FR2839443A1 - Self-propelling boots, skates or artificial feet for able bodied or disabled persons and robots, comprise fixed upper members and centrally pivoted lower members actuated by a compressed air bag - Google Patents

Abstract

An self-propelling boot has an upper member (B) with blade point (C) A lower member (A) is centrally pivoted on the upper member and has forward and rear extremities pointing toward the ground. At the front of the boot the space between the upper and lower members contains an actuator (Z) which consists of a bag (500) with escape collar (125) and aperture (425) to release expanded compressed air carried and supplied by the user.

Description

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 The walking and running of people with one or two legs amputation can be helped by energy storage devices. Certain leg prostheses, provided with elastic leaf springs often made of composite materials based on carbon or kevlar, are called energy storage feet.

 These passive systems have the role of storing a compression energy during the support on the ground, then to restore it in impulse. This energy is produced at the start entirely by the walker or runner who moves his own weight. It should be noted that, even with these prostheses, a person with a leg amputation must make more effort than a valid person to walk at the same speed.

In 1976, Waters, Perry, Antonelli and Hislop (Journal of Bone and Joint Surgery 1976; 58-A: 1: 42-46) measured an oxygen consumption of 0.16 ml / kg / m for able-bodied people walking
82 meters per minute, whereas it was 0. 20 ml / kg / m for amputees below the knee walking at 71 meters per minute.

 The additional energy cost of walking on flat ground for a tibial amputee is estimated at 30-35% compared to a valid individual. It greatly increases for amputees in the thigh.

 There is therefore an energy deficit to be filled by designing on-board energy systems for walkers or runners, while remaining within acceptable weight limits.

Following the work of Gitter, Czerniecki and De Groot in 1991, which showed that during walking, movements involving the hip, knee and ankle consumed 22 joules per step, 27 joules per step, and 36 joules par pas, the team of Glenn Klute, Kristen Jaax, Joseph Czerniecki and Blake Hannaford of the "BioRobotics Lab" at the University of Washington in the USA designed a project called "Powered Prosthetics Project", in which an artificial energy leg on board and comprising tibial pneumatic artificial muscles alleviates the walking effort of the amputee and brings the 36 joules per step that they lack in the effort involving the ankle. On the other hand, the
Sandia National Laboratory in New Mexico in the USA is developing a complete artificial leg with femur and artificial thigh muscles, artificial knee, tibia and artificial tibial muscles, and equipped with active sensors and microprocessors to give the amputee the sensation of 'a walk as natural as possible.

To contribute to the effort of walking (36 joules per step) or of running involving the ankle, the present invention aims, it, not to replace the effort brought by the tibial muscles, but to provide the energy which is directly lacking artificial feet with energy accumulation.

In doing so, the present invention widens the field of exploration. Indeed, we can consider that by seeking to make up for the energy deficit suffered by people with amputations by the design of walking or running assistance systems with on-board energy, we are entering the field of active propulsion , which can also apply to able-bodied people for a new, very light and space-saving means of urban travel or hiking, competing with electric scooters and roller skates.

On the other hand, the development of walking robots is in full development: mobile vehicles on uneven terrain, exploration robots, etc. In front of the attractiveness of the energy efficiency of walking and running and the possibilities that brings this mode of locomotion to evolve in all terrain, many laboratories

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 develop walking robots which take with them a source of energy, actuators and a large number of perception systems using optoelectronics.

In the invention, the conjunction of the three areas: - new means of locomotion, - new type of prostheses for amputees, - development of walking robots, leads to the design of a device at the border of the three.

The device of the invention relates to a pair of self-propelling shoes with on-board energy helping to walk or run by assisting the movement of the feet and by relieving the effort of the walker or runner. The feet can be those of a valid person, or the artificial feet of an amputee with leg-foot prostheses, or the artificial feet of a walking robot. The energy reserve can be carried in a backpack, for example in the form of a small bottle of compressed air.

In an elaborate version, the intensity of the pulse given by the self-propellers can be optimized in real time by an on-board perception system.

ENERGY EXPENDITURE DUE TO PHYSICAL EXPENDITURE: In humans, one hour of moderate effort corresponds to a motor power of 150 W to 250 W, and an intense brief effort develops for a brief time 4 times this power (600 W to 1000 W).

Very high level athletes, like hour recorders on bikes, manage to develop, for an hour, a power exceeding 400 W.

The walk requires a moderate effort.

ELEMENTS ON HUMAN LOCOMOTION: Human walking, bipedic, alternately subjects each foot to a support phase, then to an "oscillation phase" or "pendulum phase".

The support phase begins with the heel attack, then the laying of the foot flat, continues with the detachment of the heel and ends with the detachment of the toe.

The pendulum phase is that which brings the foot without contact with the ground from the back to the front.

In walking, the support phase is longer than the pendulum phase. In fact, the support phases of the two feet overlap. While one of the two feet is in pendulum phase, the other is necessarily in the support phase, but the two feet can be in support together (bilateral support), when the rear one is about to take off the toe and where the front is in the support phase by the heel.

In walking, the unilateral support period occupies 40% of the walking cycle time, to which is added a bilateral support phase.

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In the race, the two feet are not in support at the same time, and the support phase decreases: occupies only 31% of the race cycle time. During the sprint, the support phase drops to 22% of the cycle time.

The central nervous system, assisted by the inner ear, touch and vision, controls the muscles so that they balance the walker or runner. This balance is obtained by a vertical (5 cm), longitudinal (3 cm) and lateral (2 cm) oscillation of the pelvis during the walking cycle.

The mechanism is not innate, but learned by children in the first years of life.

In recent years, a phase of observation and analysis of the walking of learning children and adults has made it possible to design models of bipedal walking, including for obstacle avoidance. (Marcus G. Pandy and Necip Benne. A numerical method for simulating the dynamics of human walking. Journal of Biomechanics, 21 (12): 1043-1051, 1988; KE Adolph. Psychophysical assessment of toddlers ability to cope with slopes. Journal of Experimental Psychology-Human Perception and Performance, 21 (4): 734-750, 1995; Y. Breniere. Why we walk the way we do. Journal of Motor Behavior, 28 (4): 291-298, 1996; MA Eppler, KE Adolph, and T. Weiner. The developmental relationship between infants' exploration and action on slanted surfaces. Infant Behavior & Development, 19 (2): 259-264, 1996; JJ Eng, DA Winter, and AE Patla. Intralimb dynamics simplify reactive control strategies during locomotion. Journal of Biomechanics, 30 (6): 581-588.1997; R Grasso, C. Assaiante, P. Prevost, and A. Berthoz. Development of anticipatory orienting strategies during locomotor tasks in children. Neuroscience and Biobehavioral Reviews, 22 (4): 533-539, 1998; Gentaro Taga. A model of the neuro-musculo -skeletal system for anticipatory adjustment of human locomotion during obstacle avoidance. Biological Cybernetics, 78: 9-17, 1998; vs.

Assaiante, B. Thomachot R. Aurenty, and B. Amblard. Organization of lateral balance control in toddlers during the first year of independent walking. Journal of Motor Behavior, 30 (2): 114-129, 1998; F. J. Diedrich and W. H. Warren. The dynamics of gait transitions: Effects of grade and load.

Journal of Motor Behavior, 30 (1): 60-78.1998; M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman.

The simplest walking model: Stability, complexity, and scaling. Journal of Biomechanical Engineering - Transactions of the ASME, 120 (2): 281-288, 1998.) For example, the loss of balance due to walking on a stone is made up by the action of muscles acting on the inversion -eversion and the possibility for the foot to orient itself relative to the ankle to the left and down or up, or to the right and down or up, thanks to a multi-axis ankle-foot articulation.

These observations, as well as those that analyze and model the grip on flat or uneven ground, hard or soft, help to design smart leg prostheses for amputees. (D. T. Davy and M. L. Audu. A dynamic optimization technique for predicting muscle forces in the swing phase of gait. Journal of Biomechanics, 20 (2): 187-201, 1987; B. M. Nigg, H. A. Bahlsen, S. M. Lueth, and S.

Stokes. The influence of running velocity and midsole hardness on external impact forces in heel-toe running. Journal of Biomechanics, 20 (10): 951-959, 1987; David A. Winter and Susan E. Sienko.

Biomechanics of below-knee amputated gait. Journal of Biomechanics, 21 (5): 361-367.1988; R. E.

Goddard, Y. P. Zheng, and H. Hemami. Control of the heel-off to toe-off motion of a dynamic biped gait. IEEE Transactions on Systems, Man, and Cybernetics, 22 (1): 92-102, 1992; L. Chou, L. F.

Draganich, and S. M. Song. Minimum energy trajectories of the swing ankle when stepping over

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 obstacles of different heights. Journal of Biomechanics, 30 (2): 115-120, 1997; P. Gorce and F. El Hafi.

Modeling of human body control scheme and learning in stepping motion over an obstacle. In Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, pages 64-69, Piscataway, NJ, 1998. IEEE Computer Society; Danielp. Ferris, Kailine Liang, and Claire T.

Farley. Runners adjust leg stiffness for their first step on a new running surface. Journal of Biomechanics, 32: 787-794, 1999; Stephen W. Hill, Aftab E. Patla, M. G. Ishac, A. L. Adkin, T. J.

Supan, and D. G. Barth. Altered kinetic strategy for the control of swing limb elevation over obstacles in unilateral below-knee amputée gait. Journal of Biomechanics, 32 (5), T. Spagele, A. Kistner, and A. Gollhofer. Modeling, simulation and optimization of a human vertical jump. Journal of Biomechanics, 32 (5): 521-530, 1999).

Roboticists draw inspiration from human walking to design bipedal robots (Yuan F. Zheng and Jie Shen. Gait synthesis for the SD-2 biped robot to climb sloping surface. IEEE Journal of Robotics and Automation, 6 (1): 86 -96, 1990; Sanjay Mishra. Control of biped locomotion using oscillators. Master's thesis, University of Maryland, 1993. Also available as Institute for Systems Research technical report MS ~ 93-12; Ching-Long Shih, William A. Graver, and Tsu-Tian Lee.

Inverse kinematics and inverse dynamics for control of a biped walking machine. Journal of Robotic Systems, 10 (4): 531-555, 1993; T. H. Chang and Y. Hurmuzlu. Sliding control without reaching phase and its application to bipedal locomotion. Journal of Dynamic Systems Measurement and Control Transactions of the ASME, 115 (3): 447-455,1993; W. T. Miller. Real-time neural network control of a biped walking robot. IEEE Control Systems, 14: 41-48.1994; S. Stitt and Y. F. Zheng. Distal learning applied to biped robots. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 137-142. IEEE Computer Society, 1994; T. Zielinska. Coupled oscillators used as gait rhythm generators of a two-legged walking machine. Biological Cybernetics, 74 (3): 263-273, 1996; M. Cao and A. Kawamura. A design method of neural oscillatory networks for generation of humanoid biped walking patterns. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 2357-2362, Piscataway, 1998. IEEE Computer Society. Y. Cheng and C. S.

