WO2019219863A1

WO2019219863A1 - Support device for a mechanical arm of an exoskeleton

Info

Publication number: WO2019219863A1
Application number: PCT/EP2019/062715
Authority: WO
Inventors: Fabien TOURNEUX; Martin JOUET-PASTRE; Kevin LEBEL
Original assignee: Ergosante Technologie
Priority date: 2018-05-16
Filing date: 2019-05-16
Publication date: 2019-11-21
Also published as: EP3774193A1

Abstract

The invention relates to a support device (5) of an upper member for a mechanical arm (6) adapted to support an upper member of a user, the support device (5) comprising: - a support base (7) configured to be connected to said mechanical arm (6); - a forearm holder (11) configured to accommodate a forearm of a user; and - a mechanism of joints (10, 15a, 15b, 17) configured to join the support base (7) and the forearm holder (11) so as to allow bending/extension of the elbow, characterised by: - an arm holder (12) configured to accommodate an arm of a user, the mechanism of joints (10, 15a, 15b, 17) also being configured to join the support base (7) and the arm holder (12) so as to allow said bending/extension. The invention also relates to a corresponding exoskeleton and workstation.

Description

DESCRIPTION

Title of the Invention: Support Device for Exoskeleton Mechanical Arm

The present invention is in the field of assistance to human effort, and in particular in the context of handling assistance for both punctual and repetitive tasks.

With this in mind, exoskeletons have been developed to improve the working conditions of a service operator. Exoskeletons find application in a multitude of fields of activity such as industry, mechanical maintenance (automotive, aeronautical, railway, naval etc.), handling, health, building etc.

The exoskeleton is a mechanical structure that doubles the structure of the human skeleton and can be used to impart physical abilities that it does not have, or to support the body to reduce fatigue. The exoskeleton may be adapted to equip the lower and / or upper limbs of an operator.

Two types of exoskeleton can be distinguished, the robotic exoskeleton and the passive exoskeleton also referred to as the "ergo skeleton". Unlike the robotic exoskeleton, the passive exoskeleton does not seek to increase the strength of the operator who wears it, but aims to reduce the efforts of the operator. Indeed, the passive exoskeleton is part of a process of reducing the arduousness when performing repetitive and / or binding work while preventing the occurrence of musculoskeletal disorders (MSD).

In the context of an upper extremity exoskeleton application, the systems proposed in the prior art generally provide a receiving device which includes a receiving structure, generally referred to as a "gutter" in or on which the forearm is , the arm (schematically the brachial biceps) is placed. The receiving device is secured to an exoskeleton arm. Devices of this type are often called "interfaces".

Unfortunately these systems are not satisfactory enough. Indeed, the use of an exoskeleton arm connection to a forearm only, although useful when stains performed with the arm close to the body of the user, when the arm is stretched and a heavy load 1 is worn, the system 2 tends to cause a rise in the shoulder 3. This configuration can be illustrated in Figure IA. This can lead, in the long term, to increases in musculoskeletal disorders (MSDs).

In addition, the use of an exoskeleton arm connection to an arm only, although useful when performing tasks with the arms raised by exeirqple with the hands above the level of the head, when the arm is tended and a heavy load 1 is worn, the system 2a generates a significant stress on the articulation of the elbow 4 of the user, may also aggravate the TMS. This configuration can be illustrated by Figure IB.

An object of the invention is to provide a support device for an exoskeleton arm for limiting TMS while being effective in several work positions, including arm close to the body, arm raised and arm extended.

To do this, an upper limb support device is provided for a mechanical arm adapted to support an upper limb of a user, the support device comprising

a support base configured to be connected to said mechanical arm,

a forearm receptacle configured to receive a user's forearm,

a mechanism of joints configured to articulate the support base and the forearm receptacle so as to allow flexion / extension of the elbow, and an arm receptacle configured to receive a user arm.

The limb support device is characterized in that the articulation mechanism comprises a connecting piece comprising

a support pivot connection between the connecting piece and the support base,

a forearm pivot link between the connecting piece and the forearm receptacle, and

an arm pivot connection between the connecting piece and the arm receptacle,

said support pivot, forearm and arm connections allowing said flexion / extension.

The support device according to the invention can also be called an "interface".

In particular, the hinge mechanism is configured to implement at least one rocking pivot and at least one bending pivot / extension of the bend.

