EP2616035B1 - Mobility assisting walking device by retaining structure - Google Patents

Mobility assisting walking device by retaining structure Download PDF

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Publication number
EP2616035B1
EP2616035B1 EP11784674.1A EP11784674A EP2616035B1 EP 2616035 B1 EP2616035 B1 EP 2616035B1 EP 11784674 A EP11784674 A EP 11784674A EP 2616035 B1 EP2616035 B1 EP 2616035B1
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EP
European Patent Office
Prior art keywords
individual
support
assisted
relative
top element
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EP11784674.1A
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German (de)
French (fr)
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EP2616035A1 (en
Inventor
Philippe Izard
Hervé ESCOURROU
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Safe Step and Walk Movement
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Safe Step and Walk Movement
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Publication of EP2616035A1 publication Critical patent/EP2616035A1/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5092—Optical sensor

Definitions

  • the present invention relates to a device for assisting the actual walk by supporting an assisted individual.
  • the term "actual walk” is understood to mean that the device allows the individual who uses it to actually move in space, as opposed to walking aids on the road. treadmill or rehabilitation pelvis.
  • the device according to the invention is comparable to a walker.
  • the expression “by support” the fact that the device is of the type assisting walk by unloading the individual of part or all of its own weight. The support can be partial or total.
  • the device according to the invention is of the type recreating the context of walking in a rehabilitation pool, but in a real situation on the ground.
  • devices for assisting the walking of individuals, in particular implemented in the context of rehabilitation, for the recovery of the motor pattern of the patient.
  • walkers consisting of a structure designed to support the weight of the individual assisted and mounted on wheels.
  • This type of device if it allows a real ambulation, is however insufficient to allow support of the individual that is adapted to specific motor problems, and / or active rehabilitation, scalable and perfectly appropriate to each individual, whatever their particular needs.
  • the support is performed only by the strength of the arms of the user, which is unsatisfactory from the point of view of comfort of use.
  • the document US 2005/0288157 describes a support device for walking by supporting the weight of the body of an assisted individual, this support can be programmed by the therapist through a control unit.
  • This device comprises a support structure mounted on wheel, which comprises a pelvic support unit for supporting the individual, and an actuator adapted to apply to this support unit a vertical force relative to the base of the device, so as to relieve some of the weight of the assisted individual.
  • the present invention aims at remedying the drawbacks of devices for assisting with walking by propulsion proposed by the prior art, in particular to those described above, by proposing such a device that is able to take into account the specificities of motor impairment. of each individual, and to provide him with assistance to the actual walk perfectly appropriate.
  • the invention further aims that this device has a high comfort of use.
  • the actuator system is slaved to the gravitational force sensor system and is controlled by a system of programming and management of support, depending on the measurement of the position of the legs of the individual carried out by the system for measuring the position of the legs of the individual, so that said support can be differentiated according to each of the right or left supports of said individual.
  • the device according to the invention facilitates the ambulation by reducing the gravity by support, and differentially for each lower limb of the individual.
  • the support of the assisted person is global, because it concerns the body taken in block and in its entirety. During the march, this support is programmable with precision, and it is advantageously differentiated according to each support right or left of the individual, that is to say that its lower limbs is supported on the ground . It is thus possible to adjust the support, by varying the height of elevation of the upper element relative to the lower element, according to the specific needs of the individual assisted, for each of its lower right limb and his lower left limb.
  • the device according to the invention further comprises means for quantifying the support, implementing the system of gravity force sensors and the system of programming and management of the support.
  • the support can thus be precisely quantified, in particular according to each support right or left, so that the progress and regressions of the individual, for each of its lower right and left, can be evaluated and quantified over time. This proves particularly particularly advantageous in the context of a reeducation walk of the individual.
  • the adjustment of gravity constraints to which the assisted individual is subjected allows patients with reduced mobility a gradual rehabilitation. This provides a benefit for the motor skills of the lower limbs and the recovery of the motor pattern of the patient and a verticalization previously impossible.
  • the use of this device also offers the advantage of strengthening the patient's involvement and commitment to the care process; it actually makes it part of an empowerment process.
  • This device responds advantageously to the problems posed by any pathology of the musculoskeletal system of traumatic, orthopedic or degenerative origin, whether transient or permanent.
  • the use of this device is all the more beneficial for patients who are unable to walk with addition of general pathologies, such as neurological, cardiopulmonary or metabolic, because it prevents the harmful consequences of immobilization.
  • the device according to the invention is furthermore particularly suitable for use allowing the empowerment of people at home.
  • the device according to the invention may otherwise be implemented in a manual mode, providing the same support for the two lower limbs of the individual, this support being initially adjusted by adjusting the height of the upper member relative to the lower element.
  • the invention also satisfies the following characteristics, implemented separately or in each of their technically operating combinations.
  • the upper element comprises a so-called insertion rod on which is fixed a positioning seat of the individual intended to position the individual and to lift the level of the basin.
  • the positioning seat preferably comprises a shell comprising a perineal seat, a support anterior pubis and posterior lumbar support.
  • the upper element comprises a limited cabin arch, behind the walking direction of the assisted individual, a safety bar that can be closed, and the posterior lumbar support of the hull is pegged to this posterior safety bar, which advantageously ensures a high degree of safety of use of the device.
  • the gravitational force sensor system is constituted by one or more strain gauge force sensors for weighing the upper element supporting the assisted individual.
  • the gravitational force sensor system is placed in the mid-sagittal position under the insertion rod of the positioning seat of the individual, so that the accuracy of the weighing of the upper element supporting the individual , performed by this system, is high and that the weighing values obtained are representative of the actual weight of the individual when the upper element is in full lifting position relative to the lower element, position in which none of the members inferior of the individual is in support on the ground.
