. Then, when user 1 04 has integrated the movement of said device 100, the user 104 can reduce this corridor by changing this threshold parameter THRESHOLD. Learning can thus be gradual.

[00191] The continuous mode is a mode with a slowing down of the movement (compared to the target speed of the first motorization means 106) when the measured torque C302 or the measured force provided by the user 104 is outside of the force or torque setpoint represented by the corridor (whether above the maximum threshold 306 or below the minimum threshold 308. The slowing down can continue until the movement stops if the time spent outside the corridor is prolonged (i.e. the duration to reach the stop depends on the adjustment of the level of FLEXIBILITY carried out at the level of the interface 300, for example between 40 milliseconds and 4 seconds). In this mode, the subject 104 has the possibility of re-enter the hallway to return to the target speed profile or the target PAS playback speed parameter and can therefore continue their progress When using this mode, the user 104 must complete the movement.

[00192] The sequential mode is identical to the continuous mode except that if the time spent outside the torque or force corridor (ie when the user is outside the torque or force setpoint) is sufficiently long to stop the movement, the test is finished. In particular, if the PAS reading speed is equal to zero, then the test is terminated. [00193] This sequential mode is similar to a split learning mode where it is the capabilities of the user 104 that determine the sequencing. In this mode, reaching the end of movement is not guaranteed.

[00194] In the case of FIGURE 3A and FIGURE 3B, the continuous mode has been selected.

[00195] FIGURE 3B illustrates a second curve displaying the torque and the force or torque setpoint as a function of time. The time step corresponds to 1/10 of the duration of the test.

More specifically, the curve 314i of FIGURE 3B illustrates an experiment with the device 100 in which the measured torque or the measured force C302 by the user 104 is sometimes outside the force or torque setpoint.

[00197] FIGURE 3B includes the same elements as FIGURE 3A. Thus, only the differences with FIGURE 3 A will be described.

[00198] The FLEXIBILITY level is 60.

On the curve 314i of FIG. 3B, the maximum 306 and minimum 308 threshold curve form a corridor thus delimiting the torque or force values for which the first motorization means 106 is not slowed down or stopped.

[00200] In the case of FIGURE 3B, at the curve 314i, the measured torque C302 and/or exerted by the user 104 leaves the authorized corridor.

[00201] The first torque Ci or the first force measured by the first motorization means 106 or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is positioned at different places outside the corridor, for example at the level of the points 318. In the case illustrated, the points 318 outside the corridor extend over the whole of the marker II up to the intersection of the first measured couple Ci or of the datum C302 with the maximum threshold curve 306 positioned at the start of marker III. In this zone, this means that the first force or the first torque Ci measured or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is therefore not equal to the force or torque setpoint delimited in the corridor formed by the maximum 306 and minimum 308 threshold curve. In this case, the control means is therefore arranged to slow down or stop the first motorization means 106 in the succession of positions of the mobile support 102.

[00202] For this, at the points 318, the control means of the device 100 implements the method 200, in particular the off-set state phase 228 EXIT of the method 200.

[00203] When the user 102 is outside the force or torque setpoint, the method 200 implements the off-set state phase 228. The device 100 is therefore arranged to evaluate an OUTPUT off-set state of the first force or of the first couple Ci or of the data C302 calculated by the control means as a function of the first measured force or of the first torque Ci. This evaluation is typically implemented by the control means. In this case, the method 100 passes to the step 230 of modifying the OUTPUT off-set state by incrementing the OUTPUT off-set state by 1.

[00204] In a first case, the control means can be arranged to slow down to a new value of a displacement speed or stop the first motorization means 106 in the succession of positions P of the mobile support 102, if the the state outside the OUTPUT setpoint is greater than the FLEXIBILITY level. In this case, the second condition 232 for modifying the EXIT off-set state is fulfilled.

[00205] More specifically, the control means slows down the speed of movement of the first motorization means 106 when the method 200 performs the second update 234. The OUTPUT off-set state is reset to a reference value, here to zero , each time the displacement speed of the first motorization means 106 is slowed down.

[00206] The control means stops the first motorization means 106 if the condition of the second analysis step 236 of the reading speed PAS is fulfilled.