Advantageously, the device according to the invention makes it possible to have both a support for the arm and a support for one forearm allowing to benefit from a comfort both in arm close to the body and in arm raised. In addition, the device according to the invention comprises a mechanism of joints and a support base for balancing mechanical stresses in a stretched arm.

More particularly, the device according to the invention makes it possible to distribute the force of the mechanical arm on the arm and on the forearm; to bring the effort to the center of a rocker located near the elbow joint; to fix a hinge, preferably in pivot, on each side of the rocker.

According to other aspects taken individually or combined in any technically feasible combination:

said pivot support, forearm and arm connections are arranged along parallel axes; and or - The connecting piece is in two parts hinged together by an internal pivot connection allowing an internal rotation of the forearm relative to the arm; and or

the internal pivot connection is arranged along an axis perpendicular to those of said pivot support, forearm and arm links; and or

the support pivot connection, or projection thereof, is in the middle of the forearm pivot connection and the arm pivot connection; and or

the internal pivot connection or projection thereof is closer to the forearm pivot connection than to the arm pivot connection; and or

at least one of said pivot links is configured to be arranged on an inner or preferably an outer side of the upper limb.

In the case of an internal pivot connection associated with the pivot support, forearm and arm links, the axes of the latter are arranged in parallel, when the articulation of this first is extended completely.

The invention furthermore relates to an exoskeleton, in particular a passive exoskeleton, comprising a support device according to the invention and a mechanical arm connected to said support device.

Another object of the invention relates to a workstation comprising a support device according to the invention and a mechanical arm connected to said support device.

Other particularities and advantages will become apparent in the following detailed description of nonlimiting embodiments of the invention and the figures placed in the appendix and in which:

Figure 1A is a diagram of a device according to the prior art with a forearm gutter only;

Fig. 1B is a diagram of a device according to the prior art with a gutter only; FIGS. 2A to 2C are diagrams of a device according to the invention in several use situations;

- Figure 3 is a view in the space against the dive and back, a device according to a preferred embodiment of the invention;

- Figure 4 is a view in the space against the plunge and from the front of the device of Figure 3;

- Figure 5 is a bottom view of the device of Figures 3 and 4;

- Figure 6 is a left view of the device of Figures 3 to 5;

FIG. 7 is a front view of the device of FIGS. 3 to 6;

FIG. 8 is a rear view of the device of FIGS. 3 to 7; and

- Figure 9 is a perspective view of a second variant of a device according to the invention.

The invention relates to a support device 5 for an exoskeleton arm 6. It is more particularly a passive exoskeleton or "ergo skeleton", that is to say a non-robotic system, but allowing mechanically handling assistance for both specific and repetitive tasks, in order to improve the working conditions of a user.

The support device 5 according to the invention is configured to be secured to an exoskeleton mechanical arm 6. The mechanical arm 6 can be connected to a structure of the exoskeleton or to a base on a workstation. One can also consider a mechanical arm on a chair jack or a chair in general. The exoskeleton or base is then adapted to support an upper limb of the user via the support device 5.

Preferably, at least one section, in particular one end, of the mechanical arm 6, connected to the support device 5, is configured to be disposed below the upper limb of the user when he is raised, and / or facing the elbow of the user.

The support device 5 comprises a support base 7 configured to be connected to said mechanical arm 6. In particular, the support base 7 is configured to be secured to the mechanical arm 6 for example by a screw system, rivets or a pivot connection.

In particular, at least a first pivot connection 8 is provided at the connection of the support base 7 with the mechanical arm 6. In the preferred variant, the support base 7 comprises a central bore 8a for the pivot connection 8 with the mechanical arm 6 , and two lateral bores 8b, 8c for attachment to the mechanical arm 6. Preferably, the central bore 8a receives a pin to form the pivot connection 8. A different annoyance can be envisaged without departing from the scope of the invention.

The first pivot connection 8 is preferably perpendicular to a longitudinal axis 9 of the device 5. More particularly, the first pivot connection 8 is configured to be perpendicular to a central axis of a stretched arm equipped with the device 5, which is particularly confused. to axis 9.

The support base 7 preferably has a flattened bar shape. This arrangement makes it possible to limit the size of this part. In addition, the support bar 7 preferably has a curved shape, more preferably about 90 degrees. Advantageously, the curved shape makes it possible to have one end of the support base 7 below the elbow of the user, and another end on one side of the user's elbow, preferably on the outer side. The end disposed on the side, in particular external, makes it possible to arrange the articulations of the device 5 for a better maneuverability without having to duplicate the structure of the device 5.