  • the actuator system comprises means for lifting the upper element relative to the lower element and differentiated support means for each of the right or left supports of the individual.
  • These means may be constituted by a single member, for example a jack with a foot yoke is fixed on the lower member and a yoke fork is fixed under the seat insertion rod.
  • the actuator system comprises a so-called lifting jack, comprising a foot cap and a stem cap, the foot cap being attached to the lower member and the stem cap being fixed under the seat insertion rod, this lifting cylinder having a greater stroke and a lower actuation speed; and a so-called differentiated support cylinder according to each of the right or left supports, also able to ensure a relative movement of the upper element relative to the lower element along a substantially vertical axis, and having a shorter stroke and a larger actuating speed as the lifting jack.
  • the position measurement system of the lower limbs of the individual consists of distance sensors, which may be infrared sensors, in particular placed on the front of the lower element relative to the walking direction of the individual, and capable, during the course of the individual's walking, of detecting the distance d that separates them from each lower limb of the individual.
  • distance sensors which may be infrared sensors, in particular placed on the front of the lower element relative to the walking direction of the individual, and capable, during the course of the individual's walking, of detecting the distance d that separates them from each lower limb of the individual.
  • Such sensors advantageously make it possible to determine, in real time, which of the lower limbs of the assisted individual is in the advanced phase, also known as flight, and is preparing to come to rest on the ground, and which of these members is static.
  • the invention does not exclude any other embodiment of the position measuring system of the lower limbs of the individual, such as accelerometers fixing on the respective lower limbs of the individual for example.
  • the system for programming and management of support is included in a control box, which further comprises control means of the actuator system and the gravity force sensor system.
  • This control box is preferably arranged at the level of the upper element of the device, so as to be accessible to the assisted individual positioned in the device so as to be supported by this upper element.
  • these control means are operable by the individual so that the height position of the upper element relative to the lower element can be adjusted manually at any time.
  • Such a feature is particularly advantageous in that it limits the transfer of the individual in the course of his day.
  • the height of the upper element of the device can be easily adjusted so that the device can engage under a table, the individual is then positioned relative to the table so that his arms can rest and be able to eat, write, work, etc., without having to leave the walking aid device according to the invention.
  • the device is supplied with energy by an energy storage system consisting of a or several portable electric batteries, preferably rechargeable, and preferably fixed on the base of the lower element.
  • an energy storage system consisting of a or several portable electric batteries, preferably rechargeable, and preferably fixed on the base of the lower element.
  • the wheels on which the device rests, and more particularly the lower element, are moreover preferably of the multidirectional type. At least one of them is moreover preferably equipped with braking means and / or locking means. This increases the maneuverability and safety of use of the device.
  • FIG. 1 An exemplary embodiment of a device according to the invention for assisting the actual walk by supporting an assisted individual 100 is represented on the Figures 1 and 2 .
  • This device comprises a support structure comprising an upper element 1 and a lower element 2 integral with one another.
  • the lower element 2 rests on the ground by wheels 7, which are preferably three in number, more preferably four in number, distributed at the four corners of the lower element 1 so as to obtain the best ground stability. possible.
  • the wheels 7 are preferably of multidirectional type, and at least one of them is preferably provided with a braking and / or locking system.
  • the individual 100 is represented on these Figures 1 and 2 in a so-called operative position, in which it is supported by the upper element 1.
  • the upper element 1 and the lower element 2 are mobilized together, that is to say that the upper element 1 is made movable along a substantially vertical axis relative to the lower element 2, by a sliding system for example, in the particular embodiment shown on the figure 1 by a four-bar X 3 system extending between the lower member 2 and the upper member 1 and having four anterior pivot links and four posterior slide links.
  • sliding system is however not limited to the invention, which applies similarly to any other system known to those skilled in the art, such as for example a sliding guide means of the type slide.
  • the device further comprises a so-called insertion rod 5, integrated in the upper element 2, preferably arranged substantially in the mid-sagittal position with respect to the individual, and on which is fixed a seating 4 for positioning and receiving of the assisted individual 100.
  • the insertion rod 5 extends from an upper part of the upper element 2, to the seat 4.
  • the insertion rod 5 is disposed under the seat 4, very slightly forward with respect to the mid-sagittal position.
  • the positioning seat 4, shown on the figure 1 is intended to position the assisted individual and to raise it at the level of the basin. It is preferably, but not exclusively, constituted by a thermoformed shell, comprising a perineal seat and anterior pubic support.
  • This seating system can be completed by a posterior lumbar support 9 fixed to a posterior safety closing bar 6, which delimits, with another constituent element of the upper element 1, namely an arch of anterior cabin 8, a reception area for the assisted individual.
  • the posterior safety closing bar 6 is preferably associated with means for controlling its closure, in particular visual means, such as an indicator light, which emit a signal when the closing bar 6 is correctly closed.
  • This figure 1 also shows the integration of the seat 4 to the support structure, as well as the position of a position measuring system of the lower limbs 50, that is to say the legs, respectively 101, 102, of the 100.
  • this measuring system comprises two lower limb locating sensors which are arranged on the lower element 2, substantially at knee height, forward relative to the individual in the direction of travel, and so to be directed towards said individual.
  • these sensors 50 are sensors of the infrared type, or any other type for measuring the distance separating them from each lower limb 101, 102 of the individual 100.
  • any other system for measuring the position of the lower limbs of the assisted individual 100 in itself also falls within the scope of the invention, insofar as this system makes it possible to determine which of the lower limbs is supported by the ground, at any given time, or will be the next to do so.
  • accelerometer-type systems mounted on each of the lower limbs 101, 102 of the individual, or systems located at the level of the shoes of the individual 100, for detecting contact with the ground, can be used. in the context of the invention.
  • the upper element 1 is preferably in the form of an anteriorly arranged bow bar 8, disposed substantially horizontally, on which the insertion rod 5 of the positioning seat 4 of the individual, the four-bar system X 3, as well as the rear safety closing bar 6 are fastened thereto.
