FR3065387A1 - EXOSQUELET PASSIVE ENERGY AND COLLABORATIVE - Google Patents

Abstract

A passive and collaborative energy exoskeleton, including carrying and handling of tools and loads, consisting of a harness with ergonomic distribution of forces (Fig. 1, 3 and 4) and attached to it at the front or at the back, of one or more mechanical "exo-limbs", exoblades or exojambes articulated with the elbow or the knees, with metal springs (16), elastic tensioners, gas cylinders (15) or any mechanical component of Passive energy ("CEP") capable of supplying energy by stretching, compressing, twisting, rotating, characterized in that it further comprises an interface (13) integral between said exo-members and the members of the user, and mechanical means for him to stop the action of said passive energy components on the exo-members on the one hand (Figs 11 and 12), on the other hand to vary said action immediately and at will (Fig. 3 to 10), these means being activated by the very gestures of manipulation or carrying tools or loads. The goal is to allow the user to be assisted by a passive exoskeleton at any time to the extent of his need and to collaborate with him while he performs his task, without requiring adjustment in itself. The present invention finds an industrial application in all fields that may require muscle assistance in the handling of tools, objects or loads.

Description

TECHNICAL AREA

The field of the present invention is that of man augmented by an exoskeleton and in particular of able-bodied man increased preventively by an exoskeleton assisting with effort.

The exoskeletons being these mechanical structures doubling from the outside that of the human skeleton and giving it a strength or physical capacities that it does not have or no more. Today we are witnessing the birth of exoskeletal technologies and the very first entries into the commercialization phase.

Social security figures around the world show staggering spending, hundreds of millions of euros, on sick leave, medical treatment or surgery related to musculoskeletal disorders of hardworking workers - and in particular those who carry heavy tools or loads at arm's length for long periods.

The hard work also creeps into the non-professional life of the person who performs it by prohibiting him from leisure physical activities stimulating their back pain, shoulder, joint, lumbar, etc.

In addition, it has been shown that a localized evil leads the person who suffers from it to adopt a bad posture which mitigates this evil but ends up inducing others: a chain of consecutive ailments is generated by the only localized malignant source.

The present invention seeks to provide a solution to the ills arising from the handling of tools and loads, in particular by the able-bodied worker, and thus:

1. preserve the health of the worker,

2. improve their time and work capacity to the satisfaction of the employer,

3. reduce the considerable expenditure linked to the wear and tear of the body for the greater good of the social security organizations.

The potential consumer market should not be overlooked.

We can consider cases of application of stress relief related to moves, gardening, private manual work, domestic shopping ...

PREVIOUS STATE

In the prior state, there are two main areas of development in exoskeletons for effort assistance:

active exoskeletons: motors or actuators act in the manner of human muscles, under the orders of an electronic card or a microprocessor, in accordance with the programmed control laws, according to the information delivered by sensors 'efforts, of which there is a very wide spectrum of different approaches, all powered by batteries. All of this forms complex, sophisticated sets, very energy-hungry and for the moment still fragile and immature in their development and especially in the quality of their collaboration with the will of their users. To date, the first examples of active commercial exoskeletons are motorized exo-legs allowing people in wheelchairs to move upright, with still very important reservations as to fluidity and comfort of use.

- passive exoskeletons: for the lower limbs (called exojambes), they can be summed up with crutches articulated at the knees, which allow to descend loads on the ground without passing through the legs of the user - for the upper limbs (said exobras ), these are structures where a passive energy component (metal spring, gas spring, elastic tensioners ...) associated mainly with geometry and mechanics, give the exobras properties of isoelasticity. That is to say, a faculty to deliver an almost equal effort on all their races from top to bottom, in the manner of architect's lamps. By abuse of language, one could say that the load is then gravity zero. This principle is in the field of weightless arms or mainly used camera stabilizers for decades

The advantage of passive energy exoskeletons is their robustness, their ability to resist realities on the ground, their immediate industrialization possible. They are in this superior to the active models, in this year 2017, because already functional and used by professionals, while that the active models are almost all still locked up in laboratories.

their pragmatism, large scale.

Their pitfall is their lack of intelligence and capacity for programmed interaction with their user, due to their passivity.

Passive exoskeletons know for example how to support a work tool for long periods, with an inestimable gain in comfort and productivity for the users, who focus on the quality, precision and finesse of the work, once relieved of the constraint for carrying the tool.