In particular, at least one second pivot connection 10 is provided at the connection of the support base 7 with the rest of the device. More particularly, the support base 7 comprises a bore 10a for the pivot connection 10 with the rest of the device. Of Preferably, the bore 10a receives a pin to form the pivot connection 10.

The second pivot connection 10 is preferably perpendicular to the longitudinal axis 9 of the device 5 (in extended position as in FIG. 3 for example), and to the axis of the first pivot connection 8.

Alternatively, one can envisage a configuration with a mechanical arm 6 fixed directly at the pivot connection 10. In this case, the support base can then be the mechanical part on which the pivot connection 10 is provided.

The rest of the support device 5 includes receptacles 11, 12 generally called gutters. Thus, the support device 5 includes a forearm receptacle 11 configured to receive a user's forearm. The receptacle (11, 12) comprises at least one rigid structure (11a, 12a), for example steel, supporting the weight of the corresponding section of the upper limb and loads carried in use. In addition, the receptacle (11, 12) comprises a flexible structure (11b, 12b), for example fabric or elastomer, configured to allow adjustment of the device 5 to the corresponding section of the upper limb of the user, with a fastening system.

The receptacle (11, 12) preferably includes a lateral projection 13 configured to mate, preferably indirectly, with the support base 7. The side projection 13 preferably includes at least one bore 14a, 14b to form a third pivotal connection (15a, 15b). In the preferred embodiment, the side projection 13 includes two lateral bores 14a, 14b surrounding a coupling structure forming the pivot connection. A remote bore 14a of the remainder of the receptacle is through and a close bore 14b is blind. A pin is preferably provided between the remote bore 14a, the coupling structure and the close bore 14b.

The support device according to the invention further comprises a hinge mechanism 16 configured to articulate the base support 7 and the forearm receptacle 11 so as to allow flexion and / or extension of the elbow of said upper limb. In particular, the articulation mechanism 16 comprises at least two joints by pivot connection which extend along two axes parallel to one another. In use, the axes of the pivot links are preferably perpendicular to the axis 9 of the upper limb supported by the support device 5.

According to the invention, the support device further includes an arm receptacle 12 configured to receive a user arm. The term "arm" should be understood literally, that is, the proximal portion of the upper limb including the biceps. The arm receptacle 12 preferably includes the features described below for the forearm receptacle 11.

In addition, according to the invention, the articulation mechanism 16 is further configured to articulate the support base 7 and the arm receptacle 12 so as to allow said flexion / extension.

In particular, the hinge mechanism 16 is configured to implement at least one rocker pivot 10 and at least one bending pivot / extension 15a, 15b, preferably a rocker pivot 10 at the bend and a pivot of flexion / extension 15a and / or 15b at each receptacle 11, 12.

Advantageously, the device according to the invention makes it possible to have both a support for the arm and a support for one forearm allowing to benefit from a comfort both in arm close to the body and in arm raised. In addition, the device 5 according to the invention comprises a hinge mechanism 16 and a support base 7 for balancing the mechanical stresses in a stretched arm.

More particularly, the device according to the invention makes it possible to distribute the force of the mechanical arm 6 on the arm and on the forearm; to bring the effort to the center of a rocker located near the elbow joint; to fix a hinge, preferably in pivot, on each side of the rocker. FIG. 2A illustrates a use of the device 5 according to the invention with the arm in the air. In this configuration, the support of the upper limb is almost done on the arm.

Figure 2B illustrates a use of the device 5 according to the invention with the arm forward and slightly bent. In this configuration, the effort is balanced around the elbow.

Figure 2C illustrates a use of the device 5 according to the invention with the arm close to the body. In this configuration, support of the upper limb is practically only on the forearm.

Advantageously, the device according to the invention makes it possible to have a better comfort of use not only during stains carried out with the arm close to the body of the user, but also during stains carried out with the arms raised by exeirqple with the hands above the level of the head, while significantly limiting the risk of MSDs that could be related for example to a shoulder elevation or mechanical stress on the user's elbow joint.

Alternatively, the hinge mechanism comprises a connecting piece 17. The connecting piece allows to provide several joints between the different parts of the device 5, in particular pivot connections.