  • This safety closing bar 6 delimits with the anterior arch 8 the space of reception and freedom of the assisted individual.
  • the lower element 2 has the form of a kind of parallelepiped open back mounted on the four wheels 7, on which attaches the lower part of the four X-bar system 3.
  • the device also comprises an actuator system 20, which actuates the sliding of the sliding system 3, which can be linear type jack, and which raises the upper element 1 relative to the lower element 2 and lift and the assisted individual resting on the positioning seat 4.
  • This actuator system can be of any type known to those skilled in the art. It comprises, for example, a so-called lift jack, the foot cap of which is fixed to the lower member 1 and the stem cap under the seat insertion rod 5.
  • Such an embodiment of the actuator system is not at all limiting of the invention, and any other means known in itself also falls within the scope of the invention, insofar as it allows a movement substantially in the vertical direction of the upper element 1 by relative to the lower element 2.
  • the electrical energy necessary for the operation of the device, in particular the actuator system 20 and the system 50 for measuring the position of the lower limbs of the individual 100, is preferably provided by a system of portable electric batteries 60, preferably rechargeable batteries. on sector. It is the same for all other components of the device according to the invention requiring such a power supply.
  • the lower end of the actuator 20, the position measuring system of the lower limbs 50 and the batteries 60 are preferably fixed on the lower element 2.
  • the device further comprises a gravity force sensor system, which is not visible on the Figures 1 and 2 and which is preferably made up of strain gauge force sensors 30, mounted under the seat insertion rod 5, preferably on the axis of the actuator 20.
  • This gravity force sensor system makes it possible to carry out the weighing of the upper element 1, which includes the weight of the assisted individual 100 in a maximum lifting position of the upper element 1 relative to the lower element 2, in which the weight of the individual does not rest more on his feet but entirely on the positioning seat 4.
  • the device according to the invention also comprises a system for programming and managing the support, which is not visible on the Figures 1 and 2 and which controls, based on data received from the gravity sensor system 30 and the lower limb position measurement system 101, 102 of the individual, the actuator system 20 so as to allow elevation of the upper element 1 relative to the lower element 2, and thus a support of the assisted individual 100, more or less important according to which lower limbs 101, 102 is in contact with the ground.
  • the operation of the lower limb position measuring system 50, 101, 102 is illustrated in more detail on the figure 3 , which schematically represents different phases of the walk diagram of the individual, distinguishing the flight phase of the right lower limb 101, on the left in the figure, during which this limb is in suspension, of the phase of support in the course of which it is supported on the ground, on the right in the figure.
  • the distance d between the lower limb 101 and the sensors 50 of the position measuring system members, fixed on the lower member 2 of the device decreases, while the distance between the second lower member 102 and these same sensors 50 increases.
  • These distance data measured by the sensors 50 are transferred to the system for programming and managing the support of the device, which is advantageously designed so as to be able to send, according to these data, an order to the actuator system 20 for set the direction and amplitude of actuation, and thus adjust a height of the upper member 1 relative to the lower member 2 adapted to the desired support and preset for the lower limb in support of the individual.
  • FIG. 4a, 4b, 4c An exemplary embodiment of the device according to the invention is shown in more detail on the Figures 4a, 4b, 4c and on Figures 5a, 5b, 5c , respectively in a so-called maximum high position (maximum height h max between the location of the seat 4 and the ground), and in a so-called maximum low position (minimum height h min between the seat 4 and the seat). ground).
  • the maximum high position is preferably adjusted so that in this position, the assisted individual positioned on the positioning seat 4 does not touch the ground with his feet, or he touches it just without really being in support.
  • the maximum low position is chosen to facilitate the installation of the individual in the device on the positioning seat.
  • the operation of the device according to the invention consists generally of synergizing the gravity force sensor system 30 and the actuator system 20, taking into account the data recorded by the position measurement system of the lower limbs of the individual 50.
  • the synergy of these actuator 20 and sensor systems gravity 30 is provided by a method of management and programming of the support, by means of the programming and management system of the support which is included in a control box 40 disposed at the level of the upper element 1, on the before the latter in relation to the direction of walk of the individual, so as to be easily accessible at any time by this individual.
  • This method makes it possible to program a support previously defined for each of the right or left supports of the individual, the moments when each of these supports is determined according to the measurement of their position relative to the distance sensors 50.
  • This measurement involves the infrared distance sensors 50 placed on the front of the lower element 2 of the support structure and capable of detecting the distance d which separates them from each member of the assisted individual.
  • the support can be quantified and its value accessible to any operator from the system of programming and management of the support.
  • This system for programming and managing the support is conventional in itself, and preferably of the programmed computer type, comprising at least one microprocessor, and storage means (magnetic hard disk, flash memory, optical disk, etc.) in which is stored a computer program product, in the form of a set of program code instructions to be executed to implement the various steps of data processing and issuing instructions for the implementation of the procécé.
  • the device according to the invention can also be implemented in manual mode, as follows: adjustment of the height of the upper element 1 of the device by the individual assisted by the control box 40. The support is not then differentiated between right and left supports.
  • the distance between the upper element 1 and the ground can vary with each step between the two values h min and h max; these two values also correspond to the two extreme energy values of use of the apparatus.
  • the "stop” or "safety” position corresponds to the height h max of this device for assisting with walking by propping, so as to immobilize the apparatus in the most favorable situation for the assisted individual, in which his weight is fully supported.
  • the present invention achieves the objectives it has set for itself.
  • it provides a support device for walking by support, this support being programmable and can be differentiated according to each of the right or left supports of the assisted individual, a device that particularly meets the needs of individuals requiring safety and security. Assists with empowerment by assisting the actual walk.
  • This device is for people who have difficulty using a standard walker or who refuse the addiction and the idea of debasement associated with the use of the wheelchair. Its usefulness in the public domain not only equates it with ambulatory and autonomic devices intended for personal use, but also with rehabilitation devices for professional use intended for the medical and paramedical professions.

