FR3042968A1 - MOTORIZED EXOSQUE FOR A HAND - Google Patents

Abstract

The invention relates to a motorized exoskeleton (10) for a hand comprising: - at least a first articulated digital structure (12) for surrounding the phalanges of a first finger and having an inner portion and an outer portion; - a motor ; - A first cable slidably mounted on the inner portion of the first digital structure and having an end connected to the motor, so that the actuation of the motor exerts a tension on the first cable to pass the first finger in a folded position. The invention is characterized in that it further comprises a first elastic means (80) slidably mounted on the outer part of the digital structure, so that the first finger automatically takes an unfolded position when the motor does not exert of tension on the first cable.

Description

Background of the invention

The present invention relates to a motorized exoskeleton for a hand. It finds in particular an application for the restoration of the manual grip for a user suffering from a complete or partial disability of one and / or the other of its upper limbs, and more particularly of one and / or the other of his hands, for example as a result of an accident or illness.

Motorized hand prostheses are known that allow a user to find the possibility of grasping an object. These prostheses usually require the amputation of the defective limb, the prosthesis is then attached to the stump formed at the end of the arm or forearm. The equipment of such prostheses therefore requires particularly heavy surgical operations, and is also proving traumatic for the patient.

Motorized exoskeletons for one hand are also known. Such a device is in particular proposed by the document US 2015/190 246, which describes a motorized exoskeleton for a hand comprising a digital structure for surrounding the different phalanges of a finger, cables extending on the inner and outer faces of the finger and being connected to motors by means of pulleys, the actuation of one or the other of the motors allowing alternately to pass the finger from a folded position in which the phalanges are inclined relative to the others, in an unfolded position, wherein the phalanges are substantially aligned with each other.

In the remainder of the description, the term "inner face" of the hand will be referred to as the face comprising its palm, and "outer face" as the face opposite to the inner face, that is to say the back of the hand. .

By extension, in the remainder of the description, the term "inner part" of an element will be referred to as the part of the element extending facing a portion of the inner face of the hand, and as "outer part" of an element, the portion of said element extending facing a portion of the outer face of the hand.

Such a device known from the prior art, if it allows the user to recover a gripping ability without amputating the upper limb concerned, is particularly complex.

In addition, it has a significant weight because, in particular, the presence of separate motors to be actuated to move from one to the other folded and unfolded positions; the weight of the device is then added to the weight of the hand that the user with a disability must already support, which affects the user comfort of the device. Such an exoskeleton is therefore not totally satisfactory.

Object and summary of the invention

The present invention aims to solve, among others, the deficiencies described above existing motorized exoskeletons, by providing a motorized exoskeleton reliable, lightweight, allowing the user to enter objects effectively and that is of construction and easy use.

This object is achieved by the fact that the invention relates to a motorized exoskeleton for a hand comprising: at least a first articulated digital structure for surrounding a first finger of the hand, the first digital structure comprising at least one distal phalanx element and an intermediate phalanx element for surrounding a first and a second phalanx of said first finger, movable relative to each other and each having an inner portion and an outer portion; a motorized system comprising at least one motor; a first cable connecting the distal phalanx element and the intermediate phalanx element and slidably mounted on the inner part of the intermediate phalanx element, the first cable having a first end attached to the distal phalanx element and a first second end connected to the motorized system, so that the actuation of the motor exerts a tension on the first cable to pivot the intermediate phalanx element relative to the distal phalanx element, whereby the first finger is passed through in a folded position in which the first and second phalanges are inclined relative to each other; - a metacarpal support device to be arranged opposite the metacarpal of the hand; and - a first elastic means connecting the distal phalanx element and the intermediate phalanx element and slidably mounted on the outer portion of the intermediate phalanx element, the first elastic means having a first end attached to the phalanx element distal and a second end attached to the metacarpal support device, so that the first finger automatically takes an unfolded position in which the first and second phalanges are substantially aligned with each other when the motor does not exert tension on the first cable.

The presence of at least one distal phalanx element and an intermediate phalanx element makes it possible to incline with respect to one another at least two phalanges of the finger equipped with the first digital structure, so as to reproduce the natural movements the first finger through which the user can grab an object.

The presence of the motorized system which is connected to one end of the first cable makes it possible to overcome the dysfunction of the user's hand, which may be, for example, of neurological or muscular origin.