Linen. Genetic algorithm for control design of biped locomotion. Journal of Robotic Systems, 14 (5): 365-373, 1997; .AT. W. Salatian, K. Y. Yi, and Y. F. Zheng. Reinforcement learning for a biped robot to climb sloping surfaces. Journal of Robotic Systems, 14 (4): 283-296, 1927; F. M. Silva and J. A.

Tenreiro Machado. Towards efficient biped robots. In Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, pages 394-399, Piscataway, NJ, 1998. IEEE Computer Society; P. Sardain, H. Rostami, and G. Bessonnet. An anthropomorphic biped robot: concepts and technological design. IEEE Transactions on Systems Man and Cybernetics Part A, 28 (6): 823-838, 1998; Seiichi Miyakoshi, Gentaro Taga, Yasuo Kuniyoshi, and Akihiko Nagakubo.

Three dimensional bipedal stepping motion using neural oscillators - towards humanoid motion in the real world. In Proceedings of IEEFJRSJ International Conference on Intelligent Robots and Systems, pages 84-89, Piscataway, NJ, 1998. IEEE Computer Society; Quint van der Linde. Active leg compliance for passive walking. In Proceedings of the IEEE International Conference on Robotics & Automation, pages 2339-2344, Piscataway, NJ, 1998. IEEE Computer Society; J. Coleman and Andy Ruina. An uncontrolled walking toy that cannot stand still. Physical Review Letters, 80 (16): 3658-3661,1998; Y. Fujimoto and A. Kawamura. Simulation of an autonomous biped walking robot including environmental force interaction. IEEE Robotics & Automation Magazine, 5 (2): 33-42, 1998; Jong H. Park and Yong K. Rhee. ZMP trajectory generation for reduced trunk motions of biped robots. In Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems, pages 90-95, Piscataway, NJ, 1998. IEEE Computer Society; M.Rostami and G.

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Bessonnet. Impactless sagittal gait of a biped robot during the single support phase. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA-98), pages 1385-1391, Piscataway, 1998. IEEE Computer Society; Gorce and M. Guihard. On dynamic control of pneumatic bipeds. Journal of Robotic Systems, 15 (7): 421-433, S. Jonic, T. Jankovic, V. Gajic, and D. Popovic. Three machine learning techniques for automatic determination of rules to control locomotion. IEEE Transactions on Biomedical Engineering, 46 (3): 300-310,1999; Yi-Chung Pai and Kamran Iqbal. Simulated movement termination for balance recovery: movement strategies be sought to maintain stability in the presence of slipping or forced sliding? of Biomechanics, 32 (8): 779-786,1999.) STATE OF THE ART ON PROSTHETIC FEET WITH PASSIVE ENERGY ACCUMULATION FOR AID IN WALKING OR RUNNING FOR AMPUTE PERSONS.

The prosthetic feet can be provided with pestles which are themselves assembled with sleeves.

These sleeves receive stumps from the legs of amputees.

According to Patrick Sautreuil (Document ANMSR), "we seek to join the stump and the socket to obtain optimal efficiency. At the tibial level, we choose a socket with double suction: - the sleeve-stump suction: the polymer gel sleeve (silicone, urethane ...) which facilitates pressure distribution, shock absorption, reduction of shear forces, - sleeve-socket suction thanks to the air expulsion valve located between sleeve and socket .

The whole is completed by a waterproof suspension sheath which envelops the thigh / socket assembly and closes the virtual stump-sleeve-prosthesis space. The support is globalized so that the patient is unable to locate a precise pressure point. The posterior cut of the prosthesis releases the knee flexion. In general, the proximal shape of the cut is close to the PTB (Patellar Tendon Bearing), that is to say that it laterally reaches the middle of the femoral condyles. The prosthetic feet are differentiated by the cushioning of the heel attack, the flexibility of the compression of the front part corresponding to the forefoot and toes and lateral stability, and the aptitude for eversion-inversion movements. .

Certain devices, provided with elastic leaf springs often made of composite materials based on carbon or kevlar, are called energy storage feet.

These passive systems have the role of storing then restoring an energy produced at the start entirely by the walker, the runner or the jumper who moves his own weight (American Prosthetics Corporation, Concept of the Prosthetics Foot, June 29 1992, Minois, USA ; Lehmann, JF, Price, R., Boswell-Bessette, S., Dralle, A & Questad, K. (1993) Comprehensive analysis of dynamic elastic response feet: SeattleAnkle / Lite Foot versus SACH foot. Archives of Physical Medicine and Rehabilitation 74, 853-861 MacFarlane, PA, Mielsen, DH, Shurr, DG & Meier, K. (1991) Gait comparisons for below-knee amputées using a flex-foot versus a conventional prosthetic foot. Journal of Prosthetics and Orthotics 3 ( 4), 150-161 Menard, MR, McBride, ME, Sanderson, DJ & Murray, D. (1992) Comparative biomechanical analysis of energy-storing prosthetic feet. Archives of Physical Medicine and Rehabilitation. 73, 451-458. Wirta , RW, Maon, R., Calvo, K. & Golbranson, FL (1991 ) Effect on gait using various prosthetic ankle-foot devices. Journal of Rehabilitation

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 Research and Development. 28 (2), 13-24. Powers. C., Torbum, L., Perry, J. & Ayyappa, E. (1994) Influence of prosthetic foot design on sound limb loading in adults with unilateral below-knee amputées. Archives of Physical Medicine and Rehabilitation. 75, 825-829. Ehara, Y., Beppu, M, Normura, S., Kunimi, Y. & Takahashi, S. (1993) Energy storing property of so-called energy-storing prothetic feet. Archives of Physical Medicine and Rehabilitation. 74, 68-72. Czerniecki, J. M., Gitter, A. & Munroe, C. (1991) Joint moment and muscle power output sharacteristics of below knee amputées during running: the influence of energy storing prosthetic feet. Journal of Biomechanics.

24 (1), 63-75, Ellepola W, Sheredos SJ .. Report on the evaluation of the VA / Seattle below-knee prosthesis. J Rehabil Res Dev. 1993; 30 (2): 260-6; Barr AE, Siegel KL, Danoff JV, McGarvey CL 3rd, Tomasko A, Sable I, Stanhope SJ .. Biomechanical comparison of the energy-storing capabilities of SACH and Carbon Copy II prosthetic feet during the stance phase of gait in a person with belowknee amputation. Phys Ther. 1992 May; 72 (5): 344-54; Menard MR, McBride ME, Sanderson DJ, Murray DD. Comparative biomechanical analysis of energy-storing prosthetic feet. Arch Phys Med Rehabil. 1992 May; 73 (5): 451-8; Prince F, Winter DA, Sjonnensen G, Powell C, Wheeldon RK ..

Mechanical efficiency during gait of adults with transtibial amputation: a pilot study comparing the SACH, Seattle, and Golden-Ankle prosthetic feet. J Rehabil Res Dev. 1998 Jun; 35 (2): 177-85; Buczek FL, Kepple TM, Siegel KL, Stanhope SJ. Translational and rotational joint power terms in a six degree-of-freedom model of the normal ankle complex. J Biomech. 1994 Dec; 27 (12): 1447-57; @ Cousins SJ. "Fatigue testing ofenergy storing prosthetic feet", pp 180-188, volume 17, 1993. Prosthet Orthot Int. 1994 Aug; 18 (2): 124; Toh SL, Goh JC, Tan PH, Tay TE .. Fatigue testing ofenergy storing prosthetic feet. Prosthet Orthot Int. 1993 Dec; 17 (3): 180-8; Lehmann JF, Price R, Boswell-Bessette S, Dralle A, Questad K, deLateur BJ. Comprehensive analysis of energy storing prosthetic feet: Flex Foot and Seattle Foot Versus Standard SACH foot. Arch Phys Med Rehabil. 1993 Nov; 74 (11): 1225-31; Schneider K, Hart T, Zernicke RF, Setoguchi Y, Oppenheim W .. Dynamics of below-knee child amputée gait: SACH foot versus Flex foot. J Biomech. 1993 Oct; 26 (10): 1191-204; Ehara Y, Beppu M, Nomura S, Kunimi Y, Takahashi S. Energy storing property of so-called energy-storing prosthetic feet. Arch Phys Med Rehabil. 1993 Jan; 74 (l): 68-72; Postema K, Hermens HJ, de Vries J, Koopman HF, Eisma WH .. Energy storage and release ofprosthetic feet. Part 2: Subjective ratings of2 energy storing and 2 conventional feet, user choice of foot and deciding factor. Prosthet Orthot Int. 1997 Apr; 21 (1): 28-34; Postema K, Hermens HJ, de Vries J, Koopman HF, .Eisma WH. Energy storage and release of prosthetic feet. Part 1: analysis related to user benefits.Prosthet Orthot Int.

 1997 Apr; 21 (1): 17-27; Ward KH, Meyers MC. Exercise performance of lower-extremity amputated.

Sports Med. 1995 Oct; 20 (4): 207-14. Review; Casillas JM, Dulieu V, Cohen M, Marcer I, Didier JP.

Bioenergetic comparison of a new energy-storing foot and SACH foot in traumatic below-knee vascular amputations. Arch Phys Med Rehabil. 1995 Jan; 76 (l): 39-44; Allard P, Trudeau F, Prince F, Dansereau J, Labelle H, Duhaime M .. Modeling and gait evaluation of asymmetrical-keel foot prosthesis. Med Biol Eng Comput. 1995 Jan; 33 (1): 2-7; Kawakami Y, Muraoka T, Ito S, Kanehisa H, Fukunaga T. In vivo muscle fiber behavior during counter-movement exercise in humans reveals a significant role for tendon elasticity. J Physiol. 2002 Apr 15; 540 (Pt 2): 635-46; Carroll K. Adaptive prosthetics for the lower extremity. Foot Ankle Clin. 2001 Jun; 6 (2): 371-86. Jang TS, Lee JJ, Lee DH, Yoon YS. Systematic methodology for the design of a flexible keel for energy-storing prosthetic feet. Med Biol Eng Comput. 2001 Jan; 39 (l): 56-64 .; Geil MD, Parnianpour M, Quesada P, Berme N, Simon S. Comparison of methods for the calculation ofenergy storage and return in a dynamic elastic response prosthesis.J Biomech. 2000 Dec; 33 (12): 1745-50; MS .. Restoration of walking ability with Syme's ankle disarticulation. Clin Orthop. 1999 Apr; (361): 71-5.

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Among the models sold, we can cite for example SAFE Foot, Sten Foot, Dynamic Foot, Carbon Copy II, Seattle Foot, Flex-Foot.

SAFE Foot, Sten Foot, and Dynamic Foot have moderate energy storage capacity.

The SAFE Foot (Solid Ankle Flexible Endoskeletal) rests on two nylon bands extending from the heel to the metatarsal region, supposed to reproduce the function of the ligaments of the longitudinal arch.