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Description

La présente invention concerne un dispositif d'aide à la marche réelle par soutènement d'un individu assisté.The present invention relates to a device for assisting the actual walk by supporting an assisted individual.

On entend dans la présente description, par l'expression « marche réelle », le fait que le dispositif permet à l'individu qui l'utilise de se déplacer réellement dans l'espace, par opposition aux dispositifs d'aide à la marche sur tapis de marche ou en bassin de rééducation. Au contraire, le dispositif selon l'invention est assimilable à un déambulateur. On entend en outre par l'expression « par soutènement » le fait que le dispositif est du type assistant la marche par délestage de l'individu d'une partie ou de la totalité de son propre poids. Le soutènement peut ainsi être partiel ou total.In the present description, the term "actual walk" is understood to mean that the device allows the individual who uses it to actually move in space, as opposed to walking aids on the road. treadmill or rehabilitation pelvis. On the contrary, the device according to the invention is comparable to a walker. Also meant by the expression "by support" the fact that the device is of the type assisting walk by unloading the individual of part or all of its own weight. The support can be partial or total.

De façon générale, le dispositif selon l'invention est du type recréant le contexte de la marche dans un bassin de rééducation, mais en situation réelle au sol.In general, the device according to the invention is of the type recreating the context of walking in a rehabilitation pool, but in a real situation on the ground.

On connait à l'heure actuelle des dispositifs pour l'aide à la marche des individus, notamment mis en oeuvre dans le contexte d'une rééducation, pour la reprise du schéma moteur du patient. Parmi ces dispositifs, on peut citer les déambulateurs, constitués d'une structure destinée à supporter le poids de l'individu assisté et montée sur roulettes. Ce type de dispositifs, s'il permet une déambulation réelle, s'avère cependant insuffisant pour permettre un soutènement de l'individu qui soit adapté à ses problèmes de motricité spécifiques, et/ou à une rééducation active, évolutive et parfaitement appropriée à chaque individu, quels que soient ses besoins particuliers. En outre, le soutènement n'y est effectué que par la force des bras de l'utilisateur, ce qui est peu satisfaisant du point de vue du confort d'utilisation.At present, devices are known for assisting the walking of individuals, in particular implemented in the context of rehabilitation, for the recovery of the motor pattern of the patient. Among these devices, we can mention the walkers, consisting of a structure designed to support the weight of the individual assisted and mounted on wheels. This type of device, if it allows a real ambulation, is however insufficient to allow support of the individual that is adapted to specific motor problems, and / or active rehabilitation, scalable and perfectly appropriate to each individual, whatever their particular needs. In addition, the support is performed only by the strength of the arms of the user, which is unsatisfactory from the point of view of comfort of use.