Tensioning the first cable by the actuation of the motorized system makes it possible to move the first finger from the unfolded position to the folded position; the first elastic means, for its part, makes it possible to automatically move the first finger from the folded position to the unfolded position and thus makes it possible to lighten the weight of the motorized exoskeleton according to the present invention with respect to the motorized exoskeletons known from the prior art. The invention is described below in a series of alternative embodiments, which may be considered alone or in combination with one or more of the previous ones.

Advantageously, the exoskeleton further comprises: a myoelectric sensor for attachment to a functional muscle of the user, the myoelectric sensor being configured to emit signals as a function of the contractions of said muscle; and a control device configured to actuate the motor according to the signals emitted by the myoelectric sensor.

Advantageously, the myoelectric sensor is configured to be attached to a muscle of the forearm from which the user's hand extends.

The myoelectric sensor and the control device make it possible to control the actuation of the motorized system according to the contractions of the muscle on which said sensor is fixed, so as to reproduce the natural movements of the user's hand.

Preferably, the motorized system further comprises a ball screw device, the second end of the first cable being connected to the ball screw device.

The ball screw device makes it possible to convert a rotational movement at the output of the motor into a translation movement by means of which a tension can be exerted on the first cable, to move the finger from the unfolded position to the folded position.

Advantageously, the exoskeleton further comprises a carpal support device to be arranged facing the carpus of the hand, the motorized system being fixed to said carpal support device.

The carpal support device maintains the wrist of the user in the extension of his forearm, while contributing to the compactness of the exoskeleton.

Advantageously, the exoskeleton further includes a thumb structure for mounting on the thumb of the hand.

The thumb structure contributes to the reproduction of the gripping function of the hand, whereby a clip can be formed between the first finger equipped with the first digital structure, and the thumb equipped with the thumb structure.

Preferably, the thumb structure is articulated, and has at least one distal phalanx element and an intermediate phalanx element, to multiply the object possibilities that can be grasped by the hand.

Alternatively, the thumb structure includes a static orthosis, an object grasped by the user's hand that can be held between said static orthosis and the first finger disposed in the folded position.

Advantageously, the distal phalanx element comprises a distal cap configured to cover the distal end of the first finger.

The distal cap contributes to the strength of assembly of the distal phalanx element on the first finger, and thereby contributes to the reliable operation of the exoskeleton.

Advantageously, the first digital structure further comprises a force sensor configured to transmit signals as a function of the pressure and shear stresses exerted by the first digital structure on an object.

Preferably, the force sensor is disposed on the distal cap of the distal phalanx element.

The force sensor and its cooperation with the control device make it possible to adjust the actuation of the motor according to the pressure and the shear stresses exerted by the first digital structure on an object. The force sensor is thus configured to, inter alia, not increase the pressure exerted on an object according to the signals emitted by the force sensor, such an increase may damage said object. The force sensor thus makes it possible to reproduce the pressure variations exerted by a valid hand, and the adjustment of the pressure exerted as a function, inter alia, of the resistance of the object grasped by the hand.

Advantageously, the exoskeleton further comprises an adjusting device configured to adjust the tension of the first elastic means.

Advantageously, the adjustment device is disposed on the metacarpal support device.

The adjustment device thus makes it possible to adjust the elasticity of the exoskeleton so as to adapt to each of the users intended to be equipped. In addition, the presence of the adjustment device on the metacarpal support device allows easy adjustment, for example by the second hand of the user or by a third party.

Preferably, the exoskeleton further comprises: at least one second articulated digital structure for surrounding a second finger of the hand, the second digital structure comprising at least one distal phalanx element and an intermediate phalanx element for surrounding a first and a second phalanx of said second finger, movable relative to each other and each having an inner portion and an outer portion; a second cable connecting the distal phalanx element and the intermediate phalanx element of the second digital structure and slidably mounted on the inner part of the intermediate phalanx element, the second cable having a first end attached to the element; distal phalanx and a second end connected to the motorized system; a second elastic means connecting the distal phalanx element and the intermediate phalanx element of the second digital structure and slidably mounted on the outer part of the intermediate phalanx element, the second elastic means having a first end fixed to the second phalanx element; distal phalanx element and a second end attached to the metacarpal support device; - Palmar guide means configured to allow the sliding of the first and second cables between the first and second digital structures and the motorized system.

The presence of the second digital structure, the second cable and the second elastic means allows to equip a second finger of the hand of the user, and thus to further increase the possibilities of grip offered by the exoskeleton.