[00207] In a second case, the control means is arranged and/or programmed to advance the mobile support 102 to a following position P + NOT in the succession of positions P of the mobile support 102 without slowing down the speed of movement of the first means. of motorization 106, if the EXIT off-setpoint state is lower, than the FLEXIBILITY level of flexibility. In this case, the second condition 232 for modifying the state outside the OUTPUT setpoint is not fulfilled or satisfied.

[00208] The slowing down or stopping of the mobile support 102 is visible on the angular velocity curve 3142.

[00209] Curve 336 represents the target angular velocity profile relative to the torque model curve.

The curve 338 represents the angular velocity profile relating to the torque curve of the first measured torque Ci or of the data item C302 calculated by the control means as a function of the first force or of the first measured torque Ci .

[00211] At the level of the speed curve 3142, the angular speed of the first motorization means 106 decreases progressively to zero, which signifies the stopping of the first motorization means 106 (markers I to II). The angular velocity remains zero (marks II to III). In this part, the user 104 tries to return to the target couple corridor. Then, the speed curve of the first motorization means 106 gradually returns to the desired speed profile when the user 104 returns to the targeted torque corridor (reference marks III to IV). The user 104 ends the test by remaining in the target couple corridor (ie corridor). The speed profile of the first motorization means 106 again follows the desired profile. [00212] In the case where the adjustment of the FLEXIBILITY level of flexibility is less flexible (ie if the FLEXIBILITY level of flexibility is lower than that chosen in FIGURE 3B, i.e. lower than 60), then the angular speed of the first motorization means 106 will decrease faster. The speed will be zero faster in the sense that the deceleration (when the speed decreases) of the first means of motorization 106 will be faster.

[00213] When the user 104 is outside the force or torque setpoint, the device according to the invention 100, 400, 500 is arranged to evaluate an OUTPUT off-set state of the first force or the first torque Ci or data C302 calculated by the control means as a function of the first force or the first torque measured Ci and the control means is arranged and/or programmed to: slow down to a new value by a speed of moving or stopping the first motorization means 106 in the succession of positions of the mobile support (102), if the EXIT off-set state is higher (in a variant not shown, respectively lower), than a level of flexibility (FLEXIBILITY) , or advance the mobile support 102 to a next position in the succession of positions of the mobile support 102 without slowing down the speed of movement of the first motorization means 106, if the OUTPUT off-set state is lower, (in a variant not shown, respect tively higher), to the level of FLEXIBILITY, said level of FLEXIBILITY being defined to adjust a deceleration of the speed of movement of the first motorization means (106) affecting the movement of the mobile support 102 in its trajectory when the user 104 is outside the force or torque setpoint, said OUTPUT off-setpoint state being initialized to a reference value each time the speed of movement of the first motorization means 106 is slowed down.

[00214] The control means is arranged and/or programmed to cause the OUTPUT off-set state to change in the first direction when the first force or the first torque Ci measured or the datum C302 calculated by the control means in function of the first force or the first measured torque Ci is outside the force or torque setpoint and to change the state outside the OUTPUT setpoint in the second direction, opposite to the first direction, when the first force or the first measured torque Ci or the datum C302 calculated by the control means as a function of the first force or of the first measured torque Ci is equal to the force or torque setpoint.

Thus, at the first modification condition 218 of the EXIT off-set state of the method 200, the control means causes the OUTPUT off-set state to change in the first direction. In this case, the OUT setpoint state decreases. Conversely, at the start of the off-set state phase 228, at the level of the step 230 of modifying the EXIT off-set state of the method 200, the control means changes the OUTPUT off-set state in the second meaning. In this case, the OUT setpoint state increases.

[00217] The control means is arranged and/or programmed to reduce the speed of movement of the first motorization means 106 when the first force or the first torque Ci measured or the datum C302 calculated by the control means in function of the first force or the first torque measured Ci is outside the force or torque setpoint. This situation is encountered during the second update 234 of the method 200 which occurs when the OUTPUT off-set state is greater than or equal to the FLEXIBILITY level.