Alternatively, one can envisage a configuration with a mechanical arm 6 fixed on the articulation mechanism 16, in particular directly at the pivot connection 10. In this case, the support base can then be the connecting piece 17.

The connecting piece 17 preferably takes the support pivot connection 10 between the connecting piece 17 and the support base 7.

This support pivot connection 10 is preferably made on the bore 10a described above, perpendicular to the longitudinal axis 9 passing through the middle of the two receptacles 11, 12 (when aligned), said central axis. This central axis can be defined as an axis of the upper limb when the elbow is stretched. A pin is preferably provided, but it can be consider that the connecting piece 17 or the end of the support base 7 comprises a protuberance configured to form the support pivot connection 10.

The connecting piece 17 preferably comprises a forearm pivot connection 15a between the connecting piece 17 and the forearm receptacle 11.

This forearm pivot connection 15a is preferably made on the bore 14a, 14b described above, laterally to the axis 9 passing through the middle of the two receptacles 11, 12. A pin is preferably provided, but it is possible to consider that the connecting piece 17 or the lateral projection 13 of the receptacle 11cqqenne a protuberance configured to form the pivot connection 15a.

The connecting piece 17 preferably comprises an arm pivot connection 15b between the connecting piece 17 and the arm receptacle 12. This connection 15b is preferably identical to that 15a of the forearm receptacle 11.

The pivot support 10, forearm 15a and 15b arms allow said bending / extension. In particular, each of said pivot connection 10, 15a, 15b is in an axis perpendicular to the central axis 9. Preferably, said pivot links 10, 15a, 15b are in parallel axes between them to allow said bending / extension. More preferably, said pivot links are coplanar. Advantageously, this arrangement makes it possible to optimize the tilting system and the distribution of forces on the arm or on the forearm according to the work situation. This configuration can be clearly illustrated in Figure 8.

Preferably, the support pivot connection 10 is in the middle of the forearm pivot connections 15a and 15b arm. This configuration makes it possible to better balance the forces on the arm or on the forearm by limiting the effects of adverse levers to the comfort of use.

The use of horizontal pivot connections makes it possible to have good maneuverability of the device in the vertical plane. According to a variant, the connecting piece 17 is in two parts 17a, 17b hinged together by an internal pivot connection 18 allowing internal rotation of the forearm relative to the arm. A pin is preferably provided to form the pivot connection as illustrated in FIGS. 3 to 8. This configuration makes it possible to improve the comfort of use when the user needs to move his forearms towards each other. other, towards the inside of the body. This is notably due to the addition of an additional degree of freedom. We will talk about handling in a direction transverse to the sagittal plane of the user. In particular, the internal pivot connection 18 is arranged along an axis perpendicular to the axes of the support pivot connections 10, forearm 15a and arm 15. More generally, the axis of the internal pivot connection 18 is perpendicular to the central axis 9 of the device 5.

In the case of the illustrated embodiment, in which the internal pivot connection 18 is associated with the support pivot connections 10, forearm 15a and arm 15b, the axes of the latter (10, 15a, 15b) are arranged in parallel, when the articulation of this first internal pivot connection (18) is completely extended. This arrangement can be illustrated by FIGS. 3 to 8.

According to a variant, when the device 5 is unfolded, in particular for a stretched upper limb, more particularly with reference to the internal pivot connection 18, the latter is closer to the forearm pivot link 15a than to the link arm pivot 15b. When the device is folded, in particular with reference to the internal pivot connection 18, the projection thereof is closer to the forearm pivot connection 15a than to the arm pivot connection 15b. This configuration brings a better comfort in internal rotation of the forearm relative to the arm.

Furthermore, it is preferable that the internal pivot connection 18 is as close as possible to the elbow in order to prevent slippage of the arm or of the forearm in the corresponding gutter. It is possible to envisage a configuration (not shown) of the device with two internal pivot links on either side of the support pivot connection. This arrangement makes it possible to further improve handling in the horizontal plane.

According to one variant, the arm pivot connections 15a and the forearm links 15b are arranged more closely to the central axis 9 than the support pivot link 15. Advantageously, this arrangement makes it possible to significantly limit the sliding of the upper limb in 1 'interface during internal rotation. Preferably, the connecting piece has a concavity in the direction of the central axis to accentuate this effect. This arrangement can be illustrated by FIGS. 4 and 5. Advantageously, this arrangement makes it possible to provide a clearance to prevent the bend from striking the connecting piece 17 during the internal rotation.

