WO2021191558A1

WO2021191558A1 - Cuff for attaching an arm of an exoskeleton to an upper limb of a user

Info

Publication number: WO2021191558A1
Application number: PCT/FR2021/050497
Authority: WO
Inventors: Robin LACOMBE
Original assignee: Human Mechanical Technologies
Priority date: 2020-03-25
Filing date: 2021-03-23
Publication date: 2021-09-30
Also published as: FR3108545B1; FR3108545A1

Abstract

The invention relates to a cuff (10) for attaching an arm of an exoskeleton to an upper limb of a user, comprising an interface module (401) with an arm of the exoskeleton, a distal clamping module (100) intended to be attached around a forearm of the user and a proximal clamping module (200) intended to be attached around an upper arm of the user, the distal (100) and proximal (200) clamping modules being connected to each other by means of at least one connection link (300).

Description

Title of the invention: Cuff for fixing an arm of an exoskeleton to an upper limb of a user Field of the invention

[0001] The present invention relates to load-carrying assistance devices. It falls within the field of exoskeletons and relates more particularly to a cuff for fixing an arm of an exoskeleton to an upper limb of a user.

State of the art

[0002] The exoskeletons intended to assist a user during handling or lifting operations are generally fixed on the one hand to the user's waist, by a belt, and on the other hand to the upper limbs of the user, by sleeves.

[0003] A backbone connects the belt to two articulation mechanisms to each of which is attached an exoskeletal arm. A load compensation system is interposed between the backbone and each of the arms of the exoskeleton.

A difficulty in the implementation of the connection between the upper limbs of the user and the exoskeleton is found in the fact that the sleeves often have a degree of mobility with respect to said upper limbs, and as such, are dragged along the latter, towards the wrists of the user, during certain movements of the user by the arms of the exoskeleton.

The fact that the sleeves are arranged near the wrists of the user causes a substantial reduction in the efficiency of the compensation for the weight of the load to be lifted or carried and thus a substantial reduction in the efficiency of the load. assistance provided by the exoskeleton.

[0006] In addition, these relative movements cause friction on the upper limbs, which can lead to irritation during repeated use of the exoskeleton.

[0007] To overcome this drawback, the prior art provides solutions which are not satisfactory, such as increasing the intensity of tightening of the sleeve on the upper limbs of the user. This solution is not possible since it is likely to limit the flow of blood in the upper limb of the user on the one hand.

[0008] None of the current systems makes it possible to respond appropriately to this drawback.

Disclosure of the invention The object of the present invention is to remedy all or part of the drawbacks of the prior art, in particular those set out above, by providing a solution for fixing an arm of an exoskeleton to an upper limb of a user making it possible to ensure the optimum transmission of the forces involved when using the exoskeleton by eliminating any parasitic friction on the user's upper limb.

[0010] It should be noted here that, in terminology related to human anatomy, an upper limb is composed of an arm connected to a forearm.

To this end, the present invention relates to a cuff for fixing an arm of an exoskeleton to an upper limb of a user, said cuff comprising an interface module with an arm of the exoskeleton, a module distal clamp to which the interface module is fixed and intended and adapted to be fixed around a forearm of the user, and a proximal clamp module intended and adapted to be fixed around an arm of the user. user.

[0012] The proximal and distal tightening modules are connected to each other by at least one junction link.

Advantageously, the distal clamping module is configured to be fixed around the user's forearm and the proximal clamping module is configured to be fixed around the user's arm.

In addition, said distal and proximal tightening modules and said at least one connecting link are made of textile material. Such arrangements make it possible to hold the cuff firmly on the user's upper limb, without degrees of freedom relative to the arm. In this way, all friction and irritation problems are avoided.

In addition, the level of perceived quality is substantially improved.

[0015] Such arrangements also make it possible to leave any degree of mobility at the elbow joint and thus not to disturb or limit the mobility of this joint.

Furthermore, the distal and proximal tightening modules and said at least one connecting link being made of textile material, the cuff is simple in design and production.

[0017] This feature also makes it possible to reduce production costs and to increase the reliability of said cuff insofar as it has no moving parts and has few parts.

[0018] In particular embodiments, the invention may further include one or more of the following characteristics, taken in isolation or in any technically possible combination.