Le document US 2005/0288157 décrit un dispositif d'aide à la marche par soutènement du poids du corps d'un individu assisté, ce soutènement pouvant être programmé par le thérapeute par le biais d'une unité de contrôle. Ce dispositif comporte une structure support montée sur roues, qui comprend une unité de support pelvien destinée à soutenir l'individu, et un actionneur apte à appliquer à cette unité de support une force verticale par rapport à la base du dispositif, de sorte à pouvoir soulager une partie du poids de l'individu assisté.The document US 2005/0288157 describes a support device for walking by supporting the weight of the body of an assisted individual, this support can be programmed by the therapist through a control unit. This device comprises a support structure mounted on wheel, which comprises a pelvic support unit for supporting the individual, and an actuator adapted to apply to this support unit a vertical force relative to the base of the device, so as to relieve some of the weight of the assisted individual.

La présente invention vise à remédier aux inconvénients des dispositifs d'aide à la marche par soutènement proposés par l'art antérieur, notamment à ceux exposés ci-avant, en proposant un tel dispositif qui soit apte à prendre en compte les spécificités de déficience motrice de chaque individu, et à lui procurer une assistance à la marche réelle parfaitement appropriée. L'invention vise en outre à ce que ce dispositif présente un confort d'utilisation élevé.The present invention aims at remedying the drawbacks of devices for assisting with walking by propulsion proposed by the prior art, in particular to those described above, by proposing such a device that is able to take into account the specificities of motor impairment. of each individual, and to provide him with assistance to the actual walk perfectly appropriate. The invention further aims that this device has a high comfort of use.

A cet effet, il est proposé selon l'invention un dispositif d'aide à la marche réelle par soutènement du poids du corps d'un individu assisté, ce soutènement étant programmable et différencié selon chacun des appuis droit ou gauche de l'individu. Ce dispositif comporte :

  • une structure support montée sur roues, qui comprend un élément supérieur destiné à soutenir l'individu et un élément inférieur destiné à prendre appui sur le sol, l'élément supérieur étant rendu mobile par rapport à l'élément inférieur selon un axe vertical par l'interposition d'un système coulissant qui est actionné par un système d'actionneur apte à surélever l'élément supérieur par rapport à l'élément inférieur et à soulever ainsi l'individu assisté ;
  • un système de capteurs de force gravitaire apte à réaliser la pesée de l'élément supérieur soutenant l'individu assisté ;
  • un système de mesure de position des membres inférieurs de l'individu, c'est-à-dire de ses jambes. On entend par mesure de position des membres inférieurs de l'individu la détermination de la position relative de chacun de ces membres inférieurs soit l'un par rapport à l'autre, soit par rapport à un ou des points fixes sur le dispositif, soit par rapport au sol, ou encore la détermination de leur vitesse de déplacement, ou de toute autre paramètre permettant de déterminer lequel de ces membres inférieurs se trouve en phase d'appui au sol et lequel se trouve en phase dite d'envol, définie comme la phase s'intercalant entre deux phases d'appui au sol successives d'un même membre inférieur.
For this purpose, it is proposed according to the invention a device for assisting the actual walk by supporting the weight of the body of an assisted individual, this support being programmable and differentiated according to each support right or left of the individual. This device comprises:
  • a wheel-mounted support structure, which comprises an upper member for supporting the individual and a lower member for bearing on the ground, the upper member being movable relative to the lower member along a vertical axis by interposition of a sliding system which is actuated by an actuator system adapted to elevate the upper member relative to the lower member and thereby lift the assisted individual;
  • a gravity force sensor system capable of carrying out the weighing of the upper element supporting the assisted individual;
  • a system for measuring the position of the lower limbs of the individual, that is to say his legs. By measuring the position of the lower limbs of the individual is meant determining the relative position of each of these lower limbs either relative to each other, or relative to one or more fixed points on the device, or relative to the ground, or the determination of their movement speed, or of any other parameter making it possible to determine which of these lower limbs is in ground support phase and which is in so-called flight phase, defined as the phase being inserted between two successive ground support phases of the same lower limb.