In addition, the palmar guide means allows the first and second cables to be slid independently of each other, without the risk of crossing or friction, which would compromise the operation of the exoskeleton. It does not compromise the gripping of objects between the first and second fingers, on the one hand, and the palm of the hand, on the other hand.

Advantageously, at least one of the elements taken from the distal phalanx element and the intermediate phalanx element comprises an annular piece having at least one first groove configured to guide the sliding of at least one of the elements taken from the first cable and the first elastic means.

The presence of the first groove facilitates the sliding of the first cable and / or the first elastic means, and, consequently, facilitates the operation of the exoskeleton.

In addition, the presence of the first groove does not compromise the compactness of the device, nor does it increase its weight.

Advantageously, the intermediate phalanx element comprises an annular piece, a lateral slot being formed in said annular piece.

The presence of the lateral slot allows the fold of digital material, which is formed for example when the first finger passes from the unfolded position to the folded position, not to exert a significant pressure against the inner face of said intermediate phalanx element, a such pressure compromising the comfort of use of the exoskeleton.

In addition, the lateral slot limits contact with other fingers, possibly equipped with a digital structure of the same type, such contacts, in addition to the noise that they can generate, risking to weaken the exoskeleton.

Preferably, the metacarpal support device comprises a first digital projection extending in the direction of said first finger.

The first digital projection enhances the cooperation and stability of the positioning of the metacarpal support device on the metacarpal of the hand, and also contributes to the efficiency of the grip function reproduced by the exoskeleton.

Advantageously, the first digital projection comprises a longitudinal groove configured to guide the sliding of the first elastic means.

The longitudinal groove thus contributes to the reliability of the exoskeleton, and limits the risks that the first elastic means is attached to an object, during the use of the exoskeleton.

According to a second embodiment, the exoskeleton comprises at least a first glove having a first envelope having support portions, the distal phalanx element and the intermediate phalanx element comprising support portions of said first envelope. The use of the first glove improves the adaptability of the exoskeleton to the hand of the user, while contributing to the compactness of the device.

Advantageously, the first envelope comprises hinge portions disposed between the support portions, said hinge portions being configured to allow the first and second phalanges of the first finger to be inclined with respect to one another.

The hinge parts thus contribute to the efficient operation of the exoskeleton, and its ability to reproduce the grip function.

In addition, they do not compromise its ease of production and mounting on the hand of the user.

Advantageously, the exoskeleton comprises guiding means arranged on the first envelope and configured to guide the sliding of at least one of the elements taken from the first cable and the first elastic means.

The guide means contribute, in the same manner as the first groove formed in the annular part of one of the phalanx elements of the first embodiment of the exoskeleton according to the present invention, to the reliability of the operation of the exoskeleton , the first cable and / or the first elastic means not likely to be hooked or ripped, during the use of the exoskeleton.

BRIEF DESCRIPTION OF THE DRAWINGS Other characteristics and advantages of the invention will appear more clearly and completely on reading the following description of preferred embodiments given by way of non-limiting example and with reference to the appended drawings. in which: - Figures 1 and 2 show schematically perspective views, respectively of the outer and inner faces of a hand equipped with a first example of exoskeleton according to the present invention; FIG. 3 schematically represents a portion of the first example of an exoskeleton according to the present invention; - Figures 4 and 5 show schematically sectional views of a finger equipped with a digital structure of the first example of exoskeleton respectively in an unfolded position and in a folded position; - Figures 6 and 7 show schematically the outer and inner faces of a hand equipped with the first glove of a second example of exoskeleton according to the present invention; and - Figures 8 and 9 show schematically the outer and inner faces of a hand equipped with the second glove of the second example of exoskeleton according to the present invention.

Detailed description of the invention

Figures 1 to 5 show a first embodiment of motorized exoskeleton 10 for a hand according to the present invention. The exoskeleton 10 has four digital structures 12 configured to surround four distinct fingers of the hand, in this case the index finger, the middle finger, the ring finger and the little finger of a right hand.