It should be noted that the isoelastic arms must be adjusted manually according to the load which is suspended there. This adjustment can take several seconds, even several minutes, and consists either of adjusting the stretching or compression length of the Passive Energy Component (PEC) or the lever arm with which it acts on the structure, or the geometry of its action.

Passive exoskeletons are, however, in the prior art, almost unusable for logistics activities with regular pick-up, variable weights or turning-type manipulations. The constant assistance annoys the operator as soon as he no longer wears anything: his arms shoot upwards and he has to fight hard against the exobras to get them back down.

The present invention relates to the means and techniques, for a passive energy exoskeleton, to collaborate with its user, by allowing him:

- to be assisted only when he needs it or wants it

- to be assisted with an appropriate amount of force and adjusted instantly by him, at the same time as he performs his task.

The integral exoskeleton / user / load interface (13) and an optimal architecture of a passive exoskeleton are an integral part of the invention, which intends to use the user's work gesture to simultaneously regulate the force delivered by The exoskeleton.

STATEMENT OF THE INVENTION

The collaborative passive energy exoskeleton of the present invention implements, in concert and in combinations c

multiple, the following techniques:

the isoelasticity of mechanical arms, obtained by an ideal combination between the forces delivered by a Passive Energy Component (metal spring, gas spring, elastic tensioner ... 15 and 16), and the geometry with which it acts on the structure. A load at the end of the arm can then be brought to all points of its range of action and be left there without any carrying effort.

- the anisoelasticity of mechanical arms, as a mechanical means of varying the action of the CEPs immediately and at will, obtained by a combination between the forces delivered by a Passive Energy Component (CEP, 15 and 16) and the geometry with which it acts on the structure, so that the arm develops a variety of lifting efforts throughout its course from bottom to top. In particular an almost zero effort with arms down and a maximum effort with arms raised, as well as a significant variation over a short stroke. The operator can then grab any object, whatever the weight, without having pre-adjusted the exoskeleton, and lift it to the right height where this weight is perfectly balanced. The gesture of lifting the load also becomes the gesture of adjusting the lifting force delivered by the exoskeleton.

- An interface between the exoskeleton and the upper limbs of the user, consisting of a rigid ring (13), ergonomically shaped to the shapes of a human hand. The operator slides there the palm of his hand (Fig. 13) to guide the exobras towards a load to be grasped, or to the place where he wishes to operate his tool. The shapes of the ring retain freedom of movement and unhindered folding of the thumb and little finger in particular. The ring is fixed to the exobras in an articulated manner (12), with a rotation along the vertical axis Z and a rotation along the horizontal axis Y.

- A gripper (14) between said interface and the load or the tool. The gripper can take the form of two separated fingers, coated with a non-slip, articulated perpendicular to said rigid ring (13), and pivoting along the same Y axis. The gripper can also take the form of a flange pivoting on Y which allows to attach a power tool directly to the ring. A quick mounting system can instantly exchange the gripper: it can be a solid die with a trapezoid shape whose edges have a dovetail, as well as a locking by indexing finger on spring.

- A passive exoskeleton architecture consisting of a so-called back harness (1), composed of a belt (6) pulling the user's hips back under the effect of the moment of force generated by the load at the ends of the exobras , and cushions (7) pressing on the top of the shoulder blades and under the neck: the distribution of the stress of the moment of force is optimal when the belt and the cushions are the most distant from each other, the distance decreasing the pressure points squared by the distance. The belt and the cushions are connected by a structure (2, 3, 4, 5) which doubles and imitates the human spine. The exobras are fixed to this vertebral structure and emanate from it either under the user's arms (Fig. 2A and 2B), or above his shoulders (Fig. 1 and 2A).

- A passive exoskeleton architecture consisting of a so-called ventral harness (Fig. 4), composed of a vest (25) pulling the upper back of the user forward under the effect of the force moment generated by the load at the ends of the exobras, and a ventral plate (26) pressing on the lower abdomen. Said plate can be wide enough to press on the edge of the hips and include a recess in the middle and forward to avoid pressing on the lower abdomen, bladder, internal organs ... The vest and the ventral support are connected by a vertical structure (27). The exobras are fixed there in the middle, so that their travel from top to bottom corresponds to that of the user's arms.

- An accompaniment by the passive exoskeleton of the pendulum movement from front to back of the human back arm, when the user stretches his arms in front of him, then brings them back to himself, which is obtained

1. On a dorsal harness, by means of an orbital scapula (24), on a ventral by means of an orbital clavicle (23): a piece of 20 to 25 cm in length allows to move from front to back rotation point or shoulder (8) of the exobras.