In particular embodiments, the interface module comprises a rigid support element of curved shape, said support element comprising a member of connection extending over its convex surface, intended to cooperate with the arm of an exoskeleton.

This support element constitutes a skeleton of the fixing cuff and allows the transmission of the compensation forces generated by the exoskeleton to said cuff.

In particular embodiments, the distal tightening module comprises a housing configured to removably receive the support element, the concavity of said support element being intended to be oriented towards the upper limb of the user when the cuff is fitted by the user.

Thanks to this feature, the support element can be removed from the cuff, which makes it possible to have the cuff for example for maintenance operations, such as to repair or wash it, without risk of damaging said support element. .

In particular embodiments, each of the distal and proximal tightening modules comprise an inner layer and an outer layer, the housing being formed between an outer layer and an inner layer.

Thanks to this feature, the cuff is simple in design and its manufacture is inexpensive.

[0025] In particular embodiments, the distal clamping module comprises means for locking the support element within the housing.

[0026] In particular embodiments, the means for locking the support element within the housing are formed by at least one flap adapted to enclose the connection module of the support element.

[0027] Thus, the support element can be removed quickly and easily from the housing. This feature also helps contain the cost of producing the cuff.

In particular embodiments, the fixing cuff comprises two junction links extending substantially parallel to one another, at a distance from each other so as to provide a through orifice adapted to receive an external face of an elbow of the user.

This feature advantageously contributes to ensuring optimal maintenance of the cuff on the upper limb of the user.

In particular embodiments, the distal tightening module comprises two lateral fixing bands called "proximal lateral bands" juxtaposed to one another, and the proximal tightening module comprises a lateral fixing band called " proximal lateral band ", said bands comprising slaving means.

[0031] Thus the cuff can be attached simply and quickly around the upper limb of the user.

[0032] Furthermore, the two distal lateral bands advantageously make it possible to ensure improved stability of the cuff when it is fixed around the forearm of the patient. the user insofar as it makes it possible to adjust the fixing of the distal tightening module according to the variation in circumference of said forearm.

[0033] More particularly, this characteristic makes it possible to generate two different clamping diameters which adapt respectively to the circumference of the portion of the forearm opposite which each of the lateral bands is positioned.

In particular embodiments, the distal and proximal tightening modules comprise an internal layer, said internal layers and the junction links forming the same single piece.

Presentation of figures

The invention will be better understood on reading the following description, given by way of non-limiting example, and made with reference to the figures which represent schematically:

[0036] [fig.1] an exploded perspective view of a cuff for fixing an arm of an exoskeleton to an upper limb of a user,

[0037] [Fig.2] a perspective view of the cuff of Figure 1 assembled,

[0038] [Fig.3] a perspective view from above of the cuff of Figure 2 in which the fastening loops are formed,

[0039] [Fig.4] a side view of the cuff of Figure 2 attached to an upper limb of a user,

[0040] [fig.5] a bottom view of the cuff of figure 4.

In these figures, identical references from one figure to another designate identical or similar elements. For reasons of clarity, the elements represented are not necessarily on the same scale, unless otherwise indicated.

[0042] We note, from now on, that the figures are not to scale.

[0043] Detailed description of an embodiment of the invention

This description is given without limitation, each characteristic of an embodiment can be combined with any other characteristic of any other embodiment in an advantageous manner.

As indicated above, the present invention relates to a cuff 10 for fixing an arm of an exoskeleton to an upper limb of a user, as shown in the exploded view of Figure 1.

This cuff 10 comprises a distal tightening module 100 intended to be fixed around a forearm of the user, a proximal tightening module 200 intended to be fixed around an arm of the user and at the minus one junction link 300 connecting the distal 100 and proximal 200 tightening modules to one another.

The distal and proximal tightening modules and said at least one connecting link are made of textile material, as described in more detail below. The cuff 10 also comprises an interface module 401 with an exoskeleton, said interface module 401 being adapted to transmit forces between the distal 100 and proximal 200 tightening modules on the one hand, and an arm of the 'exoskeleton on the other hand.