As shown in the various figures, for example and in a nonlimiting manner, the digital structures 12 configured to surround the different fingers of the hand have identical characteristics, with possible differences in sizing, so that, for the sake of simplicity in following the description, the elements relating to the portion of the exoskeleton 10 surrounding a finger of the hand will apply indifferently to each of the other fingers configured to be surrounded by the digital structure 12. It could however well obviously conceive, and without departing from the scope of the present invention, an exoskeleton 10 which only some of the aforementioned four fingers would be surrounded by a digital structure 12, and / or digital structures 12 having substantially different components from one finger to another . The exoskeleton also has an inch structure 14. For example and without limitation, the thumb structure 14 includes a static orthosis.

One could of course conceive, and within the scope of the present invention, an exoskeleton 10 having a fifth digital structure 12 articulated to surround the thumb of the hand. The exoskeleton 10 further comprises a metacarpal support device 16, configured to be arranged facing the metacarpal of the hand, and a carpal support device 18, configured to be arranged facing the carp of the hand.

As shown in the various figures, and more particularly in FIG. 3, each of the digital structures 12 of the exoskeleton 10 comprises a distal phalanx element 20 configured to surround the distal phalanx of a finger, said distal phalanx being usually designated under the term phalangette.

Each of the digital structures 12 further comprises first and second intermediate phalanx elements 22, 24 configured to surround the phalanges of the finger disposed between the phalangea and the metacarpal of the hand. Specifically, the first intermediate phalanx element 22 is configured to surround the intermediate phalange, or phalangeal, while the second intermediate phalanx element 24 is configured to surround the proximal phalanx.

The phalanx elements 20, 22, 24 each comprise an inner portion, covering a portion of the inner face of the finger, and an outer portion, covering a portion of the outer face of the finger.

Furthermore, the phalanx elements 20, 22, 24 each have an inner face, disposed opposite their respective phalanx, and an outer face, opposite to the outer face. The distal phalanx element 20 has a distal cap 26 configured to cover the end of the finger, and an annular piece 28 at least partially surrounding the phalanget of the finger.

As shown in particular in FIG. 3, the annular piece 28 of the distal phalanx element 20 has an inner groove 30 and an external groove 32, respectively formed in the inner and outer parts of the distal phalanx element 20. and whose utility will become clearer later.

The first and second intermediate phalanx members 22, 24 also each comprise an annular piece 34, 36 in each of which are also formed an inner groove 38, 39 and an outer groove 40, 43, the inner grooves 38, 39 and outer 40, 43 being more specifically formed respectively in the inner and outer portions of the first and second intermediate phalanx members 22, 24.

The annular pieces 34, 36 of the intermediate phalanx elements 22, 24 further comprise a lateral slot 41, 45.

The metacarpal support device 16 has an outer structure 42 configured to cover at least part of the outer face of the metacarpal of the hand.

As shown in particular in Figure 3, the outer structure 42 of the metacarpal support device 16 has a V shape, the concavity of the outer structure 42 being configured to follow the benefit of the outer face of the metacarpal.

The outer structure 42 further includes two lateral ends 44, 46 configured to surround a portion of the hand; for example and without limitation, the lateral ends 44, 46 are configured to cover respectively a lateral portion of the index and the little finger.

The metacarpal support device 16 also comprises a mounting means 47, comprising for example and without limitation a flexible band, for example of textile material, attached to the lateral ends 44, 46, the mounting means 47 being configured to allow the mounting the metacarpal support device 16 on the metacarpal of the hand. The mounting means 47 extends facing the inner face of the metacarpal of the hand.

The metacarpal support device 16 also comprises digital projections 48 which extend from the outer structure 42 to respectively cover a proximal portion of the fingers on which the digital structures 12 described above are mounted.

The digital projections 48 comprise longitudinal grooves 50 comprising at least one opening opening towards the digital structures 12.

Each of the digital projections 48 of the metacarpal support device 16 further comprises, for example fixed on its outer face, a setting means 52 whose utility will appear more clearly later. The exoskeleton 10 according to the present invention also comprises a motorized system 60, comprising a motor 62 and a ball screw system 64. Without departing from the scope of the present invention, an exoskeleton 10 could be conceived whose motorized system 60 would comprise any other system configured to allow turning of a rotational movement at the output of the motor 62 into a translation movement.

As shown in particular in FIG. 2, the motorized system 60 is fixed, for example and without limitation, on the inside part 54 of the carousel support device 18. In other words, the motorized system 60 is fixed on the inside of the wrist of the user. The exoskeleton 10 comprises, as shown in FIG. 2, a palmar guiding means 66. For example and in a nonlimiting manner, the palmar guiding means 66 comprises a substantially flat piece configured to be housed in the palm of the hand and having inner channels whose utility will become clearer later.