On these nylon bands follow one another three components in polyurethane foam reproducing respectively the tibio-tarsal joint, the medio-tarsal, and the metatarsals.

The Sten Foot rests on a reinforced rubber fabric inclined from back to front passing over a foam heel and below a chain made of alternating pieces of wood and pieces of high rubber density from the ankle to the forefoot. The outer cover is made of polyurethane.

The Dynamic Foot has a lower base with a heel inclined from the back to the front in flexible polyurethane and a forefoot in high density polyurethane foam, on which rests a hard wood core extending to the portion midfoot. The outer cover is made of polyurethane.

Carbon Copy II, Seattle Foot, Flex-Foot, Multiflex, and Quantum have a higher energy storage capacity.

The Carbon Copy II rests on a foam heel and then on two carbon composite blades sandwiched with Kevlar reinforcement at the part which corresponds to the toes. Above the heel is anchored a rigid composite core. The two carbon blades bend and compress at the time of the support phase and then restore the energy at the time of the forward pulse. The outer cover is made of polyurethane.

The Seattle Foot has an ankle in the form of a spring blade in an arc of a delrin (plastic resin) which returns towards the heel then departs forwards to rest on a Kevlar pallet located at a place corresponding to the toes . The outer cover is made of polyurethane. With a strong energy storage capacity, it has a very firm heel suitable for sports.

The Flex-Foot corresponds to an ankle-foot assembly. A first carbon-graphite composite blade making the pestle, the ankle and the forefoot is in an arc of a circle and is directly inserted into the socket of the stump, while another carbon-graphite blade, fixed on the previous one is the heel. It has a very strong energy storage capacity, and is suitable for sports.

Other energy storage feet exist such as the Allurion, the Otto Block 1C40 C-Walk, the Lambda Foot, the Impulse Foot, the 1D25 Dynamic-plus-Foot, the Mercury Foot, the Dynapro II, the FlexWalk, G-Foot, Dynastep, Flex-Foot Modular II, Copart, Flex-Spring with characteristics of flexibility, variable shock absorption and more or less sporty tendency.

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Free-Flow Foot, Talux, Quantum, Greissinger Plus Foot, Multi-Flex, Phoenix Foot and Vari-Flex are prosthetic energy storage feet with multi-axis ankle joints to ensure better eversion-inversion and therefore better stability.

A system called "D.A.S. Multi-Axial Rotation System" allows the ankle joint to be adapted at any time during the walking cycle, and ensures appropriate reversal-eversion.

Park Trustep Foot College has a weight transfer system to ensure better stability.

The Pathfinder is provided with an energy restitution system, at the same time playing the role of shock absorber, in the form of a cylinder-piston assembly.

STATE OF THE ART IN SENSORS FOR WALKING ROBOTS: The formalization of the tasks to be performed in terms of automation has made it possible to integrate very effectively into the control of force, pressure, rotation, torsion, contact, position, speed, movement, angle, orientation, proximity and shape detectors. (C. Samson, M. Le Borgne, B. Espiau, Robot Control: the Task Function Approach, Oxford University Press, 1990; M. Spong, M. Vidyasagar, Robot Dynamics and Control, Wiley, 1989).

The miniature position detectors use micro-cameras with image analysis, or laser diodes, or infrared detectors as in goniometers. The miniature orientation detectors use micro-gyroscopes. The acceleration detectors use microaccelerometers. The angle detectors use optical or opto-electronic systems. Miniaturized shape or motion and shape detectors today mainly use micro-cameras with image analysis.

In addition, robotics widely uses algorithms based on probabilistic methods for planning movement in robotics.

According to Bernard Espiau, from INRIA Grenoble (Isère, France), computer vision research has taken decisive steps by elegantly integrating powerful mathematical tools (R.

Horaud, 0. Monga, Computer vision: fundamental tools, Hermès, 1993): projective geometry, algebraic geometry, probabilities, statistics, as in the analysis and segmentation of movement by hierarchical Markov methods, and the development of techniques of affine, projective or Euclidean reconstruction - from multiple images without heavy calibration. Improvements in image analysis algorithms offer robots the prospect of being able to locate themselves and recognize their environment through vision. At the same time, advanced 3D modeling techniques from algorithmic geometry and computer graphics have become widely available.

STATE OF THE ART IN SENSORS: The force, pressure, rotation, torsion, contact, position, speed, movement, angle, orientation, displacement, proximity sensors and the technologies used have been described in numerous works including in particular Instrumentation for Engineering Measurements, 2nd Edition by James W Dally, William F Riley, Kenneth G. McConnell and "R.

Pallas-Areny and J. Webster, Sensors and Signal Conditioning, Wiley, New York (1991). .

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Today, micro-manufacturing techniques make it possible to miniaturize these sensors to the extreme.

Miniaturization particularly concerned accelerometers, in particular for triggering airbags. (Allen, H.V., S.C. Terry, and D. W. DeBruin. 1990. "Accelerometer Systems with Built-in Testing." Sensors and Actuators. A21-A23. Pp. 381-386; Barth, P., et al. 1988.

"A Monolithic Silicon Accelerometer with Intégral Air Damping and Overrange Protection." Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 35-38 ;; Boxenhorn, B., and P. Greiff. 1990.

"Monolithic Silicon Accelerometer." Sensors and Actuators. A21-A23. Pp. 273-277; Greiff, P., B.

Boxenhorn, T. King, and L. Niles. 1991; Henrion, W., et al. 1990. "Wide Dynamic Range Direct Digital Accelerometer." Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 153-157; Jerman, J. H., D. Clift, and S. R. Mallinson. 1990 ; R. S., and K.A. Dinsmore. 1991. "Surface Micromachined Accelerometer: A Technology Update." Digest SAE Meeting. Pp. 127-135; Pourahmadi, F., L. Christel, and K. Petersen. 1992. "Silicon Accelerometer with new Thermal SelfTest Mechanism." Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 122-125.

Ristic, L., et al. 1992. "Surface Micromachined Polysilicon Accelerometer." Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 118-121; Terry, SC 1988. "A Miniature Silicon Accelerometer with Built-in Damping." "Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 114-116; Yun, W., RT Howe, and PR Gray. 1992b." Surface Micromachined Digitally Force-Balanced Accelerometer with Integrated CMOS Detection Circuitry. "Digest IEEE Solid-State Sensor and Actuator Workshop. Pp. 126-129; Integrated Micro-Electro-Mechanical Sensor Development for Inertial Applications, J. J. Allen, R. D. Kinney, J. Sarsfield, M. R. Daily, J. R. Ellis, J. H. Smith, S.

Montague, Sandia National Laboratories; R. T. Howe, B. E. Boser, R. Horowitz, and A. P. Pisano, Berkeley Sensor Actuator Center, and M. A. Lemkin, W. A. Clark, T. Juneau, Integrated Micro Instruments. Position Location and Navigation Symposium (PLANS '98), Rancho Mirage, CA, April 20-23, 1998; Surface-Micromachined Resonant Accelerometer, T. A. Roessig, R. T. Howe, A. P.

Pisano, and J. H. Smith, 1997 International Conference on Solid-State Sensors and Actuators, Chicago, IL, June 16-19, 1997, Vol. 2, pp. 859-862; A3-Axis Force Balanced Accelerometer Using a Single Proof-Mass, MA Lemkin, BE Boser, D. Auslander, and JH Smith, 1997 International Conference on Solid-State Sensors and Actuators, Chicago, IL, June 16-19, 1997, Vol . 2, pp. 1185-1188; A Three-Axis Surface Micromachined Sigma-Delta Accelerometer, M. Lemkin, M. Ortiz, N.

Wongkomet, B. Boser, and J. Smith, Proc. ISSCC, pp. 202-203, Feb. 1997).

Gyroscopes can also be miniaturized. (Bernstein, J., S.T. Cho, A. T. King, A.

Koutrpenis, P. Maciel, and M. Weinberg. 1993.- "A Micromachined Comb-Drive Tuning Fork Rate Gyroscope." Digest IEEE Microelectromechanical Systems Workshop. Pp. 143-148; "Silicon Monolithic Micromechanical Gyroscope." Digest Int. Conf. on Solid-State Sensors and Actuators (Transducers '91). Pp. 966-968).

Also angle sensors (LN Mertz, "Interferometric angle encoder", Rev. Sci. Instrum. 62 (5), 1356-1360 (1991); R. Peters, "Capacitive angle sensor with infinite range", Rev. Sci Instrum. 64 (3), 810-813 (1993)).

Laser diodes are used to measure distances by laser interferometry. (. Ready, JF Industrial Applications of Lasers, Chapter 10. New York: Academic Press, 1978. ~ US Patent 4190362 "Laser telemeter". ~. US Patent 4229102 "Method and apparatus for balancing out disturbances in distance measuring Systems. "~. US Patent 4297030" Method and apparatus for measuring the distance and / or

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 relative elevation between two points. "~. Gillard, CW; NE Buholz; and DW Ridder." Absolute Distance Interferometry ", Optical Engineering 20,129, January / February 1981. ~. Gillard, CW, and NE Buholz." Progress in Absolute Distance Interferometry, "Optical Engineering 22, 348, May / February 1983. ~ US Patent 4413904" Electro-optical range fmder using three modulation frequencies ". ~ .. Grève, A., and W. Harth." Laser-diode Distance Meter in a KERN DKM 3A Theodolite, "Applied Optics 23, 2982, September 1,1984. ~. Luxmoore, AR Optical Transducer and Techniques in Engineering Management, Chapter 5. London and New York: Science Publishers, 1983. -. Luxon, JT, and DE Parker. Industrial Lasers and Their Applications, Chapter 10. Englewood Cliffs, NJ: Prentice-Hall, Inc., 1985. ~. US Patent 4537502 "Multiple discrete frequency ranging with error detection and correction". ~. US Patent 4715706 " Laser doppler displacement measuring system and apparatus ". ~. US patent 4744653. "Distance measurement by laser light". ~. Patent W00874237 "Laser inteferometry imaging process and laser interferometer". ~. US patent 4893923 "Doppler laser radar system". ~. US patent 4916324 "Electro-optical distance measurement". ~. US patent 5006721 "Lidar scanning System". ~. US Patent 5589928 "Method and apparatus for measuring a distance to a target". ~. Patent W008704237 "Camera and method for holographie interferometry". Patent W000017605 "Dynamic beam stirring inteferometer". ) The detection of objects or obstacles can call on infrared photo-detection (LAAS report N 92209, Coustre A., Dumeunier M., Guaragedagui M., Nguyen H., Maurin T., Reynaud R. , Berschandy D., Chebira A., Bouaziz S., Dang M., Lagreze A., Sabouni L, Esteve D., Najmi A., Vialaret G., Gillet R. "The French Pro-chip demonstrator for obstacle detection and avoidance ", 3rd Workshop on Collision Avoidance, Stuttgart, 2-3 June 14992, 1 lp .; LAAS Report N 93452 Garric V., Devy M.," Baroco Project: calibration of a camera mounted on a manipulator arm ", November 1993 , 30 p .; LAAS report N 94024. Esteve D., Gillet R., Najmi A., Vialaret G., Sableyrolles M.