Selon l'invention, le système d'actionneur est asservi au système de capteurs de force gravitaire et il est commandé par un système de programmation et de gestion de soutènement, en fonction de la mesure de position des jambes de l'individu réalisée par le système de mesure de position des jambes de l'individu, de sorte que ledit soutènement peut être différencié selon chacun des appuis droit ou gauche dudit individu. Le dispositif selon l'invention facilite la déambulation en réduisant la gravité par soutènement, et de manière différenciée pour chaque membre inférieur de l'individu. Le soutènement de la personne assisté est global, car il concerne le corps pris en bloc et dans son intégralité. Au cours de la marche, ce soutènement est programmable avec précision, et il est avantageusement différencié selon chacun des appuis droit ou gauche de l'individu, c'est-à-dire selon lequel de ses membres inférieurs se trouve en appui sur le sol. Il est ainsi possible d'ajuster le soutènement, en jouant sur la hauteur de surélévation de l'élément supérieur par rapport à l'élément inférieur, en fonction des besoins spécifiques de l'individu assisté, pour chacun de son membre inférieur droit et de son membre inférieur gauche.According to the invention, the actuator system is slaved to the gravitational force sensor system and is controlled by a system of programming and management of support, depending on the measurement of the position of the legs of the individual carried out by the system for measuring the position of the legs of the individual, so that said support can be differentiated according to each of the right or left supports of said individual. The device according to the invention facilitates the ambulation by reducing the gravity by support, and differentially for each lower limb of the individual. The support of the assisted person is global, because it concerns the body taken in block and in its entirety. During the march, this support is programmable with precision, and it is advantageously differentiated according to each support right or left of the individual, that is to say that its lower limbs is supported on the ground . It is thus possible to adjust the support, by varying the height of elevation of the upper element relative to the lower element, according to the specific needs of the individual assisted, for each of its lower right limb and his lower left limb.

Préférentiellement, le dispositif selon l'invention comporte en outre des moyens de quantification du soutènement, mettant en oeuvre le système de capteurs de force gravitaire et le système de programmation et de gestion du soutènement. Le soutènement peut ainsi être quantifié avec précision, notamment selon chacun des appuis droit ou gauche, si bien que les progrès et régressions de l'individu, pour chacun de ses membres inférieures droit et gauche, peuvent être évalués et quantifiés dans le temps. Ceci s'avère en particulier tout à fait avantageux dans le contexte d'une rééducation à la marche de l'individu.Preferably, the device according to the invention further comprises means for quantifying the support, implementing the system of gravity force sensors and the system of programming and management of the support. The support can thus be precisely quantified, in particular according to each support right or left, so that the progress and regressions of the individual, for each of its lower right and left, can be evaluated and quantified over time. This proves particularly particularly advantageous in the context of a reeducation walk of the individual.

Le réglage des contraintes gravitaires auxquelles l'individu assisté est soumis permet aux patients à mobilité réduite une remise en charge progressive. Celle-ci procure un bénéfice pour la motricité des membres inférieurs et pour la reprise du schéma moteur du patient ainsi qu'une verticalisation jusque là impossible. L'utilisation de ce dispositif offre de surcroît l'avantage de renforcer la participation du patient et son engagement dans la démarche de soins ; elle l'inscrit de fait dans un processus d'autonomisation. Ce dispositif répond avantageusement aux problématiques posées par toute pathologie de l'appareil locomoteur d'origine traumatique, orthopédique ou dégénérative, qu'elle soit transitoire ou définitive. L'utilisation de ce dispositif est d'autant plus bénéfique pour les patients inaptes à la marche atteints de surcroit de pathologies générales, telles que neurologiques, cardio-pulmonaires ou métaboliques, car elle prévient les conséquences néfastes de l'immobilisation.The adjustment of gravity constraints to which the assisted individual is subjected allows patients with reduced mobility a gradual rehabilitation. This provides a benefit for the motor skills of the lower limbs and the recovery of the motor pattern of the patient and a verticalization previously impossible. The use of this device also offers the advantage of strengthening the patient's involvement and commitment to the care process; it actually makes it part of an empowerment process. This device responds advantageously to the problems posed by any pathology of the musculoskeletal system of traumatic, orthopedic or degenerative origin, whether transient or permanent. The use of this device is all the more beneficial for patients who are unable to walk with addition of general pathologies, such as neurological, cardiopulmonary or metabolic, because it prevents the harmful consequences of immobilization.

Par rapport aux dispositifs existants proposés par l'art antérieur, le dispositif selon l'invention offre notamment les avantages de :

  • permettre une déambulation réelle, puisqu'il ne fonctionne ni avec un tapis de marche, ni en bassin de rééducation,
  • assurer un soutènement global de l'individu et non partiel uniquement, c'est-à-dire ne portant que sur une seule partie du corps,
  • quantifier précisément le soutènement effectué sur l'individu assisté,
  • effectuer un soutènement pouvant ne pas être identique entre appui droit et appui gauche.
Compared with the existing devices proposed by the prior art, the device according to the invention notably offers the advantages of:
  • to allow a real ambulation, since it does not work with a treadmill, nor in a reeducation basin,
  • to assure a global support of the individual and not only partial, that is to say, bearing on only one part of the body,
  • accurately quantify the support provided to the assisted individual,
  • carry out a support that may not be identical between right and left support.

C'est bien cette dernière caractéristique qui ouvre de réelles perspectives thérapeutiques : offrir une adaptabilité permanente et s'inscrire dans une véritable progression du schéma moteur de la marche. Le dispositif selon l'invention est en outre particulièrement adapté pour une utilisation permettant une autonomisation des personnes à domicile.It is this last characteristic which opens real therapeutic perspectives: to offer a permanent adaptability and to register in a real progression of the motor scheme of the march. The device according to the invention is furthermore particularly suitable for use allowing the empowerment of people at home.