[00218] The control means is arranged and/or programmed to increase the speed of movement of the first motorization means 106 when the first force or the first measured torque Ci or the datum C302 calculated by the control means in function of the first force or the first torque measured Ci is equal to the force or torque setpoint. This situation is encountered during the first update 220 of the method 200. The reading speed PAS, depending on the speed of movement of the first motorization means 106, cannot exceed the initial value of the reading speed PAS configured at the initialization step 202 of method 200.

[00219] The control means is arranged and/or programmed for, when the first torque Ci or the first force measured by the first measuring means 108 or the datum C302 calculated by the control means according to the first force or of the first measured torque Ci is within the force or torque setpoint, modify, preferably increase, the speed of movement of the first motorization means 106 when the OUTPUT off-setpoint state is equal or lower, respectively equal or greater than the reference value, the EXIT off-set state being initialized at the FLEXIBILITY level.

The succession of positions P of the mobile support 102 is defined between an initial and final position of said mobile support 102, the control means is arranged and/or programmed to stop the first motorization means 106: if the mobile support 102 reaches the final position, or if the reading speed PAS reaches a stop value which is here equal to zero (i.e. when the first motorization means 106 has a zero speed).

Thus, the graphic zone 312 makes it possible: before the start of the test, to display the profiles of positions, speeds and the force or torque setpoint selected, during the performance of the test, to provide the user 104 with a feedback on its progress and current torque or force production “FEEDBACK”. [00221] Will now be described with reference to FIGURE 4, a first non-limiting example of a second embodiment of a device 400 for rehabilitation or learning sports according to the invention. More particularly, this embodiment relates to an example of use of the device for learning a gymnastic gesture.

[00222] Device 400 will only be described for its differences from device 100.

The device 400 comprises all the elements of the device 100. In this way, the device 400 comprises the first motorization means 106.

[00224] The mobile support 102 is a longitudinal part comprising a direction of elongation and shortening.

[00225] The device 400 comprises all the elements of the device 100. However, the device 400 also comprises: a second motorization means 406 slaved in torque or in position by the control means and arranged to exert a second torque or a second force on the user 104 at the level of the contact surface 118 in the succession of positions of the mobile support 102 in its trajectory, a second force measurement means 408 arranged to measure the second force and/or a second torque C2 dependent the force exerted by the user 104 on the contact surface 118.

[00226] In the case considered, the second means of motorization 406 is positioned below the first means of motorization 106.

[00227] The axis A of rotation of the mobile support 102 coincides with the axis of rotation of the first means of motorization 106.

[00228] The second motorization means 406 comprises an axis of rotation B.

[00229] The mobile support 102 is arranged to perform a lateral circular movement.

[00230] Unlike the device 100, the contact surface 118 is not fixed to the mobile support 102, it is arranged to be moved by the second means of motorization 406 in the use of the device 400.

[00231] The contact surface 118 is arranged to be able to move in a longitudinal direction following the direction of elongation/shortening of the movable support 102.

[00232] Connection means 404 are arranged to connect the second motorization means 406 with the mobile support 102 the data C302 is calculated by the control means according to: the first force or the first torque Ci measured, and of the second force or of the second torque C2inesure(e), the control means being arranged to control the second motorization means 406 in torque: from a force setpoint F _ux and the second torque C2 measured by the second means force measurement 408, and/or as a function of the datum C302 calculated by the control means.

[00233] The first means and second motorization means 106, 406 are connected by a first belt 404i (forming part of the means 404) at the level of the output axis of the flanges 116, 416 of the motorization means 106, 406. connection means 404 also comprise three pulleys: a first idler pulley 418 (two-stage) positioned at the output of the axis of the first motorization means 106, that is to say on the axis A at the output of the first reducer 114 and on the axis A of rotation of the mobile support 102, a second pulley in engagement 420 positioned at the output of the axis of the second motorization means 406, that is to say on the axis B at the output of the second reducer 414 of the second drive means 406, a third idler pulley 422 positioned at one end of the mobile support 102 opposite that where the first drive means 106 is connected.

The second measurement means 408 of the second motorization means 406 is similar to the first measurement means 108 of the first motorization means 106.