In the exemplary embodiment of the invention shown in Figures 1 to 5, the cuff 10 has two junction links 300 extending parallel to one another. In this preferred embodiment of the invention, the connecting links 300 are separated by a through orifice 301, intended to receive the external face of the elbow, more particularly the olecranon, of a user, in particular when the latter bends. his upper limb.

Preferably, the distal 100 and proximal 200 tightening modules comprise an inner layer 101, 201 called "distal inner layer" 101 and "proximal inner layer" 201. More specifically, the distal 101 and proximal inner layers 201 respectively form a distal portion and a proximal portion of the same part, said proximal portion and a distal portion being separated by a middle portion formed by the junction links 300. In other words, the inner distal 101 and proximal 201 layers and the junction links 300 form the same single piece, as shown in Figure 1. The inner distal 101 and proximal 201 layers are intended to be in contact with the upper limb of the user. To this end, they are advantageously made of a textile material suitable for contact with the skin of a user. Furthermore, said inner distal 101 and proximal 201 layers are preferably made of a semi-rigid material, having no elastic deformation capacity.

As shown schematically in Figure 1, the distal 100 and proximal 200 tightening modules also respectively comprise an outer layer called "distal outer layer" 102 and "proximal outer layer" 202 respectively attached to the inner distal 101 and proximal 201 layers. The distal 102 and proximal outer layers 202 are made, for example, of a textile material, such as polychloroprene, also known under the trade name “Neoprene”, and are intended to be oriented towards the external environment of the user. by an extrados face and to be oriented towards the internal distal 101 and proximal 201 layers by an intrados face.

The distal outer layer 102 comprises a first portion 103 connected to a second portion forming at least one lateral fixing band called "distal side band" 104, up to a free end.

In the embodiment shown in the figures, the second portion of the distal outer layer 102 forms two distal side bands 104 juxtaposed to one another. This feature makes it possible to ensure improved stability of the cuff 10 when it is fixed around the forearm of the user since it allows to adjust the fixing of the distal tightening module 100 according to the variation in circumference of said forearm.

More particularly, the two distal side bands 104 extend parallel to each other.

The first portion 103 of the distal outer layer 102 is intended to be fixed opposite the distal inner layer 101 as shown in the figures.

Each distal lateral band 104 is intended to be inserted into a ring 400 arranged on an edge of the first portion 103 opposite to the bands, so as to form fixing loops as described below, and thus to be able to fix the cuff 10 around the upper limb of the user.

Analogously to the distal outer layer 102, and as shown in Figure 1, the proximal outer layer 202 comprises a first portion 203 connected to a second portion forming a lateral fixing band called "proximal side band" 204 until 'at a free end.

The first portion 203 of the proximal outer layer 202 is intended to be fixed opposite the proximal inner layer 201, as shown in the figures.

The proximal lateral band 204 is intended to be inserted into a ring 400 arranged on an edge of the first portion 203 opposite to said band, so as to form a fixing loop as described below, and thus to be able to maintain the cuff 10 around the upper limb of the user.

In an alternative embodiment not shown in the figures, the rings 400 of the distal 102 and proximal 202 outer layers may be formed by a through cutout made near the edge opposite the proximal 204 and distal 104 lateral bands.

It should be noted at this stage of the description that the distal 102 and proximal outer 202 layers can be linked together by junction links 300 in a manner analogous to the distal inner 101 and proximal 201 layers.

[0062] However, preferably, the distal 102 and proximal 202 outer layers are not directly linked to each other, as shown in Figure 1.

Preferably, each distal lateral band 104 comprises, on its extrados face

- said extrados face corresponding to the extrados face of the distal outer layer 102

- an attachment zone extending over its surface, between its free end, the first portion 203 of the distal outer layer 102.

The fixing zone comprises additional securing means intended to cooperate with each other. These securing means can equally well consist of elements in the form of hooks or elements in the form of loops intended to cooperate with one another, the hooks hanging on to the loops, temporarily. In the preferred embodiment shown in the figures, the fixing zone extends over the entire surface of the extrados face of each distal lateral strip 104, the securing means being formed by elements in the form of hooks arranged in a region located near the free end of said strips and represented by hatched areas in FIG. 1, and by elements in the form of a loop distributed over the rest of the entire surface of said extrados face.