Un procédé de mise en oeuvre du dispositif comprend les étapes consistant à déduire à partir de données de mesure de position des membres inférieurs de l'individu par rapport aux données relevées par le système de capteurs de force gravitaire, quel est le membre inférieur de l'individu assisté en appui sur le sol ; programmer un soutènement préalablement défini pour chacun des appuis droit ou gauche de l'individu et ordonner les différentes phases de l'utilisation du dispositif dans un mode automatique qui se déroule comme suit :

  • phase de pesée caractérisée par la levée totale de l'individu assisté soutenu par l'élément supérieur, c'est-à-dire la levée de l'élément supérieur par rapport à l'élément inférieur jusqu'à ce que les pieds de l'individu ne soient plus en appui sur le sol, et mise en mémoire de la valeur de poids mesurée par le système de capteurs de force gravitaire,
  • phase de programmation du pourcentage de soutènement du poids du corps de l'individu assisté pour chacun des appuis droit et gauche,
  • phase de soutènement assisté en ayant la possibilité de dissocier à chaque pas un soutènement correspondant à l'appui gauche et un soutènement correspondant à l'appui droit,
  • phase d'arrêt qui interrompt immédiatement le mouvement du système d'actionneur en position de levée totale.
A method of implementing the device comprises the steps of deriving from position measurement data of the lower limbs of the individual with respect to the data recorded by the gravity force sensor system, which is the lower limb of the assisted individual on the ground; to program a support previously defined for each of the supports right or left of the individual and to order the various phases of the use of the device in an automatic mode which unfolds as follows:
  • weighing phase characterized by the total lifting of the assisted individual supported by the upper element, that is to say the lifting of the upper element relative to the lower element until the feet of the individual are no longer supported on the ground, and put in memory the value of weight measured by the gravity force sensor system,
  • programming phase of the support weight percentage of the body of the assisted individual for each of the right and left supports,
  • supported support phase with the possibility of separating at each step a support corresponding to the left support and a support corresponding to the right support,
  • stop phase which immediately interrupts the movement of the actuator system in the full lift position.

Le dispositif selon l'invention peut autrement être mis en oeuvre selon un mode manuel, prévoyant un même soutènement pour les deux membres inférieurs de l'individu, ce soutènement étant réglé initialement par réglage de la hauteur de l'élément supérieur par rapport à l'élément inférieur.The device according to the invention may otherwise be implemented in a manual mode, providing the same support for the two lower limbs of the individual, this support being initially adjusted by adjusting the height of the upper member relative to the lower element.

Suivant des modes de réalisation préférés, l'invention répond en outre aux caractéristiques suivantes, mises en oeuvre séparément ou en chacune de leurs combinaisons techniquement opérantes.According to preferred embodiments, the invention also satisfies the following characteristics, implemented separately or in each of their technically operating combinations.

Dans des modes de réalisation préférés de l'invention, l'élément supérieur comprend une tige dite d'insertion sur laquelle se fixe une assise de positionnement de l'individu destinée à positionner l'individu et à le soulever au niveau du bassin. Une telle caractéristique assure avantageusement que le soutènement de l'individu soit global, c'est-à-dire de tout son poids.In preferred embodiments of the invention, the upper element comprises a so-called insertion rod on which is fixed a positioning seat of the individual intended to position the individual and to lift the level of the basin. Such a characteristic advantageously ensures that the support of the individual is global, that is to say with all its weight.

Afin de répondre à un objectif supplémentaire de l'invention, qui est d'assurer que le dispositif présente un confort d'utilisation élevé pour l'individu assisté, l'assise de positionnement comporte de préférence une coque comprenant un siège périnéal, un appui pubien antérieur et un appui lombaire postérieur.In order to meet a further objective of the invention, which is to ensure that the device has a high user comfort for the assisted individual, the positioning seat preferably comprises a shell comprising a perineal seat, a support anterior pubis and posterior lumbar support.

Préférentiellement, l'élément supérieur comprend un arceau d'habitacle limité, en arrière par rapport à la direction de marche de l'individu assisté, par une barre de sécurité que l'on peut refermer, et l'appui lombaire postérieur de la coque est chevillé à cette barre de sécurité postérieure, ce qui assure avantageusement un degré élevé de sécurité d'utilisation du dispositif.Preferably, the upper element comprises a limited cabin arch, behind the walking direction of the assisted individual, a safety bar that can be closed, and the posterior lumbar support of the hull is pegged to this posterior safety bar, which advantageously ensures a high degree of safety of use of the device.

Dans des modes de réalisation préférés de l'invention, le système de capteur de force gravitaire est constitué par un ou plusieurs capteurs de force à jauges de contrainte permettant la pesée de l'élément supérieur soutenant l'individu assisté. Préférentiellement, le système de capteur de force gravitaire est placé en position médio-sagittale sous la tige d'insertion de l'assise de positionnement de l'individu, si bien que la précision de la pesée de l'élément supérieur soutenant l'individu, effectuée par ce système, est élevée et que les valeurs de pesée obtenues sont représentatives du poids réel de l'individu lorsque l'élément supérieur se trouve en position de levée totale par rapport à l'élément inférieur, position dans laquelle aucun des membres inférieurs de l'individu ne se trouve en appui sur le sol.In preferred embodiments of the invention, the gravitational force sensor system is constituted by one or more strain gauge force sensors for weighing the upper element supporting the assisted individual. Preferably, the gravitational force sensor system is placed in the mid-sagittal position under the insertion rod of the positioning seat of the individual, so that the accuracy of the weighing of the upper element supporting the individual , performed by this system, is high and that the weighing values obtained are representative of the actual weight of the individual when the upper element is in full lifting position relative to the lower element, position in which none of the members inferior of the individual is in support on the ground.