The palmar guide means 66 is formed from a material having advantageous flexibility properties and is configured to provide comfort to the user without hindering the grasping of an object by the hand equipped with the exoskeleton 10. The exoskeleton 10 also includes cables 70 each having first and second ends 72, 74.

As represented in particular in FIG. 2, which represents the inside face of the hand equipped with the exoskeleton 10, the first end 72 of each of the cables 70 is fixed on the digital structure 12, and more particularly on its phalanx element. distal 20, for example and without limitation on the distal cap 26.

Moreover, the second end 74 of each of the cables 70 is connected to the motorized system 60, and more particularly to the ball screw system 64.

Each of the cables thus extends along the inner parts of the phalanx elements 20, 22, 24 by successively passing into the internal grooves 30, 38, 39 formed in the annular parts of the phalanx elements 20, 22, 24, then in one of the inner channels formed in the palmar guide means 66. The exoskeleton 10 further comprises elastic means 80, each having first and second ends 82, 84.

As shown in FIG. 1, which represents the outer face of the hand equipped with the exoskeleton 10, the first end 82 of each of the elastic means 80 is attached to the distal phalanx element 20 of the digital structure 12, and more particularly to the distal cap 26.

The second end 84 of each of the elastic means 80 is, in turn, fixed to the metacarpal support device 16.

It would of course be possible to conceive, and without departing from the scope of the present invention, an exoskeleton 10 whose second ends 84 of the elastic means 80 would not be fixed to the metacarpal support device 16, but in any other place, such as for example on the carpal support device 18.

It will thus be understood that, as represented in FIG. 1, each of the elastic means 80 extends along the outer portions of the phalanx elements 20, 22, 24 passing successively into the outer grooves 32, 40, 43 of the elements phalanges 20, 22, 24, then in the longitudinal groove 50 of the metacarpal support device 16.

The adjustment means 52 fixed on the outer face of the outer structure 42 of the metacarpal support device 16 are configured to allow adjustment of the length, and hence the tension, of the elastic means 80.

As shown in particular in FIGS. 4 and 5, the exoskeleton 10 is thus configured to allow each of the four fingers equipped with the digital structure 12 to take alternately a folded position, in which the phalanges are substantially inclined relative to each other. to the others, and an unfolded position, in which the phalanges of the finger are substantially aligned with each other.

The cable 70 being connected, via the ball screw system 64, to the motor 62 of the motorized system 60, the actuation of the motor 62 exerts a tension on the cable 70 so as to pivot, on the one hand, the first intermediate phalanx element 22 with respect to the distal phalanx element 20, and secondly the second intermediate phalanx element 24 with respect to the first phalanx element 22, whereby the finger passes into the position folded in which each of the phalanges is substantially inclined relative to the adjacent phalanx.

When the motor 62 does not exert tension on the cable 70, and as shown in FIG. 4, insofar as the elastic means 80 extends along the outer portions of the phalanx elements 20, 22, 24 of the digital structure 12, it exerts a voltage to automatically move the finger in the aligned position, wherein the finger phalanges are substantially aligned with each other.

It will thus be understood that the exoskeleton 10 according to the present invention makes it possible to reproduce the bending movements of the fingers of the hand in an artificial manner and, consequently, allows the user, inter alia, to grasp an object. The exoskeleton 10 also comprises a fixed myoelectric sensor 90, as shown in FIG. 1, on one of the functional muscles of the user; for example and without limitation, the myoelectric sensor 90 is fixed on one of the muscles of the forearm of the user. The exoskeleton 10 also comprises a control device 92, which can be fixed, for example and without limitation, on the carpal support device 18.

The myoelectric sensor 90 is thus configured to emit signals according to the muscular contractions it detects, the control device 92 being, for its part, configured to actuate the motor 62 as a function of the signals emitted by the myoelectric sensor 90.

Thus, the presence of the myoelectric sensor 90 and the control device 92 allows the user to control the actuation of the exoskeleton 10, and hence to control the movement of his hand, by means of the contraction of the muscle on which the myoelectric sensor 90 is disposed.

As represented in particular in FIG. 2, each of the digital structures 12 furthermore comprises a force sensor 94 fixed for example and in a nonlimiting manner on the distal cap 26 of the distal phalanx element 20 and configured to emit signals as a function of the pressure and shear stresses exerted by said digital structure 12 on an object.