"Obstacle detection by active rotating IR detector (Applications to Mobile Robotics), 1994, 33p .; LAAS report N 92036. Esteve D., Najmi A., Mahrane A., Vialaret G., Gillet R." Detector of 'obstacle: active approach in the infrared field ", 1992, 36p .; LAAS Report N 93363; Najmi A., Mahrane A., Esteve D.," Infra-red laser radar for obstacle avoidance in the automotive field., 26th International Symposium on Automotive Technology and Automation, Aachen, September 13-17, 1993, pp739-746; LAAS N 92446, Audaire L., Bauer F., Este} le D., Simonne J., "An active and a passive infra-red approach in obstacle detection: the LIDAR and the copolymer starring array", Autonomous Intelligent Cruise Control, Frankfurt, November 25-26, 1992; LAAS N 92232, Esteve D., Mahrane A., Najmi A., "Infra-red obstacle detection. The French Prochip position", Prometheus / Prochip Workshop, Stockholm, 14 = 15 May 1992, 15p .; LAAS Report N 93422 Najmi A., Mahrane A., Vialaret G., Esteve D., Audaire L., Bauer F., Simonne J., "Active and passive infrared sensors applied to obstacle detection", 8th International Congress SIA-FIEV-EQUIP'AUTO, Paris, 25-27 October 1993, 9p "; LAAS Report N 92332 Najmi A., Mahrane A., Esteve D., Vialaret G.," Infrared obstacle detection systems in the automotive field ", Colloque Capteurs pour l 'Automobile, Grenoble, 144 October 1992.) It is possible to analyze a shape, a position, a movement of an object by analyzing its representation on an electronic image. (US Patent 3780223 "Antibiotic sensitivity measurement system". US Patent 3988534 "Electro-optical tracking computer utilizing television camera". US Patent 4044243 "Information processing system". US Patent 4053929 "Contour fitting pictorial tracking gate". US Patent 4219847 "Method and apparatus for determining the center of area or centroid of a

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 geometrical area of unspecified shape lying in a larger xy scan field ". US patent 4220967" Scene tracker using multiple independent correlators ". US patent 4254474" Information processing system using threshold passive modification ". US patent 4326259" Self organizing gene pattern separator and indentifier ". US Patent 4449144" Apparatus for detecting moving body ". US Patent 4630114" Method for determining the displacement of moving objects in image sequences and arrangement as well as uses for implementing the method ". US Patent 4661853" Interfield image motion detector for video signais ". US patent 4719584" Dual mode video tracker ". US patent 4644582" Image registration method ". US patent 4731745" Automatic dimension analyzer ". US patent 4760445," Image-processing for estimating the motion of objects situated in said image ". US Patent 4799267" Image processing apparatus and processing method ". US Patent" 4825394 "Vision metrology system". Patent US4868871 "Nonparametric imaging tracker". US Patent 4931868 "Method and apparatus for detecting innovations in a scene". US patent 5018218 "Confirmed boundary pattern matching". US Patent 5034986 "Method for detecting and tracking moving objects in a digital image sequence having a stationary background". US patent 5034986. US patent 5062056 "Apparatus and method for tracking a target". US patent 5111511 "Image motion vector detecting apparatus". US patent 5157732 "Motion vector detector employing image subregions and median values". US Patent 5280530 "Method and apparatus for tracking a moving object".) When the shape or nature of the objects whose position is to be recognized requires it, for example when the geometry of the object does not have sufficiently distinct characteristics from the environment by certain features such as its geometry, it is possible to use shape recognition software (US Patent 4697209 "Methods and apparatus for automatically identifying programs viewed or recorded". US Patent 4789933 "Fractal model image based processing". Patent US4841575 "Image encoding and synthesis". US patent 5060277 "Pattern classification means using feature vector regions preconstructed from reference data". US patent 5065447 "Method and apparatus for processing digital data". US patent 5076662 "Electro-optical IFS finder", US patent 51423057 "Model based pattern recognition". US5123087 patent "Geometry inference engine". US patent 5136659 "Intelligent coding system for picture signal ". US Patent 5148522" Information retrieval apparatus and interface for retrieval of mapping information utilizing handdrawn retrieval requests ".

US Patent 5347600 "Method and apparatus for compression and decompression of digital image data". US patent 5384867 "Fractal transform compression board". US patent 5875108 "Ergonomic man-machine interface incorporating adative pattern recognition based control system". ~. Reyna Rojas R., Esteve D. "Architecture of a vision system for the detection and localization of objects using a neural network" LAAS Report N 00042. same National Days of the Doctoral Network in Microelectronics, Montpellier, France, 4-5 May 2000) Micro-cameras with image analysis can use the video signal to control a mechanism on a mobile machine (LAAS Toulouse Report N 98344. H. Camon, F. Lamaudie, N Arana, V. reboul, M. Briot. An integrated 3D camera: a microsystem for robotic applications. IARP 2nd International Workshop on Micro Robotics and Systems, Bejing, China, 22-33, October 1998, pp 199-125.).

A first method for using the video signal in order to control a mechanism on a mobile machine requires locating the mobile machine with respect to a fixed reference point, then performing a synthesis of control laws on the state of the mobile machine. before placing the order. Another more reliable and faster method, enabled by the video signal, known as "visual servoing", makes it possible to define control loops directly from sensory data without having to relocate the mobile device. The triggering of the task or the mechanism to be performed is then referenced in the "sensor space", that is to say only with the information received from the video camera, depending on what is

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 calls the "command referenced sensor". A refinement of this method consists in coupling the information received from a video micro-camera and a telemetric micro-laser, and makes it possible to manage the same tasks but in a congested environment. (LAAS Toulouse report N 99549, "Multi-sensor referenced command for the navigation of a mobile robot". Doctoral thesis by V. Cadenat, Paul Sabatier University, Toulouse, December 16, 1999, N 3565.177 p; LAAS N report 99548 Nissoux C., "Visibility and Probabilistic Methods for the Planning of Motion in Robotics", Doctorate, Paul Sabatier University, Toulouse, December 10, 1999, N 3570, 151 p.) Mixed systems make light-emitting diodes and cameras. An example of an object tracking system using a mixed system is described in patent W09952094 "Wireless optical instrument for position measurement and method of use therefore", in which optical target position sensors such as light emitting diodes emit lightning in a respective time slot of a time frame. The light emitting diodes are synchronized with the frame rate of the cameras and communicate with them, which makes it possible to locate the target.

STATE OF THE ART IN COMMUNICATION SYSTEMS BETWEEN MINIATURIZED DEVICES: Control and communication systems are conventionally carried out by a wired electric micro-circuit. However, there is today a tendency to use communication systems by electromagnetic waves, on the one hand by infrared radiation, on the other hand by the transmission of radio waves according to a standard such as the so-called "Bluetooth" standard.

STATE OF THE ART IN DECISION-MAKING IN ROBOTICS IN A HAZARDOUS ENVIRONMENT According to Bernard Espiau, from INRIA Grenoble (Isère, France), decision-making in a hazardous environment calls for methods associated with modeling and manipulation symbolic knowledge, in order to assign a goal to a robot and control its progress towards it.

The work of the 80s and 90s was carried out in two main directions.

The first approach is essentially hierarchical: the system begins by producing a plan (of actions, paths, movements.). The techniques used vary according to the problem posed (T.

L. Dean, M. P. Wellman, Planning and Control, Morgan and Kaufmann Publ., 1991; J. C. Latombe, Robot Motion Planning, Kluwer Academic Publishers, 1991): tree path algorithms, dynamic programming, or probabilistic techniques for path planning, temporal logics for action plans. Then, a supervision system controls the execution, while a third level, called reactive, allows the adaptation of the plan with regard to new information.

The second approach is called behavioral. Based on a behaviorist point of view, it supposes the existence of a set of elementary action-reaction behaviors, very simple, which by their more or less automatic assembly leads to a global behavior of the complex robot and adapted to the environment.

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Understanding the complexity of the environment by mathematical modeling is not always easy for decision-making, artificial intelligence specialists have proposed approaches such as genetic optimization algorithms for non-convex problems, networks of neurons for identification or learning, fuzzy logic for command and control of poorly understood systems.

STATE OF THE ART IN ARTIFICIAL MUSCLES: In robotics we can use pneumatic artificial muscles based on sleeves inflated by compressed air and covered with a mesh of elastic material (US Patent 5052273: tubular wall pneumatic actuator with position transducer; Klute GK, Artificial Muscles: for Biorobotic Systems. Department of Bioengineering, University of Washington, 1999; Klute, GK, Czerniecki, J. M, and Hannaford, B. (1999): McKibben Artificial Muscles: Pneumatic Actuators with Biomechanical Intelligence. To appear in the Proceedings of the IEEE / ASME 1999 International Conference on Advanced Intelligent Mechatronics (AIM '99), Atlanta, GA, September 19-22, 1999; Klute, GK and Hannaford, B. (1998): Modeling Pneumatic McKibben Artificial Muscle Actuators: Approaches and Experimental Results. Submitted to the ASME Journal of Dynamic Systems, Measurements, and Control, November, 1998, revised March 1999; Klute, GK and Hannaford, B.

(1998): Finite Element Modeling of McKibben Artificial Muscle Actuators. Submitted to the IEEE / ASME Transactions on Mechatronics, March, 1998; Klute, G. K. and Hannaford, B.

(1998): Fatigue Characteristics of McKibben Artificial Muscle Actuators. Proceedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems. Victoria, B. C., Canada, October 13-17,1998, 3: 1776-1782; Chou, C. P. and Hannaford, B. (1996): Measurements and Modeling of McKibben Pneumatic Artificial Muscles. IEEE Transactions on Robotics and Automation. 12 (1): 90-102; Chou, C. P. and Hannaford, B (1994): Static and Dynamic Characteristics of McKibben Pneumatic Artificial Muscles. Proceedings of the IEEE International Conference on Robotics and Automation. San Diego, CA, May 8-13, 1994, 1: 281-286; Tondu B., Lopez P., Modeling and control of Mc Kibben artificial muscle robot actuators ", IEEE control Systems Magazine, vol. 20, n 2, IEEE Publisher (April 2000) 15-38.) At" Biologically Inspired Robotics Laboratory " from Case Western University, the Mc Kibben pneumatic artificial muscles could be reduced to a dimension of a few tens of millimeters and used successfully to actuate the muscles of a legged microrobot called "Cricket Microrobot".

Developments are underway to use the contractile properties of electroactive polymers (Ricard A .., Tondu B., Lopez P., Vial D. and Conscience M .. Artificial muscle based on polymeric contractile gels ", materials and techniques, intelligent materials and structures, Dunod (December 1998) 43-48; Polymers as artificial muscles: capabilities, potential and challenges.