[00235] The second measuring means 408 is positioned on the second reducer 414 so that the axis of rotation of the second motorization means 406 is an axis of rotation B at the output of the reducer 414.

[00236] A second flange 416 is positioned above the second reducer 414.

[00237] The second measuring means 408 is arranged to measure a second torque C2 around the axis of rotation of the second motorization means 406, which in this case coincides with the axis of rotation B at the output of the second reducer 414 of the second motorization means 406.

[00238] The second motorization means 406 comprises a second modular robotic axis connected to the mobile support 102 by the connecting means 404.

[00239] The second modular robotic axis comprises a torque- or force-slaved motor 412 coupled to the second reducer 414 via a belt pulley transmission so that the axis of rotation of the second motorization means 406 is an axis of rotation B at the output of the second reducer 414. In the case of FIG. 4, at the level of the motors 412 and 112, the servo-control is in torque or in position. However, this torque control, in particular thanks to the use of the second motorization means 406, makes it possible to regulate a force via the intermediary of the transmission. In particular the second way of motorization 406 which via a torque control of the motor 412 makes it possible to control the force at the level of the contact surface 118.

[00240] In the device 400, that is to say the device which comprises the two means of motorization 106 and 406, the dynamic model is expressed according to the equations below. To obtain the equations below, simplifying assumptions were made on the mass and the inertia of the transmission (considered as negligible), and on the force of gravity which was not considered. By making these simplifications, the kinematic model obtained is expressed by the following two equations:

[Math 3]

[00241] With:

C ₂ the torque at the output of the second motorization means 406, that is to say the torque measured directly by the second force measurement means 408,

CL the torque at the output of the first motorization means 106, that is to say the torque measured directly by the first force measurement means 108 r _a , ^r b> ^r cl the ^radii of the pulley 420 (r _a ) and idler pulleys 418 (1 ^st stage: rb and 2 ^nd stage r _c ) and pulley 422 (r _c ) x the position of the contact surface 118 (here a handle 418) relative to the axis of rotation of the first means of motorization 106,

F _ux the longitudinal force exerted by the user 104 on the device 400 at the level of the contact surface 118, and

[00242] In the case of the device 400, the torque at the output of the first motorization means 106 Ci depends on both:

- The term x ■ F _uy which corresponds to the torque provided by the user 104 and which is illustrated in Figure 3 by the reference C302. The torque supplied by the user C302 must be as close as possible to the curve model 304, and

- the term of the couple C ₂ at the output of the second means of motorization 406.

Thus, the torque C at the output of the first motorization means 106 is expressed as a function of the torque C ₂ at the output of the second motorization means 406 and of the torque supplied by the user C302, such as [Math 4] rb

Ci = - - - c ₂ - c ₃₀₂ ra

The torque provided by the user C302 depends both on the first Ci and second C2 torques respectively measured by the first force measurement means 108 or the second force measurement means 408. It is written as being a composition of the measure in 108 and in 408 according to the following relation:

[Math 5] rb

^C 302 = - — ' ^C 2 - C _± ra

The control of the device 400 is therefore analogous to that of the device 100 for the first motorization means 106 which is always controlled in position, under the condition that the torque provided by the user C302 defined by the equation Math. 5: C302 = - rb/r _a x C2 - Ci is between the maximum torque curve 306 and the minimum torque curve 308.

[00246] The second means of motorization 406 is driven in torque from the force setpoint imposed: F _ux such that

[Math 6] r - _ .

~ ^r v rç . F"ux-

'b

[00247] Thus, the second measured torque C2 depends directly on the longitudinal force F _ux that it is desired to make the user 104 feel.

[00248] The second measuring means 408 makes it possible to perform torque regulation at the level of the second motor 412 with a feedback loop.

Thus, the second motorization means 406 is controlled by receiving a command which depends on the setpoint F _ux and on the second measured torque C2, the feedback loop adjusting this command to best achieve the equality described by

[Math 7]

This command is calculated by the control means.

[00251] The first motorization means 106 is arranged to control the position of the mobile support 102. The first motor 112 only moves to the next position if the torque provided by the user C302 corresponds, for an angular position considered, to the desired torque, i.e. to a torque framed by the minimum 308 and maximum 306 torque curves.