[0066] Figure 3 illustrates that the distal side bands 104, once inserted into the rings 400, can be folded back on themselves so that the securing means of each of said bands cooperate with each other. The distal lateral bands 104 then form loops for fixing the cuff 10 intended to extend around the forearm of the user, as shown in FIGS. 4 and 5. Such securing means are known per se. those skilled in the art, in particular those marketed under the trade name “velcro”.

As shown in Figures 1 to 5, the proximal side band 204 has characteristics similar to the distal side bands 104 and is adapted to form a loop for attaching the cuff 10 around the arm of the user.

The two distal 104 and proximal 204 lateral bands may have an elastic deformation capacity.

Advantageously, the distal 102 and proximal 202 outer layers are dimensioned so that the distal lateral bands 104 are intended to surround the forearm of the user and so that the proximal lateral band 204 is intended to surround the user's forearm. circle the arm. Preferably, the proximal lateral band 204 is configured so that when the proximal tightening module 200 surrounds the user's arm, said band is located opposite the cubital fossa, also called the “fold of the elbow”, of the user. .

In other words, the cuff 10 is fixed to the upper limb of the user by the distal 100 and proximal 200 tightening modules respectively on either side of said user's elbow, along said upper limb.

The distal 100 and proximal 200 tightening modules are configured to simultaneously conform to the contours of the forearm and the user's arm.

Thanks to the characteristics of the invention, in particular, to the fact that it comprises a distal tightening module 100 and a proximal tightening module 200 connected to each other by at least one junction link 300, the cuff 10 is firmly held to the user's upper limb, with no degrees of freedom relative to the arm. In this way, all friction and irritation problems are avoided. In addition, the level of perceived quality is substantially improved.

Advantageously, as shown in Figure 1, the outer distal 102 and proximal 202 layers are respectively attached to the inner distal layers 101 and proximal 201, preferably by stitching. The dashed lines shown in Figures 1 and 2 materialize the fixing seams.

Preferably, the inner distal layer 101 is sewn to the outer distal layer 102 so as to form a housing, as suggested in Figure 1, extending between an opening and a bottom wall.

The housing is designed to removably receive a rigid support element 410 making up the interface module 401 with the exoskeleton shown in particular in Figures 1, 3 and 4.

[0076] The support element 410 advantageously has a curved shape, the concavity of which is intended to be oriented towards the upper limb of the user when the cuff 10 is fitted by the user.

Figure 1 shows a perspective view of the support element 410, and shows that said support element 410 extends lengthwise between a first end intended to be arranged against the bottom wall of the housing, and a second end intended to be arranged facing the opening of said housing.

[0078] The support element 410 advantageously comprises a longitudinal rib extending between the first and second ends. This rib advantageously makes it possible to increase the resistance of the support element 410 to mechanical stresses.

As can be seen in FIG. 1, the support element 410 has a substantially flared shape, in the sense that its cross section gradually decreases from its first end to its second end. This characteristic makes it easier to introduce it into the home.

Advantageously, the support element 410 can be made of a polymer material, for example polyethylene, or a composite material, or a metallic material.

[0081] Figure 1 shows that the interface module 401 also includes a link member 411 intended to cooperate with the arm of an exoskeleton.

More particularly, the connecting member 411 extends from the convex surface of the support element 410. Said connecting member 411 preferably has three points of attachment to the support element 410 to distribute the mechanical stresses and to this title ensure better resistance to the stresses to which it is likely to be subjected.

Preferably, the connecting member 411 has a cross section of triangular shape, at each of the corners of which an attachment point is arranged. The term “fixing point” defines here an area in which two parts are linked to each other, in this case the connecting member 411 and the rigid element, for example by welding, bolting, crimping, or any other suitable technique.

The connecting member 411 is intended to mechanically link a screw 412, the rod of which is intended to be oriented in a direction substantially normal to the convex surface of the support member 410.

[0085] In the preferred embodiment of the invention, the connecting member 411 comprises a recess facing the convex surface of the support element 410, in which the head of the screw 412 is embedded. This feature advantageously makes it possible to ensure that the screw 412 is held in place with the support element 410 and, consequently, the fixation of the cuff 10 with the arm of the exoskeleton.