Keynote Presentation at the Robotics 2000 and Space 2000. Albuquerque, NM, USA, February 28 March 2, 2000; Electroactive Polymers as rtificial muscles changing Robotics paradigms. NSMMS Symposium, San Diego, CA, 27 Feb. to 2 March 2000). Unpublished work by Sonja Krause and Katherine Bohon at the Rensselaer Polytechnic Institute, Troy, NY, USA on polymer gels with electro-rheological fluids, such as mixed polyethylene oxide particles suspended in a silicone oil mixed with poly (dimethyl siloxane) could provide the rapid response time that these technologies lack.

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Artificial muscles can also use electric micro-motors, electro-strictness or magneto-strictness.

Other routes are explored for artificial muscles such as the electrostrictive properties of poly (vinylidene fluoride-trifluoroethylene) copolymers activated by electron bombardment.

Other work is underway to understand the possibilities of using carbon nanotubes to make artificial muscles, because the theory predicts interesting potentials in this area.

Finally, actuators can use micro-turbines, such as those developed by MIT in Cambridge, Massachussetts, USA, under the direction of Alan Epstein and Stephen Senturia, using micro-fabrication techniques (technology described in U.S. Patent 5,932,940).

STATE OF THE ART OF ON-BOARD ENERGY SOURCES: State of the Art in micro-fuel cells: There are several fuel cell technologies. A first group includes low temperature batteries (25-100 c), ie PEMFC (polymer electrolyte membrane batteries) and AFC (alkaline fuel cells).

PEMFCs can use hydrogen directly from very low temperature storage or in hydrides, or hydrogen reformed from methanol.

A second group includes direct production methanol fuel cells, that is to say DFMC (direct methanol fuel cells). A third group includes medium temperature batteries (190 c), including PAFC (phosphoric acid fuel cell). A fourth group includes high temperature cells (over 500 C), such as MCFC (molten carbonate cells) and solid oxide cells, SOFC (Solid oxide fuel cell).

Recent developments have resulted in fuel cells capable of directly using hydrocarbons such as methane, ethane, 1-butene, n-butane and toluene (Murray EP, Tsai T, Barnett SA, "A direct -methane fuel cell with a ceria based anode ", Nature, 1999, 400, 649-651; .Park S., Vohs JL, Gorte R.," Direct oxidation of hydrocarbons in a solid-oxide fuel cell ". Nature, 2000 , 404, 265-266.) Fuel cells can be miniaturized (Voss H., Huff J ;, Attewell A., Keily T .. "Portable fuel cell power generator". Journal of Power Sources, 1997, 1-2,155- 158 .; Browning D., Jones P., Packer K., Attewell A., Keily T. "An investigation of hydrogen storage methods for fuel cell operation with man-portable equipment." Journal of Power Sources, 1997,1-2,187- 195 .; Ishizawa M. et al .: "Portable Fuel-Cell Systems" NTT Review, vol. 9, No. 5, Sep. 1997, pp. 65-69; US 5314762 "Portable power source" .; US Patent 5641585 "Miniature fuel cell assembly"; US 5932 365 "Hydrogen canister fuel cell battery"; US 6057051, "Miniaturized fuel cell assembly" .; Patent WO 035032 "Micro-fuel cell power devices" .; Patent WO 036681 "Large non-bipolar fuel cell stack configuration"; Patent WO 045457 "MEMS-based thin-film fuel cells".)

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 State of the art in biocatalysis and bio-fuel micro-batteries: Biocatalysis and bio-fuel micro-cells are fuel micro-cells which mainly use sugars such as glucose as fuels and biological molecules such as enzymes as catalysts. Recent developments have led to their miniaturization (Satoshi Sasaki, Isao Karube, "The development of microfabricated biocatalytic fuel cells", Trends in Biotechnology, 1999, vol 17, 50-52).

Bacteria and algae can also generate electricity with sufficient efficiency to consider using them as an on-board energy source. For example, anaerobic bacteria of the genus Desulfuromonas acetoxidans degrade organic matter into acetate, which picks up electrons, which can be transferred to electrodes.

State of the art in electrochemical accumulators: In order to increase the stored energy / weight and stored energy / volume ratios, electrochemical accumulators, such as lithium-polymer batteries, are expanding the range of already trivialized accumulators such as accumulators lead, Nickel-Cadmium, Nickel-Metalhydrides, Lithium-ion. In terms of number of charge / discharge cycles and environmental protection, Magnesium accumulators represent an alternative (Aurbach D., Lu Z, Schechter A., Gofer Y., Gizbar H., Turgeman R, Cohen Y, Moshkovich M, Levi E, "Prototype systems for rechargeable magnesium batteries", Nature, 2000, 407, 724727).

State of the art in supercapacitors: Supercapacitors have less storage capacity than electrochemical accumulators, but they have the advantage of supporting an almost unlimited number of very fast charge-discharge cycles.

They can therefore be coupled in series with chemical accumulators and respond to peaks of use (US Patent 5591212, "Hybrid battery for implantable pulse generator."; US Patent 6061577, "Electrical power supply circuit, in particular for portable appliances"; Patent US 6097973, "Electronic circuit for a portable electronic device.) BRIEF DESCRIPTION OF THE INVENTION The device of the invention relates to a pair of self-propelled shoes or self-propelled skates of on-board energy helping to walk or run while assisting the movement feet and relieving the effort of the walker or runner. The feet can be those of a valid person, or the artificial feet of an amputee and fitted with leg-foot prostheses, or the artificial feet of a robot.

Thus said device of the invention helps with walking or running a valid person or an amputee with a prosthetic foot or a walking robot.

According to an elaborate version of the invention, the intensity of the impulse given to the foot in the support phase by self-propellers can be optimized in real time by taking information on the kinetics of the leg without contact with the ground thanks to an on-board perception system.

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 The shoes of the invention, usable on flat ground, up or down, relieve the effort of the walker or runner and help him either to take larger steps, or to take faster steps.

 The onboard energy, which can for example be carried in an extra backpack, is consumed by the runner or walker in very small quantities.

 In summary, the shoes of the invention have three possible vocations: - either to relieve the energy expenditure of a valid person moving on foot, - or to help the walking or the running of the amputees of one or two legs. In this case, the shoes of the invention wear artificial feet which are part of prostheses of the lower limbs.

- either to help the walking or running of walking robots or runners. In this case, the shoes of the invention wear artificial feet ending their artificial legs.

 Artificial propellant feet directly linked to leg prosthesis pestles can be designed according to the same principle as the shoes of the invention.

 Likewise, artificial feet propelling walking robots directly linked to the artificial legs of walking robots can be designed according to the same principle as the shoes of the invention.

FIGURES
Figure 1 shows a first type of self-propelling shoe of the invention, with a sub-assembly (A) having two supports on the ground, a sub-assembly (B) provided with a blade (C), and a main actuator ( Z) at the heel, in two different working positions. Said main actuator (Z) is provided with a flexible extensible chamber (00) in which a gas is capable of relaxing, the gas escaping taking place at the moment when a neck (125) arranged on the surface of said extensible chamber flexible is released from a shutter (425) linked to the movement away from said subassemblies (A) and (B). At the top of said Figure 1, the main actuator (Z) is at rest. At the bottom of said Figure 1, the main actuator (Z) is in action, moves said sub-assembly (A) and said sub-assembly (B) in a rotational movement, which tends to compress said blade on the ground ( VS).

 Figure 2 shows a second type of self-propelling shoe of the invention, with a sub-assembly (A) having two supports on the ground, a sub-assembly (B) provided with a blade (C), and a main actuator ( Z) at the front. Said actuator (Z) is provided with a cylinder (200) arranged in said subassembly (A) and in which a gas supplied by a conduit is capable of expanding. Said cylinder (200) receives a piston (100) integral with said subassembly (B). The return after the end of travel of said piston (200) is effected by a rod-crank system (240). At the top of said Figure 2, the actuator is at rest.

 At the bottom of said Figure 2, said main actuator (Z) is in action and said sub-assembly

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 (B) approaches the ground in a curvilinear movement, which tends to compress the ground on said blade (C).

Figure 3 shows a third type of self-propelling shoe of the invention, with a sub-assembly (A) having only one support on the ground, a sub-assembly (B) provided with a blade (C), a main actuator ( Z) at the heel, and an auxiliary actuator (W) at the front. At the top of said Figure 3, the two actuators are at rest. At the bottom of said FIG. 3, the two actuators are in action, moving said subassembly (A) and said subassembly (B) apart in a rotary torsional movement, which tends to compress said blade (C) on the ground.

Figure 4 shows a fourth type of self-propelling shoe of the invention, with a sub-assembly (A) having only one support on the ground, a sub-assembly (B) provided with a blade (C), a main actuator ( Z) at the heel and an auxiliary actuator (W) at the front. At the top of said Figure 4, the two actuators are at rest. At the bottom of said FIG. 4, the two actuators are in action, moving said sub-assembly (A) and said sub-assembly (B) apart in a rotational movement, which tends to compress said blade (C) on the ground.

Figure 5 shows the self-propelling shoe of Figure 4 in two new positions (top down of said Fig 5), in which said sub-assembly (A) and said sub-assembly (B) deviate more and more .

Figure 6 shows a self-propelling shoe of the invention variant of that of Figure 1, with a sub-assembly (A) having two supports on the ground including a front support blade (L), with a sub-assembly (B ) provided with a blade (C) capable of compressing said front support blade (L), and with a main actuator (Z) at the heel. At the top of Figure 6, said main actuator (Z) is at rest. At the bottom of said Figure 6, said main actuator (Z) is in action, moves said subassembly (A) and said subassembly (B) in a rotational movement, which tends to compress said blade on the ground (C ) and said front support (L).

 @ Figure 7 shows a self-propelling shoe variant of that of Figure 2 with a sub-assembly (A) having two ground supports including a front support blade (P), a sub-assembly (B) provided with a blade ( C), a main actuator (Z) at the front, an auxiliary actuator (N) at the front provided with a flexible extensible chamber in the rest position. Said actuator (Z) is provided with a cylinder (200) arranged in said subassembly (A) and in which a gas supplied by a conduit is capable of expanding. Said cylinder (200) receives a piston (200) integral with said subassembly (B). The return after the end of travel of said piston (100) is effected by a rod-crank system (240). Said piston (100) is pierced in its center with a longitudinal channel which is also responsible for supplying the gas which expands in said flexible extensible chamber of said auxiliary actuator (N).

FIG. 8 represents the self-propelling boot of FIG. 7, with said main actuator (Z) in action which brings said subassembly (B) closer to the ground in a curvilinear movement, which tends to compress said blade (C) on the ground, and with an auxiliary actuator (N) in action which tends to impart a rotational movement to said front support blade (P), while the latter is in contact with the ground.