The force sensor 94 is thus configured to cooperate with the control device 92 to allow adjustment of the operation of the motor 62, and more particularly its power, as a function of the pressure and / or shear stresses measured by the sensor. strength 94.

One could of course design an exoskeleton 10, each of the phalanx elements 20, 22, 24 including a force sensor 94 and / or whose palmar guide means 66 would include a force sensor to enable the motor 62 to be adjusted. depending on the resistance encountered by the hand.

The components of the exoskeleton 10, and more particularly the phalanx elements 20, 22, 24, the metacarpal support device 16 and the carpal support device 18 are formed, for example and without limitation, in a solid material, such as titanium, aluminum, polyamide or any other material not likely to injure the user, while having the stiffness properties necessary for their relative movements.

For example and without limitation, the various elements of the exoskeleton 10 can be formed by means of a 3D type of printing, so as to adjust their dimensions to the measurements of the hand of the user.

The lateral slots 41 formed in the first and second intermediate phalanx elements 22, 24 of the digital structures 12 are in particular configured to allow the evacuation of the folds of material of the finger, which are formed during its bending.

These lateral slots 41 are also configured to limit the contacts between the adjacent digital structures 12, during the actuation of the motor 62, so as to reduce the risk of shocks between the digital structures 12 and, consequently, the risk of embrittlement. the exoskeleton 10.

As shown in Figures 1 to 5, the phalanx elements 20, 22, 24 are spaced from each other. Of course, without departing from the scope of the present invention, it would be possible to design an exoskeleton 10 whose digital structures 12 comprise flexible intermediate connecting pieces connecting the phalanx elements to each other, such connecting pieces allowing, among other things, to facilitate the mounting of the digital structures 12 on the fingers of the user.

As shown particularly in Figures 1 and 2, the exoskeleton 10 is assembled directly on the hand of the user. One can of course conceive the presence of an intermediate glove, covering the hand of the user, and on which would be threaded the exoskeleton 10.

In the first embodiment of the exoskeleton 10 described with reference to FIGS. 1 to 5, each of the digital structures 12 comprises three distinct phalanx elements; an exoskeleton 10 could be designed of which one and / or the other digital structures 12 would comprise only a distal phalanx element 20 and a single intermediate phalanx element surrounding one of the intermediate phalanges arranged between the phalangeal and the metacarpal of the hand .

On the other hand, an exoskeleton 10 configured to surround only some of the fingers of the user could also be designed to accommodate the user's ability to move.

Figures 6 to 9 show a second example of exoskeleton 110 motorized to equip the hand of the user.

As shown in FIGS. 6 and 7, the exoskeleton 110 comprises a first glove 112 having a first envelope 114.

The first envelope 114 has support portions 116 shown in white in Figures 6 and 7, and hinge portions 118, shown in gray and disposed between said support portions 116.

The hinge parts 118 are formed of a material, for example textile, configured to allow different parts of the hand, and more particularly the knuckles of each of the fingers, to be inclined relative to each other.

For example and in a nonlimiting manner, the support portions 116 are formed of a material, for example textile, having properties of rigidity greater than those of the hinge parts 118. For example, a first glove 112 can be designed having its support portions 116, a stiffening material, such as a cover made of a thermoplastic material, enabling them to have a rigidity greater than that of the hinge parts 118.

It is also conceivable, without departing from the scope of the present invention, from the hinge parts 118, parts having flexibility properties different from each other, so as, for example, to adapt the flexibility of the first glove 112 to regions of the hand that it is configured to cover.

The support portions 116 of the first envelope 114 constitute, in a manner similar to the first embodiment described above with reference to FIGS. 1 to 5, distal phalanx elements 120 and first and second intermediate phalanx elements 122, 124, configured to surround the different phalanges of the user's finger.

It is therefore understood that the support portions 116 form articulated digital structures configured to surround the phalanges of the fingers of the user.

The support portions 116 are also configured to form a thumb structure 125, a metacarpal support device 126 and a carpal support device 128.

As shown in particular in Figure 6, the outer portion of the first glove 112 also comprises a flexion zone 129, consisting for example and not limited by an elastic band, and configured to allow relative flexibility of the wrist of the user, and more particularly to allow a tilt of the hand relative to the forearm.