The second motorization means 406 is arranged to control the longitudinal force exerted by the contact surface 118 on the user 104. The second motor 412 exerts a torque producing the desired force on the user 104 for the position angular considered translating by the movement in translation of the contact surface 118, the tensile/compressive force component. Ideally, the user 104 must compensate for this movement, which leads him to produce the right force.

[00253] The torque imposed by the first means of motorization 106 is obtained, for example, by optimizing gymnastic acrobatics according to the anthropometry of the user.

[00254] The mode of interaction allows the subject to produce the same mechanical action at the level of the shoulder as that generated during the realization of the related gymnastic figure, but in a secure situation, favorable to learning .

The second torque C2 exerted by the second motorization means 406 (i.e. the second torque C2 measured by the second torque measurement means 408) makes it possible to re-contextualize the articular movement by making the subject 104 feel the forces of interactions that a gymnastic bar would have exerted on his hands in real conditions.

[00256] The mobile support 102 therefore moves when the user 104 produces the correct tangential force at the level of the contact surface 118, i.e. that is to say that he will produce the correct joint torque measured at the using the first means and the second torque measuring means 108, 408.

[00257] The connecting means 404 allow the translation of the contact surface 118 so as to force the user 104 to exert a traction/compression force identical to that which would be produced during the actual performance of the gesture (i.e. when not in use of the device 400).

[00258] Thus the device 400 has the advantage of imposing on the user 104 a torque profile and an angular position profile in connection with a targeted performance, optimized with respect to the subject's physical abilities while allowing to feel the tensile / compressive forces exerted by the bar in real conditions.

[00259] In the case of Figure 4, the control of the second means of motorization 406 is in torque. In a variant of device 400, a force control at the level of the second motorization means 406 is achieved via a linear actuator.

[00260] We will now describe with reference to FIGURE 5, a second non-limiting example of a second embodiment of a device 500 for rehabilitation or learning sports according to the invention. The device 500 comprises the same elements as the device 400 previously described. The device 500 is a variant of the device 400 and more precisely the device 500 illustrates a reorientation of the device 400 in order to work, with the device 500, another movement.

[00262] In the case of the device 500, the user 104 is lying on a table.

[00263] The contact surface 118 comprises a flat surface in contact with a foot of the user 104.

[00264] The torque thus imposed by the first means and second means of motorization 106, 406 is obtained by optimizing a walking movement taking into account the articular constraints (torque and amplitude) of the user 104 at a time t of his rehabilitation.

[00265] The device 500 allows the user 104 to produce the same force at the knee as when walking while remaining lying down, thus limiting the risk of falls and injuries.

[00266] The second torque C2 measured by the second measuring means 408 allows the restitution of the foot/ground contact forces felt during walking.

[00267] The device 500 has the advantage of imposing on the subject 104 both a torque profile and an angular position profile in connection with a real movement, as opposed to a movement carried out either at constant speed, or at constant, and to be able to take into account the capacities of the user 104 when generating the FEEDBACK profiles displayed on the graphic part 312 of the software interface 300.

[00268] It is possible, for example, to envisage generating the articular forces to be produced at the knee and the foot/ground contact force to be felt for a walk by reducing the weight of the subject 104 by 50%.

The device 400 or 500 also implements the steps of the method 200.

[00270] However, in the specific case of the device 400 or 500, the method 200 further comprises: servo-control in torque or in force or in position, by the control means, of the second motorization means 406 which exerts the second torque or the second force on the user 104 at the level of the contact surface 118 in the succession of positions P of the mobile support 102 in its trajectory, a measurement, by a second force measurement means 408, of the second force and / or a second torque C2 depending on the force exerted by the user 104 on the contact surface 118.

[00271] The method 200 comprises: a connection, by the connection means 404, of the second motorization means 406 with the mobile support 102 so that the data C302 is calculated by the control means and is a function:

• of the first force or of the first measured torque Ci, and • of the second force or of the second measured torque C2, a torque control, by the control means, of the second motorization means 406:

• from a force setpoint F _ux and from the second torque C2 measured by the second force measurement means 408, and/or • according to the datum C302 calculated by the control means.