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Figure 9 shows a decomposition in three successive positions of the heel attack phase of a new type of self-propelling shoe of the invention provided with the heel of a double main actuator (Z). The self-propelling shoe described in said Figure 9 comprises a sub-assembly (A) having a single support on the ground, a sub-assembly (B) provided with a blade (C), and a main actuator (Z) in the heel in two parts. Part of said main actuator (Z) ensures the separation of said subassemblies (A) and (B) according to a rotation and leads to compression on the ground of said blade (C), another part of said main actuator (Z) reinforces the support on the ground of said sub-assembly (A). At the top of said Figure 9, the main actuator (Z) is at rest while the heel support engages, which by contact or proximity sensor triggers said main actuator (Z). In the middle and at the bottom of said Figure 9, the heel support is confirmed, and said main actuator (Z) begins to react.

Figure 10 represents the type of self-propelling shoe of Figure 9 with a decomposition of the phase of detachment of the heel and impulse of the toe. in three successive positions. At the top of said Figure 10, the self-propelling shoe is in flat support, during heel-toe tilting, while the action of said main actuator (Z) is confirmed and said blade (C) begins to compress. In the middle of said Figure 10, the heel-toe rocker ends, the support of the toe is fully exerted, said blade (C) is in full compression, and said main actuator (Z) is released. At the bottom of said Figure 10, the elasticity of said blade (C) was expressed and gave the foot an impulse forward and upward.

Figure 11 shows a self-propelling shoe of the invention provided with a flexible blade at the front equipped with an air chamber (807) damping the supports.

Figure 12 shows a self-propelling shoe of the invention provided with a flexible blade at the front equipped with a driving wheel (344), this device can exist on both sides of said self-propelling shoe.

FIG. 13 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of micro-accelerometers (76) and micro-gyroscopes (87 ) and microgyroscopes / micro-accelerometers (77). Each on-board perception kit provides the supporting microprocessor of the foot with real-time information on the kinetics of several points on the other leg during the oscillation phase. In said Figure 13, the foot without support with the ground returns from the rear with a certain acceleration.

Figure 14 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of Figure 13 .

FIG. 15 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of CD or CMOS micro-cameras (59) fixed on the knees and cooperating

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 with light-emitting diodes (41) fixed on the other leg, and providing the supporting microprocessor of the foot with real-time information on the kinetics of several points of said other leg in the oscillation phase.

FIG. 16 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of FIG. 15 .

FIG. 17 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of CD or CMOS micro-cameras (59) fixed to the rear of said shoes of the invention, capable of performing shape recognition, cooperating with light-emitting diodes (41) fixed on the other leg, and providing the microprocessor of the foot with support in real time information on the kinetics of several points of said other leg in oscillation phase.

Figure 18 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of Figure 17 .

Figure 19 shows a self-propelling shoe of the invention where said blade (C) is movable around a horizontal axis and is capable of rotation during its support on the ground with the help of an auxiliary actuator (V) such an artificial pneumatic muscle (602), this device being able to exist on both sides of said self-propelling shoe.

DESCRIPTION OF THE INVENTION The device of the invention relates to a pair of self-propelling on-board energy shoes helping to walk or run by assisting the movement of the feet and by relieving the effort of the walker or runner. The feet can be those of a valid person, or the artificial feet of an amputee and fitted with prosthesis (s) or the artificial feet of a robot.

Thus said device of the invention helps with walking or running a valid person or an amputee with a prosthetic foot or a walking robot.

Said device of the invention also directly relates to an artificial foot, such as a prosthetic foot or that of a robot with artificial legs and feet.

As shown in Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 19, each of the shoes of the invention consists of at least one subset (A) and one subset (B).

Said subassembly (A) is provided with a lower part capable of ensuring the support of the leg on the ground.

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 Said sub-assembly (B) comprises an upper part fixing the foot which is provided with a blade-shaped point (C) made of an elastic material, very light, very resistant to traction, compression and torsion.

 Said subassembly (B) is movable relative to said subassembly (A) thanks to a main actuator (Z) such as a piston or artificial muscle or flexible extensible chamber such as a balloon, balloon or bellows.

 Said main actuator (Z) is actuated with the help of an energy source carried by the walker or runner.

 As shown in Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 19, the action of said main actuator (Z) means that said subassembly (B) is capable of a movement directed towards the ground.

 This movement will make possible the contact of said blade (C) with the ground.

 Indeed, while the heel-toe tilting takes place, while the support phase ends and while the movement of the leg is going to start from the back to the front, said blade (C ), taking advantage of the kinetic energy of said subset (B) of which it is an integral part, is capable, at the end of the movement of said subset (B), and in relay of the subset (A), of ensuring the leg support on the ground by resisting compression in a more or less elastic manner depending on the mechanical properties of the materials used.

 As shown in Figures 9 and 10, said main actuator (Z) can be in two parts, one part ensuring the separation of said subassemblies (A) and (B) and leading to compression on the ground of said blade (C ), another part strengthening the ground support of said subassembly (A).

 As shown in Figures 3, 4, 5, in other versions of the invention, the compression on the ground of said blade (C) can be helped both by the movement of approaching the ground of said subassembly ( B) and by an auxiliary actuator (W) such as piston or artificial muscle or flexible extensible chamber such as bellows, balloon or balloon.

 In Figure 3, it is shown that, in a version of the invention, said auxiliary actuator (W) is capable of helping to compress said blade (C) on the ground.

 In Figures 4 and 5, it is also shown that in another version of the invention, said auxiliary actuator (W) is capable of helping to compress said blade (C) on the ground.

 As shown in Figure 19, in a version of the invention, said blade (C) is movable about a horizontal axis and is capable of rotation during its support on the ground with the help of an auxiliary actuator (V ).

 As shown in Figures 1, 4, 5, 6, 9, 10,19, in some versions of the invention, said sub-assembly (B) can be movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a rotational movement about a horizontal axis.

 In Figures 1,6 and 19, it is shown that in one version of the invention, said sub-assembly (B) is movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a rotational movement around a horizontal axis, while said

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 sub-assembly (A) provides two supports on the ground and that all of said sub-assembly (A) is located under said sub-assembly (B).

In Figures 4 and 5, it is shown that in one version of the invention, said sub-assembly (B) is movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a movement of rotation about a horizontal axis, while said sub-assembly (A) provides only one support on the ground, and only part of said sub-assembly (A) is located under said sub-assembly (B).

In FIGS. 9 and 10, it is shown that in one version of the invention, said sub-assembly (B) is movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a movement of rotation about a horizontal axis, while said sub-assembly (A) provides only one support on the ground and all of said sub-assembly (A) is located under said sub-assembly (B).

As shown in Figure 6, in another version of the invention, said sub-assembly (A) is provided at the front with a blade (P) capable of bearing with the ground and of contact with said blade (C), said blade (P) being able to be compressed under the effect of said contact with said blade (C).

As shown in Figures 2, 7, 8, in other versions of the invention, said subassembly (B) can approach the ground under the effect of said main actuator (Z) by following curvilinear guides and curved towards the floor with which said sub-assembly (A) is provided.

Figure 2 shows a version of the self-propelling shoe of the invention in two different working positions, where we see said sub-assembly (B) approach the ground in a curvilinear movement, which tends to compress the ground said blade (VS).

Figure 7 and Figure 8 show a self-propelling shoe variant of that of Figure 2 in two different working positions, where we see said sub-assembly (B) approach the ground in a curvilinear movement, which tends to compress said blade on the ground (C), and where we also see said auxiliary actuator (N) in action tending to impart a rotational movement to said front support blade (P), while the latter is in contact with floor.

In another version of the invention, as shown in Figure 3, said sub-assembly (B) can be movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a torsional movement rotatable around a horizontal axis, said twisting-rotation movement of said sub-assembly (B) being capable of compressing said blade (C) on the ground.

As shown in Figure 6, in another version of the invention, said sub-assembly (A) can be provided at the front with a blade (L) capable of bearing with the ground and of contact with said blade (C), said blade (L) being able to be compressed under the effect of said contact with said blade (C).

In another version of the invention, said sub-assembly (A) can be provided at the front with a blade (P) capable of bearing with the ground, the compression of said blade (P) being able to be helped to both by the movement of said subassembly (B) which brings said blade closer to the ground

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 (C), and by an auxiliary actuator (N) such as piston or artificial muscle or flexible extensible chamber such as bellows, balloon or balloon.

As shown in Figures 7 and 8, in other versions of the invention, said blade (P) can be movable about a horizontal axis and can be capable of rotation during its support on the ground with the help of said auxiliary actuator (N).

In another version, said blade (C) can optionally be provided at its end with driving wheels or tracks which can be actuated by the on-board energy source.

Said driving wheels or tracks, put into action a little before their contact with the ground, only assist in propulsion as soon as they touch the ground.

In another version, represented in FIG. 12, said blade (P) can be provided at its end with driving wheels (344) or tracks which can be actuated by the on-board energy source, preferably according to an actuation of the type electrostrictive or magnetostrictive. Said driving wheels, put into action a little before their contact with the ground, only assist in propulsion as soon as they touch the ground.

As shown in Figure (11), said blade (C) can be provided with pneumatic type pads with rubber frame having non-slip reliefs receiving wear from contact with the ground and / or an air chamber ( 807) shock absorption.

Said device of the invention can be provided with shock absorbers based on springs, blades or hydraulic or hydro-pneumatic cylinders.

LATERAL STABILITY: When said device of the invention also directly relates to an artificial foot, such as a prosthetic foot or that of a robot with artificial legs and feet, it is then provided with multi-axis ankle foot articulation systems to ensure better eversion-inversion and therefore better stability. For example, it can be equipped with a system called "DAS Multi-Axial Rotation System" known in prosthetic feet with energy accumulation making it possible to adapt the ankle-foot joint at any time during the walking cycle. , and to ensure the appropriate inversion-eversion, or a weight transfer system to ensure better stability such as that which equips the prosthetic foot "College Park Trustep Foot".

In one version of the invention, multi-axis articulations and shock absorbers based on springs, blades or hydraulic or hydro-pneumatic cylinders soften and rectify the stresses between an ankle element and a foot element and ensure better adaptation to eversion-inversion.

In another version of the invention, a support blade on the ground is bidentate or tridentate or quadridentate to ensure better lateral stability, particularly on uneven ground. In this case, the actuators can be split, tripled,

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 quadrupled, each actuator leading to the compression of a single tooth of said support blade.

CALIBRATION OF THE MOTOR POWER LEVELS OF THE MAIN ACTUATOR (Z): To calibrate the motor power levels selectable by the walker or runner, a certain amount of data must be processed by two on-board perception kits, one for each leg, the two kits of perception cooperating with each other.

The first type of data to acquire is the acceleration of the heel attack of the foot just before the support phase, during the support phase, just after the support phase. This data can be obtained by two accelerometers, one for each foot.

The second type of data to be acquired is the support force exerted by the foot during the support phase, itself resulting from the speed and weight of said walker or runner, or even from his type of walking and running. This data can be obtained by two force sensors, one for each foot.