The first glove 112 also has outer guide means 132 and inner guide means 134 attached to some of the support portions 116 of the first envelope 114.

Similarly to the first embodiment, the exoskeleton 110 according to the second embodiment comprises cables 170 extending on the inner part of the first glove 112, shown in FIG. 7, of which a first end is fixed, for example welded, sewn or glued to the distal phalanx elements 120, and whose second end is connected to the motorized system 160; on the other hand, the exoskeleton 110 also comprises elastic means 180 extending on the outside of the first glove 112, shown in FIG. 6, the first end of which is fixed, for example sewn, glued or welded, to the phalanx elements distal 120, and whose second end is fixed, for example and without limitation, the metacarpal support device 125. The exoskeleton 110 also comprises a motorized system 160, comprising a motor 162 and a ball screw system 164, the motorized system 160 being fixed, for example and without limitation, on the wrist of the user, and more particularly on the carpal support device 128. The exoskeleton 110 according to its second embodiment has a similar operation to that described with reference to Figures 1 to 5.

In particular, the motor 162 is configured to exert a tension on the cables 170, to rotate the phalanx elements relative to each other, so as to pass the fingers of the hand in a folded position in which the phalanges are substantially inclined relative to each other.

Furthermore, the elastic means 180 are dimensioned so that, when the motor 162 does not exert tension on the cables 170, the fingers automatically resume an unfolded position in which their phalanges are substantially aligned with each other. The exoskeleton 110 according to this second embodiment further comprises a second glove 200, shown in particular in FIGS. 8 and 9, and configured to cover the first glove 112.

The second glove 200 comprises a second envelope 202 also having support portions 204 and hinge portions 206, the support portions 204 of the second envelope 202 being arranged substantially opposite the support portions 116 of the first envelope 114, and the hinge portions 206 of the second housing 202 being disposed substantially opposite the hinge portions 118 of the first housing 114. Thus, the phalanx elements 120, 122, 124, the metacarpal support device 126 and the device Carpal support 128 of the exoskeleton 110 also includes some of the support portions 204 of the second envelope 202. It is thus understood that the articulated digital structures of the exoskeleton 110 according to this second embodiment comprise support portions 116, 204 first and second gloves 112, 200.

The second glove 200 thus covers, in particular, the cables 170, the elastic means 180, and the outer and inner guide means 132, 134, so as to prevent any risk that one of these elements is hooked by the user when moving the hand.

Although such elements have not been shown in FIGS. 6 to 9, the exoskeleton 110 according to the second embodiment can entirely comprise, without departing from the scope of the present invention, a myoelectric sensor, a control, force sensors and adjusting means of elastic means 180 such as those described with reference to the exoskeleton 10 according to the first embodiment.

Furthermore, the distal phalanx elements 120 also comprise distal caps, comprising a portion of the support portions 116, 204 of the first and second gloves 112, 200. On the other hand, the region of the support portion 116 of the first glove 112 on which are fixed the inner guide means 134 is a palmar guide means to functionality similar to that described with reference to the first embodiment.

The above description is given by way of example, and is therefore not limiting of the invention.

In particular, the invention, although particularly suited to the equipment of one hand, can also equip any other part of the body of a user, or could also be used to equip one of the members of an animal.

Claims (18)