[00272] The second motorization means 406 comprises the second modular robotic axis connected to the mobile support 102 by the connecting means 404. The second modular robotic axis comprises the second motor 412 which is slaved in torque or in force coupled to the second reducer 414 via the belt pulley transmission, so that so that the axis of rotation of the second motorization means (406) is an axis of rotation at the output of the second reducer (414).

Of course, the invention is not limited to the examples described and many adjustments can be made to these examples.

Claims

1. Device (100, 400, 500) for rehabilitation or training comprising:

- a mobile support (102), comprising at least one contact surface (118) arranged to be in contact with a user (104) of said device (100, 400, 500), the mobile support (102) being arranged to move following a trajectory defined by a succession of positions of the mobile support (102), said trajectory being imposed by said device (100, 400, 500),

- a first motorization means (106) controlled in position and arranged to move the mobile support (102) along a translation axis and/or around an axis of rotation of the mobile support (102),

- a first force measurement means (108) arranged to measure a first force and/or a first torque Ci depending on a force exerted by the user (104) on the contact surface (118),

- a control means arranged and/or programmed to control the position of the first motorization means (106), characterized in that the control means is arranged and/or programmed to control the position of the first motorization means (106) of so as to move the mobile support (102) in its trajectory as long as:

- the first measured force or torque Ci, or

- a datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to a force or torque setpoint, and in the opposite case, the control means is arranged and/or programmed to slow down or stop the first motorization means (106) in the succession of positions of the mobile support (102) if:

- the first measured force or torque Ci, or

- the datum C302 calculated by the control means as a function of the first force or of the first torque measured Ci is outside of said force or torque setpoint, said force or torque setpoint being defined as a value of force or torque model which depends on each position of the mobile support (102) in its trajectory.

2. Device (100, 400, 500) according to claim 1, characterized in that the torque or force setpoint, for a succession of successive positions of the movable support (102), is characterized as:

- a model curve (304) of a measured or simulated torque or force varying as a function of the position of the mobile support (102) in its trajectory, said model curve (304) being: o less than or equal to a maximum threshold torque or force curve (306) varying as a function of the position of the mobile support (102) in its trajectory, o greater than or equal to a minimum threshold torque or force curve ( 308) varying according to the position of the mobile support (102) in its trajectory, said curves of torque or force of minimum threshold (308) and maximum threshold (306) thus delimiting, in each position of the mobile support (102) in its trajectory, an interval comprised between these thresholds of torque or force values for which the first motorization means (106) is not slowed down or stopped by the control means when:

- the first force or first torque Ci measured, or

3. Device (100, 400, 500) according to claim 1 or 2, characterized in that the torque or force setpoint is, in each position of the movable support (102) in its path:

- less than or equal to a maximum torque or force threshold (306), and/or

- greater than or equal to a minimum threshold (308) of torque or force distinct from the maximum threshold (306).

4. Device (100, 400, 500) according to the preceding claim, characterized in that it comprises first means for adjusting the maximum threshold (306) and / or the minimum threshold (308) of torque or force by a user (104).

5. Device (100, 400, 500) according to any one of claims 3 or 4, characterized in that it further comprises a display device connected to the first force or torque measuring means (108) and arranged to simultaneously display on the one hand:

- the first measured torque or the first measured force Ci or

- the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci and on the other hand the torque or force setpoint, to within the threshold (306, 308) defined in claim 6, in each position of the mobile support (102) in its trajectory.

6. Device (100, 400, 500) according to the preceding claim, characterized in that, when the user (104) is outside the force or torque setpoint, the device is arranged to evaluate an off-set state of the first force or the first torque Ci or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci and the control means is arranged and/or programmed for: - slow down to a new value of a displacement speed or stop the first motorization means (106) in the succession of positions of the mobile support (102), if the off-set state is higher, respectively lower, than a level of flexibility, or

- advancing the mobile support (102) to a next position in the succession of positions of the mobile support (102) without slowing down the speed of movement of the first motorization means (106), if the off-set state is lower, respectively higher, at the level of flexibility, said level of flexibility being defined to adjust a deceleration of the speed of movement of the first motorization means (106) affecting the movement of the mobile support (102) in its trajectory when the user (104) is outside of the force or torque setpoint, said non-setpoint state being initialized to a reference value each time the speed of movement of the first motorization means (106) is slowed down.