The processing in real time of this data by a microprocessor makes it possible to calibrate the levels of motive power selectable by the walker or runner, and to create a database confronting the weight of the walker and the runner, his running or walking speed , the elastic characteristics of the accessories of the device of the invention ensuring support on the ground, and the optimal driving power ranges of said main actuator (Z) selectable by the walker or the runner.

PERCEPTION, CONTROL AND DECISION: OPTION WITH PRIORITY GIVEN TO THE SENSE OF OWNERSHIP OF THE RUNNER OR WALKER: In one version of the invention, the moment of activation of said main actuator (Z) can obey an on-board system with contact sensors, one or more of which are contact or proximity sensors with the ground. Among those responsible for detecting contact or proximity with the ground, at least one is an integral part of said subassembly (A) and signals the start of the foot support phase by the heel. The walker or runner, provided with a power control of the main actuator (Z) can walk or run with the self-propelling shoes of the invention operating on the engine power level of his choice. Thanks to the action in real time of his central nervous system, the walker or runner then adapts to the power level on which the main actuator (Z) operates, and therefore to his speed, and adapts his gestures to coordinate the moment of support on the ground of said blade (C) and the moment of impulse of the tip of the foot, moment of impulse wanted by its central nervous system and its senses of proprioception.

The adaptation of the walker or runner may require a learning period, as is the case with roller skates or ice skates.

Figure 9 shows a breakdown of the heel attack phase of a self-propelling shoe of the invention in three successive working positions. At the top of said Figure 9, the main actuator (Z) is at rest while the heel support engages, which by

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 a contact or proximity sensor triggers said main actuator (Z). In the middle and at the bottom of said Figure 9, the heel support is confirmed, and said main actuator (Z) begins to react. Figure 10 shows a breakdown of the heel detachment phase and tiptoe impulse in three successive working positions of said main actuator (Z) in this phase. At the top of said Figure 10, the self-propelling shoe is in flat support, during heel-toe tilting, while the action of said main actuator (Z) is confirmed and said blade (C) begins to compress. In the middle of said Figure 10, the heel-toe rocker ends, the support of the toe is fully exerted, said blade (C) is in full compression, and said main actuator (Z) is released. At the bottom of said Figure 10, the elasticity of said blade (C) was expressed and gave the foot an impulse forward and upward.

OPTIMIZED OPTION: i) STRONG COOPERATION OF THE CAPACITY OF PERCEPTION AND THE SENSE OF OWNERSHIP OF THE RUNNER OR WALKER WITH CAPACITIES OF PERCEPTION AND VISION CONNECTED TO SAID SELF-PROPULSIVE SHOES OF THE INVENTION: For the central nervous system, the senses of perception and the sense of proprioception of the walker or runner can cooperate with an on-board perception system, a certain number of data must be processed by two on-board perception kits, one for each leg, the two perception kits cooperating with each other.

In the invention, the principle employed is summarized in that, for a foot in the support phase, the level of motive power supplied to said main actuator (Z) relating to this same foot is established as a function of data relating to the other leg. More precisely, the motive power supplied to said main actuator (Z) for a foot in the support phase is established as a function of the kinetic data observed in real time on the other leg which is in the process of returning from the rear towards the before (the one in what is called the oscillation phase or pendulum phase).

These data relate to the speed, orientation and acceleration of the foot and ankle of the lower limb in the oscillation phase, i.e. 6 data per leg, to which can be added optionally the speed, orientation and acceleration of the knee and pelvis of this same lower limb in the oscillation phase, ie 6 additional data per leg.

This data can be obtained by two kits, one for each leg, of angle sensors, micro-accelerometers and micro-gyroscopes providing their information in real time to an on-board microprocessor.

FIG. 13 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of micro-accelerometers (76) and micro-gyroscopes (87 ) and microgyroscopes / micro-accelerometers (77). Each on-board perception kit provides the microprocessor of the foot in support with real-time information on the kinetics of

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 several points on the other leg in the oscillation phase. In said Figure 13, the foot without support with the ground returns from the rear with a certain acceleration.

Figure 14 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of Figure 13 .

Part of the data concerning the speed, orientation and acceleration of the foot and ankle of the lower limb during the oscillation phase can also be provided by interferometry systems communicating in real time to an on-board microprocessor. positions of many cooperative targets appropriately attached to shoes, ankles, knees and pelvis.

Finally, part of the data relating to the speed, orientation and acceleration of the foot and ankle of the lower limb in the oscillation phase can be provided by angle sensors and vision systems by CCD micro-cameras or CMOS cooperating with light emitting laser diodes appropriately attached to shoes, ankles, knees and pelvis, which mico-cameras send their information in real time to an on-board microprocessor.

FIG. 15 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of CD or CMOS micro-cameras (59) fixed on the knees and cooperating with light-emitting diodes (41) fixed on the other leg, and providing the supporting microprocessor of the foot with real-time information on the kinetics of several points of said other leg in the oscillation phase.

FIG. 16 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of FIG. 15 .

Part of the data relates to the speed, orientation and acceleration of the foot and ankle of the lower limb during the oscillation phase can also be provided by vision systems using CCD or CMOS micro-cameras which can perform detection of simple cooperative forms appropriately attached to shoes, ankles, knees and pelvis, which mico-cameras send their information in real time to an on-board microprocessor.

FIG. 17 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention each provided with an on-board perception kit consisting of CD or CMOS micro-cameras (59) fixed to the rear of said shoes of the invention and capable of carrying out shape recognition and cooperating with light-emitting diodes (41) fixed on the other leg, and providing the microprocessor of the foot with support in real time information on the kinetics of several points of said other leg in the oscillation phase.

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Figure 18 represents the photograph of a step taken by a person wearing a pair of self-propelling shoes of the invention with the foot without support with the ground returning from the rear with an acceleration greater than that of Figure 17 .

The processing in real time of this data by a microprocessor makes it possible to know: 1) the desire to maintain a constant speed of the runner or walker, detected by the fact that the system of perception of self-propelling shoes of the invention observes that the central nervous system, the senses of perception and the proprioceptive senses of the walker or runner decided to maintain their speed with the other leg during the oscillation phase. This observation comes from the comparison in real time, made by the perception capacities connected to said self-propelling pads of the invention, of the speed at time t of the leg in the oscillation phase, compared to the speed observed for the leg in phase oscillation at the same time of the cycle at the previous step. The control system of said self-propelling shoes of the invention applies to said main actuator (Z) of the foot in the support phase a level of motive power identical to that which was applied to the previous step or running step 2) the will of the runner or walker to accelerate, detected by the fact that the perception system of self-propelling shoes of the invention observes that the central nervous system, the senses of perception and the proprioceptive senses of the walker or runner have decided to increase the speed of the other leg in the oscillation phase. This observation comes from the comparison in real time, made by the perception capacities connected to said self-propelling pads of the invention, of the speed at time t of the leg in the oscillation phase, compared to the speed observed for the leg in phase oscillation at the same time of the cycle at the previous step. The control system of said self-propelling boots of the invention applies to said main actuator (Z) a level of motive power greater than that which was applied to the previous step or running step. The process applies to the start of the walk and the second support on the ground.

3) the will of the runner or the walker to brake, detected by the fact that the perception system of self-propelling shoes of the invention observes that the central nervous system, the senses of perception and the proprioceptive senses of the walker or runner have decided to brake the other leg during the oscillation phase. This observation comes from the comparison in real time, made by the perception capacities connected to said self-propelling pads of the invention, of the speed at time t of the leg in the oscillation phase, compared to the speed observed for the leg in phase oscillation at the same time of the cycle at the previous step. The control system of said self-propelling shoes of the invention applies to said main actuator (Z) a level of motive power lower than that which was applied to the previous step or running step.

In this option, on-board detection of obstacles on the ground is not necessary, since it is "dependent" on the central nervous system, the senses of perception and the proprioceptive senses of the walker or runner.

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 ii) STRONG COOPERATION OF THE CENTRAL CAPACITIES OF PERCEPTION AND VISION OF THE WALKING ROBOT, OF WHICH THE FEET IS PROVIDED WITH THE SAME SELF-PROPELLING SKATES OF THE INVENTION, WITH AUTONOMOUS PERCEPTION AND VISION CAPACITIES OF THE SAME SELF-PROPROPULSIVE SKATES.

The pads of the invention also apply to a walking robot whose feet are provided with said pads of the invention, and whose central control and perception system controls the movement of the legs, while the independent independent perception system annex to said pads of the invention observes the movement of the legs and adjusts the actuation of said main actuator (Z) according to these observations.

The real-time processing of kinetic data concerning the pendulum leg of the bipedal walking robot by the microprocessor forming an integral part of the independent control system annexed to said self-propelling pads of the invention allows the independent independent perception system annexed to said self-propelling pads of the invention. invention to know: 1) the "will" to maintain a constant speed of said bipedal walking robot, detected by the fact that the autonomous sense of perception of said self-propelling pads of the invention observe that the central control system of said walking robot has decided maintain the speed of the other leg during the oscillation phase. This observation comes from the comparison in real time, made by the independent autonomous perception capacities connected to said self-propelling pads of the invention, of the speed at time t of the leg in the oscillation phase, compared with the speed observed for the leg. in the oscillation phase at the same time of the cycle at the previous step. The control system attached to said self-propelling pads of the invention therefore applies to said main actuator (Z) a level of motive power identical to that which was applied to the previous step or running step.

2) the will of said bipedal walking robot to accelerate, detected by the fact that the autonomous sense of perception of said self-propelling pads of the invention observe that the central control system of said walking robot has decided to increase the speed of the other leg in swing phase. This observation comes from the comparison in real time, made by the annexed autonomous perception capacities connected to said self-propelling pads of the invention, of the speed-at time t of the leg in the oscillation phase, compared to the speed observed for the leg in oscillation phase at the same time of the cycle at the previous step. The control system attached to said self-propelling pads of the invention therefore applies to said main actuator (Z) a level of motive power greater than that which was applied to the previous step or running step. The process applies to the start of the walk and the second support on the ground.

3) the will of said bipedal walking robot to brake, detected by the fact that the senses of perception of said self-propelling pads of the invention observe that the central control system of said walking robot has decided to brake the speed of the other leg in phase oscillation. This observation comes from the comparison in real time, made by the independent autonomous perception capacities connected to said self-propelling pads of the invention, of the speed at time t of the leg in the oscillation phase, compared with the speed observed for the leg. in the oscillation phase at the same time of the step cycle

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 cycle at the previous step. The control system attached to said self-propelling pads of the invention therefore applies to said main actuator (Z) a level of motive power lower than that which was applied to the previous step or running step.