2. Depending on the shape of the arm of a mechanical shovel, that is to say, with an elbow antagonistic to the human elbow (Fig. 1 and 2A): the extension of the exobras is stored upwards.

3. By a linear guide of the exobras shaped in one piece (19): the excess length slides behind the user when he brings his arms to him. A similar result is obtained by the use of a connecting rod, tilting the exobras in one or the other of the alternative positions.

4. By a telescope construction of the exobras (20). The mechanical arms extend as far as the user stretches the arms, then retract on themselves.

5. By a pantograph construction of the exobras (21 and 22). Note that the deployment of the pantograph forward leads to a reduction in its height ...

6. By a humanoid construction, where the exobras consist of a forearm, a forearm and an elbow, which bends downwards or backwards, the whole functioning in the manner of a human arm (Fig. 2C).

7. By a construction, where the exobras consist of a forearm, a rear arm, and where the elbow bends outward: the excess length of the exobras is stored on the sides of the user when he stops reaching out (Fig. 2D).

- An extinction of the action of the Passive Energy Components, obtained by crossing the axis (Fig. 11 A and B, 12 A and B). Consider an exobras pivoting from top to bottom, suspended by a tension spring (16) or elastic tensioners: their action stops then reverses, as their longitudinal axis passes under the point of rotation. Let us consider an exobras pivoting from top to bottom, supported by a compression spring or a gas spring (15): their action stops then reverses, as their longitudinal axis passes above the point of rotation.

A linear (28) or circular displacement of the articulation points and a limit stop of the lowered arms position (29) ', the geometric adjustment of these points allowing the adjustment of the sensitivity with which a pulse given by the operator is sufficient to reactivate the lifting force exerted by the exobras.

- A variation in the amount of effort with which the CEPs (15, 16) act on the exoskeletal structure, generally obtained by a variation of the lever arm with which they act, or with which the user acts against them . In particular :

1. In the case of a single-piece exobras, rolling from front to back on the shoulders of a back harness, with a traction CEP forcing on the back of the exobras to lift it (Fig. 7), the more the user advances his arm, the less the CEPs will act forcefully, and the more he will bring the load back to him, the more the CEPs will help him carry it. The result is similar in the case of a telescopic exobras (Fig. 8).

2. In the case of a pantograph exobras, we can obtain a reverse result (Fig. 6): the more the operator stretches his arms, the more the pantograph spreads out, the more the CEP will act with force. When the user brings back to him the load seized, the assistance of the exobras decreases.

- A variation in the amount of effort with which the CEPs act on the exoskeletal structure, obtained by a set of gears (18): the rotation of the exobras controlled by the operator subjects the rotation of a master gear, which causes the rotation of one or more slave gears, which moves the point of action of the CEP and varies its lever arm (Fig. 10).

- A dissociation between the actions or gestures of the user's forearm and forearm. When carrying a load, the elbow is bent at about 90 °: the forearm is forced to get up horizontally and carry out the carrying work - the rear arm does little work, hanging from the 'shoulder. The forearm only works if you have to extend your arm. The present invention intends to take advantage of this property and allow the user to mechanically control the increase or decrease of the assistance provided by the exobras, thanks to the movement of his forearm, from front to back or else on the side.

- A dissociation between the actions or gestures of the forearm and the rear arm of the exoskeleton: one or the other is used for the carrying effort which mainly consists in exerting a lifting force , the other to the instantaneous adjustment of the quantity of assistance delivered, by means of a simple gesture (Fig. 9).

- A viscous clutch or braking device making it possible to slow down and make progressive, more fluid and safe, any of the actions previously described: either the triggering of the CEPs by axis uncrossing, or the deployment of the exobras with extension in pantographs, in telescope, on linear guide, from above, on the sides. The clutch device can act in a direction of rotation, but disengage in the opposite direction: for example slowing down and securing the rise of the exobras under the action of the CEP, but not adding resistance to the action of the come back down.

PRESENTATION OF THE FIGURES

FIG. 1 represents a rear general view detailing all the main characteristics of the invention in a particular embodiment, in particular the harnesses (1), exobras (8, 9, 10, 11, 12), CEP (15), interface (13).

Figures 2 A, B, C and D represent the main architectures of exobras, which fold respectively upwards, backwards, downwards (humanoid form), sides.

FIG. 3 represents a schematic view of the exoskeleton of FIG. 1 and the effect of the anisoelasticity (weak exobras lowered and strong lifted).

Figure 4 'schematically shows an exoskeleton with a ventral harness.