In the variant of the invention illustrated in FIG. 9, the pivot connection 15a connects the connecting piece 17, 17b to the forearm receptacle 11 through an offset segment 19. In this example, a first end the offset segment 19 forms the pivot connection 15a with the connecting piece 17, 17b. In contrast, the second end of the offset segment 19 carries the forearm receptacle 11. The offset segment 19 forms a balance of the forearm receptacle 11. Preferably, the offset segment 19 connects the forearm receptacle 11 through a pivot connection 20. Here, pivot connection 20 has a rotation axis perpendicular to the axis of rotation of pivot link 15a connecting connecting segment 17, 17b and the segment of deportation 19.

The pivot connection 20 improves the tracking of the upper limb support device 5 in the internal rotational movements of the shoulder and / or flexion of the user's elbow.

In the example of FIG. 9, the pivot links 15a, 15b are cantilevered with respect to the connecting piece 17, 17a, 17b, so as to reduce the bulk of the upper limb support device 5. This reduction of the bulk contributes to reduce the risk of collision with the user 's environment.

An internal upper limb device may be envisioned, for example wherein at least one, or preferably all, of said pivot links 10, 15a and 15b (and preferably 18) are configured to be arranged on an inner side of the upper limb. In order to limit the space requirement and allow working along the median line, preference is given to a device external to the upper limb, for example in which at least one, or preferably all, of said pivot links 10, 15a and 15b (and preferably 18) are configured to be arranged on an outer side of the upper limb.

The invention furthermore relates to an exoskeleton, in particular a passive exoskeleton, comprising a support device 5 as described above, and a mechanical arm 6 connected to said support device 4. Such an exoskeleton has the advantages already discussed for the support device 5.

Another object of the invention relates to a workstation comprising a support device 5 as described above, and a mechanical arm 6 connected to said support device. An exemplary workstation with an exoskeleton arm is known to those skilled in the art. The invention aims to add a support device according to the invention to the arm 6 of the workstation. Such a workstation has the advantages already discussed for the support device 5.

Claims

claims

Upper limb support device (5) for a mechanical arm (6) adapted to support an upper limb of a user, the support device (5) comprising

a support base (7) configured to be connected to said mechanical arm (6),

a forearm receptacle (11) configured to receive a user's forearm,

a mechanism of joints (10, 15a, 15b, 17) configured to articulate the support base (7) and the forearm receptacle (11) so as to allow flexion / extension of the elbow,

an arm receptacle (12) configured to receive a user arm,

characterized in that the articulation mechanism (10, 15a, 15b, 17) comprises a connecting piece (17)

a support pivot connection (10) between the connecting piece (17) and the support base (7),

a forearm pivot connection between (15a) the connecting piece (17) and the forearm receptacle (11), and

an arm pivot connection (15b) between the connecting piece (17) and the arm receptacle (12),

said support pivot (10), forearm (15a) and arm (15b) linkages allowing said flexion / extension.

2. support device (5) according to the preceding claim, characterized in that said support pivot links (10), forearm (15a) and arm (15b) are arranged along parallel axes.

3. Support device (5) according to one of claims 1 and 2, characterized in that the connecting piece (17) is in two parts hinged together by an internal pivot connection (18) allowing an internal rotation of the forearm to the arm.

4. support device (5) according to claims 2 and 3, characterized in that the internal pivot connection (18) is arranged along an axis perpendicular to those of said support pivot connections (10), forearm (15a ) and arms (15).

5. Support device (5) according to one of claims 1 to 4, characterized in that the support pivot connection (10), or the projection thereof, is in the middle of the forearm pivot connection (15a) and the arm pivot connection (15b).

6. Support device (5) according to one of claims 1 to 5, at least claims 2 and 4, characterized in that the internal pivot connection (18) or the projection thereof is closer to the connection forearm pivot (15a) than the arm pivot connection (15b).

7. Support device (5) according to one of claims 1 to 6, characterized in that at least one of said pivot links is configured to be arranged on an inner side or preferably the outer side of the upper member.

8. Exoskeleton, in particular a passive exoskeleton, comprising a support device (5) according to one of the preceding claims, and a mechanical arm (6) connected to said support device (5).

9. Workstation comprising a support device (5) according to one of claims 1 to 7, and a mechanical arm (6) connected to said support device (5).