COOPERATION INCLUDING THE DETECTION OF OBSTACLES OR ANFRACTUOSITES ON THE GROUND: For use at night, or by a visually impaired person, the detection of obstacles on the ground can be done by coupling the information received from a video micro-camera and an on-board telemetric micro-laser. (LAAS Toulouse report N 99549, "Multi-sensor referenced command for the navigation of a mobile robot". Doctoral thesis by V. Cadenat, Paul Sabatier University, Toulouse, December 16, 1999, N 3565, 177 p; LAAS N report 99548 Nissoux C., "Visibility and Probabilistic Methods for the Planning of Motion in Robotics", Doctorate, Paul Sabatier University, Toulouse, December 10, 1999, N 3570, 151 p.) The detection of an obstacle leads to applying to said main actuator (Z) a level of motive power far lower than that which was applied to the previous step or running step, or to the annihilation of the control of said main actuator (Z).

ENERGY AND TYPE OF ACTUATORS: In one version of the invention, the reserve of energy carried by the walker or runner and allowing the work corresponding to the movements of the various parts of the device of the invention can be a bottle containing a gas compressed or liquefied capable of expanding in chambers of said actuators (Z), (W), (V) and (N) such as flexible expandable chambers such as bellows, balloons or balloons or such as rigid chambers such as cylinders, or in contractile pneumatic artificial muscles of the Mc Kibben type.

* Said actuator (Z) can be provided with a flexible extensible chamber (500) in which a gas is capable of relaxing, the gas escaping taking place when a neck (125) arranged on the surface of said chamber flexible extensible emerges from a shutter (425) linked to the movement away from said subassemblies (A) and (B), said flexible extensible chamber being able to be connected to a channel which is also responsible for supplying the gas which expands in the chamber of said annex actuator (W) or in that of said annex actuator (N) or in that of said annex actuator (V).

Figures 1, 3, 4, 5, 6 show on different versions of the invention said flexible extensible chamber (500), said neck (125) arranged on the surface of said flexible extensible chamber (500), and said obturator ( 425) linked to the movement away from said subassemblies (A) and (B) As shown in Figures 2,7 and 8, said actuator (Z) can be provided with a cylinder (100) arranged in said sub -set (A) and in which a gas supplied by a conduit (528) is capable of expanding. Said cylinder (200) can receive a piston (100) integral with said subassembly (B). The return after the end of travel of said piston (100) can be effected by the effect of a connecting rod-crank system (240). Said piston (100) can be pierced in the center of a channel

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 longitudinal concomitantly also responsible for supplying the gas which expands in said chamber of said auxiliary actuator (W) or in that of said auxiliary actuator (N).

As shown in Figure 19, the work corresponding to the movement of said different subsets can be carried out by contractile pneumatic artificial muscles (602) using the expansion and compression of a gas, such as a Mac Kibben mucle, where muscles artificial pneumatics from the Japanese company Festo or artificial muscles from the British company Shadow Robot Company.

The work corresponding to the movement of the different parts of the device of the invention can also be carried out by motor groups using electricity, such as contractile artificial muscles based on electro-active polymers using electricity or electric or hydro-electric motors. .

In this case, the energy reserve carried by the walker or the runner can be a battery or a supercapacitor or a fuel that uses an on-board fuel cell or organic matter that metabolizes micro-organisms such as algae or bacteria producing an electric current.

Claims (23)

 CLAIMS 1) Pair of self-propelled shoes or skids with on-board energy helping the feet to walk or run, said feet can be those of a valid person, or artificial feet of an amputee fitted with prostheses, or those of a robot with artificial legs and feet, characterized in that each of said shoes or skates is made up of a sub-assembly (A) with a lower part capable of ensuring the support of the leg on the ground, and a sub-assembly (B) with an upper part fixing the foot and provided with a blade-shaped point (C) made of a very light material and very resistant in traction, compression and torsion, said sub-assembly (B) being movable relative to said sub-assembly (A) by means of a main actuator (Z) such as a piston or artificial muscle or flexible extensible chamber such as a balloon, balloon or bellows, said sub-assembly (B) being therefore capable of a directed movement ve on the ground, said main actuator (Z) being actuated with the help of an energy source carried by the walker or runner, said blade (C) taking advantage of the kinetic energy of said subassembly (B ) and being capable, at the end of the movement of said sub-assembly (B), and in relay of the sub-assembly (A), ensuring leg support on the ground by more or less resisting compression elastic as a function of the mechanical properties of the materials used, while the support phase and the heel-toe tilt end, and while the toe impulse movement begins, which will lead to bring back the leg from back to front. 2) Device according to claim 1, characterized in that the compression on the ground of said blade (C) is helped both by the movement of approximation of the ground of said subassembly (B) and by an auxiliary actuator (W) such that piston or artificial muscle or flexible extensible chamber such as bellows, balloon or balloon. 3) Device according to claim 1, characterized in that said blade (C) is movable about a horizontal axis and is capable of rotation during its support on the ground with the help of an auxiliary actuator (V). 4) Device according to claim 1, characterized in that said sub-assembly (B) is movable around said sub-assembly (A) under the effect of said main actuator (Z) according to a rotational movement about a horizontal axis . 5) Device according to claim 1, characterized in that said sub-assembly (B) approaches the ground under the effect of said main actuator (Z) following curvilinear guides and curved towards the ground which is provided with said sub-assembly (AT). 6) Device according to claim 1, characterized in that said sub-assembly (B) is movable around said sub-assembly (A) under the effect of said main actuator <Desc / Clms Page number 31>  (Z) according to a torsional movement around a horizontal axis, said torsional movement of said subassembly (B) being capable of compressing said blade (C) on the ground. 7) Device according to claims 1, 2, 3, 4, and 5, characterized in that said subassembly (A) is provided at the front with a blade (P) capable of bearing with the ground and d contact with said blade (C), said blade (P) being able to be compressed under the effect of said contact with said blade (C). 8) Device according to claim 7, characterized in that the compression of said blade (P) is helped both by the movement of approach of the ground of said subassembly (B) and by an auxiliary actuator (N) such as piston or artificial muscle or flexible extensible chamber such as bellows, balloon or balloon. 9) Device according to claims 7 and 8, characterized in that said blade (P) is movable about a horizontal axis and is capable of rotation during its support on the ground with the help of said auxiliary actuator (N). 10) Device according to claims 1 and 2, characterized in that said blade (C) is provided at its end with a driving wheel which can be actuated by the on-board energy source. 11) Device according to claims 7 and 8, characterized in that said blade (P) is provided at its end with a driving wheel (344) which can be actuated thanks to the on-board energy source. 12) Device according to claims 1, 2, 3, 4, 5, 6, 7.8 and 9, characterized in that the ground support blades which is provided with the device of the invention are bidentate or tridentate or quadridentate , the actuators responsible for compressing them can be respectively split, tripled, quadrupled, each actuator leading to the compression of a single tooth of one of said support blades. 13) Device according to claim 1, characterized in that an on-board system provided with contact sensors, one or more of which are sensors for contact with the ground, activates said actuator (Z), the central nervous system and the sense of proprioception of the walker or runner adapting to the power level of said main actuator (Z) selected by a command held by said walker or runner 14) Device according to claims 1 and 13, characterized in that, for a foot in the support phase, the level of motive power supplied to said main actuator (Z) pertaining to this same foot is established according to the kinetic data observed in real time on the other leg which is in the oscillation phase, two autonomous perception kits being on board, one for each leg, the two perception kits cooperating with each other, the kinetic data observed in time <Desc / Clms Page number 32>  real on said other leg in oscillation phase being compared with those of the previous step, the observation of a deceleration, an unchanged speed, or an acceleration being interpreted by said on-board perception system connected to said s self-propelling shoes or pads of the invention as respectively an order to lower, leave unchanged, or increase the motive power to be supplied to said actuator (Z) of said support foot. 15) Device according to claim 14, characterized in that each on-board perception kit consists of angle sensors, micro-accelerometers (76) and micro-gyroscopes (87), or even micro-gyroscopes / micro-accelerometers (77), providing the supporting microprocessor of the foot with real-time information on the kinetics of several points of the other leg in the oscillation phase. 16) Device according to claim 14, characterized in that each on-board perception kit consists of angle sensors, CD or CMOS micro-cameras (59) and micro-interferometers which can cooperate with targets or electro-diodes. luminescent (41) fixed on the other leg or capable of performing shape recognition, and providing the supporting microprocessor of the foot with real-time information on the kinetics of several points of said other leg in the oscillation phase. 17) Device according to claims 1, 2, 3, 4, 5, 6, 8, 9, 10 and 11, characterized in that the energy reserve carried by the walker or runner and allowing the work corresponding to the movements of the different parts of the device of the invention is a bottle containing a compressed or liquefied gas capable of relaxing in pneumatic artificial muscles or in chambers of said actuators (Z), (W), (V) and (N) such as chambers flexible extensible like bellows, balloons or balloons or such as rigid chambers like cylinders. 18) Device according to claims 1,2, 3,4, 5, 6, 8,9, 12 and 17, characterized in that the actuator (Z) is provided with a flexible expandable chamber in which a gas is capable to relax, the gas escaping taking place when a neck arranged on the surface of said flexible extensible chamber emerges from a shutter linked to the movement away from said subassemblies (A) and (B), said flexible expandable chamber which can be connected to a channel which is also responsible for supplying the gas which expands in the chamber of said auxiliary actuator (W) or in that of said auxiliary actuator (N). 19) Device according to claims 1, 2, 3, 4, 5, 6, 8, 9, 12, and, 17, characterized in that the actuator (Z) is provided with a cylinder (200) arranged in said sub-assembly (A) and in which a gas is capable of expanding, said cylinder (200) being able to receive a piston (100) integral with said sub-assembly ( B), the return after the end of travel of said piston (100) being effected by a rod-crank system, said piston (100) being able to be pierced in its center with a <Desc / Clms Page number 33>  longitudinal channel concomitantly also responsible for supplying the gas which expands in said chamber of said auxiliary actuator (W) or in that of said auxiliary actuator (N). 20) Device according to claims 1, 2, 3, 4, 5, 6, 8, 9, 12 and 17, characterized in that the work corresponding to the movement of said different subsets is provided by contractile artificial muscles (602) using the expansion and compression of a gas. 21) Device according to claims 1, 2, 3, 4, 5, 6, 8, 9, 10, Ilet 12, characterized in that the work corresponding to the movement of the different parts of the device of the invention is carried out by groups motors using electricity, such as contractile artificial muscles using electricity or electric or hydro-electric motors, the reserve of energy carried by the walker or runner may be a battery or a supercapacitor or a fuel used by a battery on board fuel or organic matter metabolized by microorganisms such as algae or bacteria producing an electric current. 22) Device according to claims 1, 7 and 12, characterized in that the ground support blades are provided with pneumatic type pads with rubber frame having non-slip reliefs receiving wear from contact with the ground and / or air chambers (807) absorbing shocks. 23) Device according to claim 1, characterized in that multi-axis joints and dampers based on springs, blades or hydraulic or hydro-pneumatic cylinders soften and rectify the stresses between an ankle element and a foot element .