Figures 5 and 6 schematically represent exoskeletons with exobras in pantographs, with actions with opposite effects (weak taut exobras and strong folded - and vice versa).

FIGS. 7 and 8 schematically represent exoskeletons with exobras in a telescope or rolling from front to back on the shoulder and their variation in force (weak exobras extended and strong brought back).

FIG. 9 schematically represents the action on an exobras of its forearm controlling a connecting rod (17) varying the length of a CEP (15).

FIG. 10 schematically represents the action of gears (18) on the lever arm with which a CEP acts on an exobras.

FIGS. 11A and 11B represent a crossing / uncrossing of axes with a compression CEP.

FIGS. 12A and 12B represent a crossing / uncrossing of axes with a traction CEP.

Figures 13 and 14 show the articulated interface (13 and 12) and its gripper (14).

EXAMPLE OF A PARTICULAR EMBODIMENT

In a particular embodiment, aimed in particular at the lightness of the device (about 4 kg), the harness (1) consists of a flexible textile belt (6) adjustable in length, to the back of which the cushions are fixed by hook and loop bands (Velcro). The belt is fixed and adjusted to a back plate (5), which can be cut by laser in a sheet of AG3 3mm thick. There are mounted the 4 quick buckles for adjusting the belt straps and suspenders.

On the plate are mounted the flanges which erect two carbon fiber tubes (4), which can have a diameter of 32mm and

2mm of canvas.

Above are mounted clamps (3) which adjust the extension next to bent aluminum tubes (2) which can have a diameter of 40mm and 2mm of canvas.

The curved tubes run along the spine of the user, separate under the neck, roll on the trapezoids, descend slightly on the shoulder, then advance in overhang.

There is articulated the shoulder (8) of each exobras, on a vertical axis of rotation, allowing the user to move his arms raised laterally.

Then comes an axis of rotation on a vertical plane, which will be that of raising and lowering the exobras.

This axis of rotation is defined by two nested lamella discs, bathed in adhesive grease. A wheel mounted on a threaded axis with large pitch (2mm) allows to separate or nest the two discs to adjust the amount of viscous friction.

From this block emanates the back arm of the exoskeleton (9). It can be made of a curved tube of anodized aluminum, diameter 15mm and 2mm of canvas.

A gas spring (15) of 40N (for a power by exobras of approximately 7 kg maximum) is fixed towards the middle of the rear arm and on the shoulder block (8): there, the point of articulation is adjustable back and forth, which adjusts the maximum force of the exobras.

The forearm meets the elbow (10). It is a block allowing the rotation of the forearm and provided with an adjustable viscous braking device with nested flap discs.

From there emerges the forearm. The end is straight to allow height adjustment of the position of the flange (12) carrying the interface (13).

This can be made from extruded aluminum bars. 2RS bearings ensure non-free rotation on the flange (12) which also pivots along the longitudinal axis of the forearms. This rotation can also be braked, for example by a jaw device biting a lubricated axis.

Finally, a gripper (14) which can be a small machined part having two fingers at the end of which non-slip pads are glued, pivot on the interface along an axis perpendicular to the palm of the user: the latter can for example grasp a cardboard or a case, without even having to provide gripping efforts. His hand guides the exobras towards the load and his fingers handle and secure the gripper on which the edge of the box or the corner of the box rests.

INDUSTRIAL APPLICATION orders, workers

The exoskeleton of the present invention finds an industrial application, immediately accessible for a very reasonable manufacturing cost, in all areas requiring the handling and displacement of tools and other loads. The spectrum is extremely wide: from express transport companies, parcel transport, special transport, logistics platforms, preparation of professional or private movers, to metallurgical, automotive, aerospace industries handling riveters, perforators and other pneumatic keys, construction site workers moving bags of cement and concrete blocks to chain workers with repetitive gestures, precious stone cutters to surgeons who can stay lOh in a row with the scalpel in their hands, arms raised, etc ...