Motorized exoskeleton (10, 110) for a hand comprising: at least one first articulated digital structure (12) for surrounding a first finger of the hand, the first digital structure comprising at least one distal phalanx element (20, 120) and an intermediate phalanx element (22, 24, 122, 124) for surrounding a first and second phalanx of said first finger, movable relative to each other and each having an inner portion and an outer portion; a motorized system (60, 160) comprising at least one motor (62, 162); a first cable (70, 170) connecting the distal phalanx element and the intermediate phalanx element and slidably mounted on the inner portion of the intermediate phalanx element, the first cable having a first end (72) secured to the distal phalanx element and a second end (74) connected to the motorized system, so that actuation of the motor exerts a tension on the first cable to pivot the intermediate phalanx element relative to the phalanx element distal, whereby the first finger is passed to a folded position in which the first and second phalanges are inclined relative to each other; characterized in that it further comprises: - a metacarpal support device (16, 126) to be arranged facing the metacarpal of the hand; and a first elastic means (80, 180) connecting the distal phalanx element and the intermediate phalanx element and slidably mounted on the outer portion of the intermediate phalanx element, the first resilient means having a first end (82); ) fixed to the distal phalanx element and a second end (84) attached to the metacarpal support device, so that the first finger automatically takes an unfolded position in which the first and second phalanges are substantially aligned with each other; other when the motor does not exert tension on the first cable. 2. Exoskeleton (10, 110) according to claim 1, characterized in that it further comprises: - a myoelectric sensor (90) to be fixed on a functional muscle of the user, the myoelectric sensor being configured to emit signals according to contractions of said muscle; and a control device (92) configured to actuate the motor according to the signals emitted by the myoelectric sensor. Exoskeleton (10, 110) according to claim 1 or 2, characterized in that the motorized system (60, 160) further comprises a ball screw device (64, 164), the second end of the first cable being connected to the ball screw device. 4. Exoskeleton (10, 110) according to any one of claims 1 to 3, characterized in that it further comprises a carpal support device (18, 128) to be arranged facing the carp of the hand, the motorized system being attached to said carpal support device. An exoskeleton (10, 110) according to any one of claims 1 to 4, characterized in that it further comprises a thumb structure (14, 125) for mounting on the thumb of the hand. An exoskeleton (10, 110) according to any one of claims 1 to 5, characterized in that the distal phalanx element (20, 120) has a distal cap (26) configured to cover the distal end of the first finger. 7. Exoskeleton (10, 110) according to any one of claims 1 to 6, characterized in that the first digital structure further comprises a force sensor (94) configured to transmit signals as a function of pressure and constraints of shear exerted by the first digital structure on an object. Exoskeleton (10, 110) according to claims 6 and 7, characterized in that said force sensor is disposed on the distal cap of the distal phalanx element. 9. Exoskeleton (10, 110) according to any one of claims 1 to 8, characterized in that it further comprises an adjusting device (52) configured to adjust the tension of the first elastic means. 10. Exoskeleton (10, 110) according to claim 9, characterized in that the adjusting device is arranged on the metacarpal support device. 11. Exoskeleton (10, 110) according to any one of claims 1 to 10, characterized in that it further comprises: - at least a second articulated digital structure to surround a second finger of the hand, the second digital structure having at least one distal phalanx element and an intermediate phalanx element for surrounding a first and second phalanx of said second finger movable relative to each other and each having an inner portion and an outer portion; a second cable connecting the distal phalanx element and the intermediate phalanx element of the second digital structure and slidably mounted on the inner part of the intermediate phalanx element, the second cable having a first end attached to the element; distal phalanx and a second end connected to the motorized system; a second elastic means connecting the distal phalanx element and the intermediate phalanx element of the second digital structure and slidably mounted on the outer part of the intermediate phalanx element, the second elastic means having a first end fixed to the second phalanx element; distal phalanx element and a second end attached to the metacarpal support device; - Palmar guide means (66) configured to allow the sliding of the first and second cables between the first and second digital structures and the motorized system. 12. Exoskeleton (10) according to any one of claims 1 to 11, characterized in that at least one of the elements of the distal phalanx element and the intermediate phalanx element comprises an annular piece (28). , 34, 36) having at least one first groove (30, 32, 38, 39, 40, 43) configured to guide the sliding of at least one of the first cable and the first elastic means. 13. Exoskeleton (10) according to any one of claims 1 to 12, characterized in that at least the intermediate phalanx element comprises an annular piece (34, 36), a side slot (41, 45) being formed in said annular piece. 14. Exoskeleton (10) according to any one of claims 1 to 13, characterized in that the metacarpal support device comprises a first digital projection (48) extending in the direction of said first finger. 15. Exoskeleton (10) according to claim 14, characterized in that the first digital projection comprises a longitudinal groove (50) configured to guide the sliding of the first elastic means. 16. Exoskeleton (110) according to any one of claims 1 to 11, characterized in that it comprises at least a first glove (112) having a first envelope (114) comprising support portions (116), the distal phalanx element (120) and the intermediate phalanx element (122, 124) having structural portions (116) of said first envelope. The exoskeleton (110) according to claim 16, characterized in that the first shell (114) has hinge portions (118) disposed between said structural portions (116), said hinge portions being configured to allow first and second phalanges of the first finger to be inclined relative to each other. 18. Exoskeleton (110) according to claim 16 or 17, characterized in that it comprises guide means (132, 134) arranged on the first envelope and configured to guide the sliding of at least one of the elements taken among the first cable and the first elastic means.