7. Device (100, 400, 500) according to claim 6, characterized in that the control means is arranged and/or programmed to change the off-set state in a first direction when the first force or the first torque measured (e) or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is outside the force or torque setpoint and to change the off-setpoint state in a second direction, opposite to the first direction, when the first force or the first measured torque Ci or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is equal ) to the force or torque setpoint.

8. Device (100, 400, 500) according to claim 6 or 7, characterized in that the control means is arranged and / or programmed to reduce the speed of movement of the first motorization means (106) when the first force or the first measured torque Ci or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is outside the force or torque setpoint and to increase the speed of displacement of the first motorization means (106) when the first force or the first measured torque Ci or the datum C302 calculated by the control means as a function of the first force or the first measured torque Ci is equal( e) the force or torque setpoint.

9. Device (100, 400, 500) according to any one of claims 6 to 8, characterized in that the control means is arranged and / or programmed for, when the first torque Ci or the first force measured (e) by the first measuring means (108) or the datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is within the force or torque setpoint, modify, preferably increase, the speed of movement of the first motorization means (106) when the off-set state is equal to or less than, respectively equal to or greater than, the reference value, the off-set state being initialized at the level of flexibility.

10. Device (100, 400, 500) according to any one of the preceding claims, characterized in that the succession of positions of the movable support (102) is defined between an initial and final position of said movable support (102), the means control is arranged and / or programmed to stop the first means of motorization (106):

- if the mobile support (102) reaches the final position, or

- if the speed of movement of the first means of motorization (106) reaches a stop value.

11. Device (400, 500) according to any one of the preceding claims, characterized in that it comprises:

- a second motorization means (406) controlled in torque or in force or in position by the control means and arranged to exert a second torque or a second force on the user (104) at the level of the contact surface (118 ) in the succession of positions of the mobile support (102) in its trajectory,

- a second force measurement means (408) arranged to measure a second force and/or a second torque C2 depending on the force exerted by the user (104) on the contact surface (118).

12. Device (400, 500) according to claim 11, characterized in that it comprises connection means (404) arranged to connect the second motorization means (406) with the mobile support (102) so that the means is arranged and/or programmed to calculate the data C302 according to:

- the first force or the first torque Ci measured, and

- the second force or the second torque C2 measured, the control means being arranged and/or programmed to torque control the second motorization means (406):

- from a force setpoint F _ux and the second torque C2 measured by the second force measurement means (408), and/or

- Depending on the data C302 calculated by the control means.

13. Device (400, 500) according to claim 11 or 12, characterized in that the second motorization means (406) comprises a second modular robotic axis connected to the mobile support (102) by the connecting means (404), the second modular robotic axis comprising a motor (412) slaved in torque or force coupled to a second reducer (414) via a belt pulley transmission so that the axis of rotation of the second motorization means (406) is an axis of rotation at the output of the second reducer (414).

14. Method (100, 400, 500) comprising: a position servo-control of a first motorization means (106) so as to move a mobile support (102) along a translation axis and/or around an axis of rotation of the mobile support (102), the movement of the mobile support (102) along an imposed trajectory defined by a succession of positions of the mobile support (102), the mobile support (102) comprising at least one contact surface (118) in contact with a user (104),

- a measurement, by a first force measurement means (108), of a first force and/or of a first torque Ci depending on a force exerted by the user (104) on the contact surface ( 118),

- a control in position, by a control means, of the first motorization means (106), characterized in that the control means controls in position the first motorization means (106) so as to move the mobile support (102) in its trajectory as long as:

- the first measured force or torque Ci, or

- a datum C302 calculated by the control means as a function of the first force or the first torque measured Ci is equal to a force or torque setpoint, and in the opposite case, the control means slows down or stops the first motorization means (106) in the succession of positions of the mobile support (102) if:

- the first measured force or torque Ci, or