Claims (12)

1. A passive and collaborative energy exoskeleton, in particular for carrying and handling tools and loads, composed of a harness with ergonomic distribution of forces (Fig. 1, 3 and 4) and, attached to it at the front or the rear, of one or more mechanical exo-limbs, exobras or exo-legs articulated at the elbow or at the knees, with metal springs (16), elastic tensioners , gas cylinders (15) or any Mechanical Component of Passive Energy (CEP) capable of supplying energy by its stretching, compression, twisting, rotation, characterized in that it further comprises a interface (13) integral between said exo-members and the members of the user, and mechanical means configured to stop the action of said passive energy components on the exo-members on the one hand (Fig. 11 and 12) , on the other hand configured to vary said action immediately and at will (Fig. 3 to 10), these means being activated by the very gestures of handling or carrying tools or loads, the whole forming a fully mechanical passive exoskeleton can at any time assist the musculoskeletal effort of the operator ur to the right extent of his need and to collaborate with him while he carries out his task, without requiring gesture of adjustment in itself. 2. An exoskeleton according to claim 1, wherein said mechanical means configured to stop the action of the CEPs is geometric and consists of crossing and uncrossing the longitudinal axes of the exomembers sections on the one hand, of the CEPs on the other hand , said crossing allowing the user to weaken the action of a CEP on a section of exomember, then to cancel it, then to reverse it if necessary (Fig. 11A and 12A), the uncrossing allowing to reverse the action, then reactivate the CEP, then restore its full action (Fig. 11B and 12B). 3. An exoskeleton according to claim 2, in which the triggering of the reactivation of the CEP is adjustable by the linear displacement (28) or circular movement of the articulation points and of a limit stop of the lowered arms position (29). , the geometric adjustment of these points allowing the adjustment of the sensitivity with which an impulse given by the operator is enough to reactivate the lifting force exerted by the exobras. 4. An exoskeleton according to claim 1, wherein said mechanical means for varying the amount of force supplied by 1 ¹ exoskeleton consists of 1 ¹ anisoelasticity of the exobras, that is to say the property of developing a wide variety of forces on its stroke from bottom to top, and in particular a minimum arms down and a maximum arms raised. 5. An exoskeleton according to any one of claims 1 to 3, characterized in that it comprises master and slave gears (18) configured to vary the lever arm with which the CEP acts on said exobras, the gears being driven in rotation by the action of the user, raising or lowering the joint exobras of his own within the framework of the accomplishment of his task. 6. An exoskeleton according to claim 1, characterized in that the exobras are each composed of a forearm and a forearm, configured to have dissociated movements and actions, the forearm pivoting up and down. low on its axis of rotation at the elbow to move the load or the tool in height, the rear arm pivoting on the shoulder from front to back or on the side to actuate a mechanical lever device varying the action of the CEPs on the exobras. ⁷ 7. An exoskeleton according to claim 1, characterized in that the exobras each consist of a forearm and a forearm, configured to have dissociated movements and actions, the rear arm pivoting up and down. low on its axis of rotation at the shoulder to move the load or the tool in height, the forearms pivoting them from front to back at the elbow to actuate a mechanical device (17) varying the action of the CEP on the exobras (Fig. 9). 8. An exoskeleton according to any one of the preceding claims, characterized in that it comprises axes of rotation (12, 10, 8), in particular that which allows the exobras to rise, which are braked or slowed down, by a fluid clutch device with adjustable viscosity or resistance, consisting of two discs with multiple and concentric lamellae, the two discs overlapping one another, the lamellae bathed in highly adhesive grease, which brakes the rotation by as much stronger than the flap discs are brought closer to increase their friction surface, this in order to slow down and secure, for example, the rise of the exobras under the action of the CEP. 9. An exoskeleton according to claim 8, wherein the clutch device acts only in one direction of rotation, for example the direction of lifting of the exobras and disengages in the opposite direction, so as not to add resistance to lowering the arms for example, action antagonistic to that of the CEP, this declutching consisting of uncoupling of said flap discs controlled by the lowering movement of the exobras or by the implementation of a toothed wheel and a spring pawl. 10. An exoskeleton according to any one of the preceding claims, characterized in that it has exobras provided with an elbow (10), which folds upwards, so that the exo-forearm hangs of the exo-forearm (Fig. 1 and 2A). 11. An exoskeleton according to any one of the preceding claims, characterized in that it has pantograph exobras (Fig. 5 and 6): the more the pantograph (22) is deployed, the more the action of the CEP (16) grows, the more the user is assisted. 12. An exoskeleton according to any one of the preceding claims, in which the interface between the exoskeleton, its user and the load consists, for the upper limbs, of a rigid ring ergonomically shaped in the shape of a human hand (13) , attached to the forearm of the exoskeleton and pivoting on one or more axes (12), which allows unrestricted freedom of movement of the thumb and little finger, an axis of rotation in line with the palm of the user articulating a mini fork (14), having one or more non-slip mechanical fingers and equipped with a quick disassembly device with trapezoidal shape and dovetail, to be quickly replaced by another type of gripper. 1/8