Advantageously, the distal outer layer 102 comprises a notch 105 extending from the opening, intended to match the shape of the connecting member 411 when the support element 410 is inserted into the housing In other words, the shape of the notch 105 substantially corresponds to the shape of the cross section of the connecting member 411.

We see from the above that the interface module 401, on the one hand, forms a framework of the cuff 10 to stiffen the latter and, on the other hand, allows the transmission of forces between the arm of the user's exoskeleton and upper limb.

The support element 410 is intended to be held in position within the housing by means for locking the support element 410 within the housing.

The locking elements are, in the preferred embodiment of the invention, formed by two rigid side flaps 500 fixed to the distal inner layer 101 and intended to extend over the upper surface of the layer. distal external 102.

The side flaps 500 are adapted to grip the connecting member 411 of the support element 410 when they are folded against the extrados face of the distal outer layer 102. For this purpose, the flaps 500 each include a notch 501, said indentations 501 being intended to face each other and to match the shape of the connecting member 411.

[0091] Thus, the flaps 500 make it possible to eliminate any degree of freedom of the support element 410 with respect to the housing.

Preferably, the flaps 500 are fixed to the extrados face of the distal outer layer 102 by one of their ends and comprise securing means extending for example over the whole of their face intended to be facing each other. -vis of the extrados face of the distal outer layer 102. These securing means are intended to cooperate with complementary securing means extending over all or part of the surface of the extrados face of the distal outer layer 102. These securing means are either made up of elements in the form of hooks or elements in the form of loops intended to cooperate with each other. In particular, when the flaps 500 are pressed against the extrados face of the distal outer layer 102, the securing means cooperate with each other, the hooks hanging on loops, temporarily. Such securing means are known per se to those skilled in the art, in particular those marketed under the trade name “velcro”.

These flaps 500 advantageously have no elastic deformation capacity.

More generally, it should be noted that the embodiments and embodiments considered above have been described by way of nonlimiting examples, and that other variants can therefore be envisaged.

Claims

[Claim 1] Armband (10) for fixing an arm of an exoskeleton to an upper limb of a user, characterized in that it comprises an interface module with an arm of the exoskeleton, a control module. distal clamp (100) for fixing around a user's forearm and a proximal clamp module (200) for fixing around a user's arm, said distal clamp modules (100) ) and proximal (200) being connected to each other by at least one junction link (300), said distal (100) and proximal (200) clamping modules and said at least one junction link (300) being made of textile material.

[Claim 2] An attachment cuff (10) according to claim 1, wherein the interface module (401) comprises a rigid support member (410) of curved shape, said support member (410) comprising a link member (411) extending over its convex surface, intended to cooperate with the arm of an exoskeleton.

[Claim 3] The fixation cuff (10) of claim 2, wherein the distal tightening module (100) has a housing configured to removably receive the support member (410), the concavity of said support member (410). being intended to be oriented towards the upper limb of the user when the cuff (10) is fitted by said user.

[Claim 4] The fixation cuff (10) of claim 3, wherein each of the distal (100) and proximal (200) tightening modules comprises an inner layer (101, 201) and an outer layer, the housing being formed between an outer layer and an inner layer.

[Claim 5] A fixation cuff (10) according to claim 3, wherein the distal tightening module (100) includes means for locking the support member (410) within the housing.

[Claim 6] An attachment cuff (10) according to claim 5, wherein the means for locking the support member (410) within the housing are formed by at least one flap (500) adapted to grip the link module. (411) of the support element (410).

[Claim 7] An attachment cuff (10) according to one of claims 1 to 6, comprising two connecting links (300) extending substantially parallel to one another, at a distance from one another. 'other so as to provide a through orifice (301) adapted to receive an external face of an elbow of the user.

[Claim 8] An attachment cuff (10) according to one of claims 1 to 7, in wherein the distal tightening module (100) comprises two lateral fixing bands called "distal lateral bands" (104) juxtaposed to one another, and the proximal clamping module (200) comprises a lateral fixing band called " proximal lateral band ”(204), said bands comprising control means.

[Claim 9] A fixation cuff (10) according to one of claims 1 to 8, in which the distal (100) and proximal (200) tightening modules have an inner layer (101, 201), said inner layers and them. junction links (300) forming a single piece.