Selon une caractéristique avantageuse de l'invention, le système d'actionneur comporte des moyens de levage de l'élément supérieur par rapport à l'élément inférieur et des moyens de soutènement différencié selon chacun des appuis droit ou gauche de l'individu. Ces moyens peuvent être constitués par un unique organe, par exemple un vérin dont une chape de pied est fixée sur l'élément inférieur et une chape de tige est fixée sous la tige d'insertion de l'assise.According to an advantageous characteristic of the invention, the actuator system comprises means for lifting the upper element relative to the lower element and differentiated support means for each of the right or left supports of the individual. These means may be constituted by a single member, for example a jack with a foot yoke is fixed on the lower member and a yoke fork is fixed under the seat insertion rod.

Préférentiellement, ces moyens sont différenciés, et le système d'actionneur comporte un vérin dit de levage, comportant une chape de pied et une chape de tige, la chape de pied étant fixée sur l'élément inférieur et la chape de tige étant fixée sous la tige d'insertion de l'assise, ce vérin de levage présentant une plus grande course et une plus faible vitesse d'actionnement ; et un vérin dit de soutènement différencié selon chacun des appuis droit ou gauche, également apte à assurer un mouvement relatif de l'élément supérieur par rapport à l'élément inférieur selon un axe sensiblement vertical, et présentant une plus faible course et une plus grande vitesse d'actionnement que le vérin de levage.Preferably, these means are differentiated, and the actuator system comprises a so-called lifting jack, comprising a foot cap and a stem cap, the foot cap being attached to the lower member and the stem cap being fixed under the seat insertion rod, this lifting cylinder having a greater stroke and a lower actuation speed; and a so-called differentiated support cylinder according to each of the right or left supports, also able to ensure a relative movement of the upper element relative to the lower element along a substantially vertical axis, and having a shorter stroke and a larger actuating speed as the lifting jack.

Dans des modes de réalisation préférés de l'invention, le système de mesure de position des membres inférieurs de l'individu est constitué de capteurs de distance, pouvant être des capteurs infrarouges, notamment placés sur l'avant de l'élément inférieur par rapport à la direction de marche de l'individu, et capables, au cours de la marche de l'individu, de détecter la distance d qui les sépare de chaque membre inférieur de l'individu. De tels capteurs permettent avantageusement de déterminer, en temps réel, lequel des membres inférieurs de l'individu assisté est en phase d'avancée, aussi dite d'envol, et s'apprête à venir en appui sur le sol, et lequel de ces membres est statique.In preferred embodiments of the invention, the position measurement system of the lower limbs of the individual consists of distance sensors, which may be infrared sensors, in particular placed on the front of the lower element relative to the walking direction of the individual, and capable, during the course of the individual's walking, of detecting the distance d that separates them from each lower limb of the individual. Such sensors advantageously make it possible to determine, in real time, which of the lower limbs of the assisted individual is in the advanced phase, also known as flight, and is preparing to come to rest on the ground, and which of these members is static.

L'invention n'exclut pas pour autant tout autre mode de réalisation du système de mesure de position des membres inférieurs de l'individu, tels que des accéléromètres se fixant sur les membres inférieurs respectifs de l'individu par exemple.The invention does not exclude any other embodiment of the position measuring system of the lower limbs of the individual, such as accelerometers fixing on the respective lower limbs of the individual for example.

Selon une caractéristique préférée de l'invention, le système de programmation et de gestion de soutènement est inclus dans un boîtier de commande, qui comporte en outre des moyens de commande du système d'actionneur et du système de capteur de force gravitaire. Ce boîtier de commande est de préférence disposé au niveau de l'élément supérieur du dispositif, de sorte à être accessible pour l'individu assisté positionné dans le dispositif de manière à être soutenu par cet élément supérieur.According to a preferred feature of the invention, the system for programming and management of support is included in a control box, which further comprises control means of the actuator system and the gravity force sensor system. This control box is preferably arranged at the level of the upper element of the device, so as to be accessible to the assisted individual positioned in the device so as to be supported by this upper element.

Préférentiellement, ces moyens de commande sont actionnables par l'individu de sorte à pouvoir régler manuellement, à tout moment, la position en hauteur de l'élément supérieur par rapport à l'élément inférieur. Une telle caractéristique s'avère notamment tout à fait avantageuse en ce qu'elle permet de limiter les transferts de l'individu dans le déroulement de sa journée. Par exemple, la hauteur de l'élément supérieur du dispositif peut être facilement réglée de sorte à ce que le dispositif puisse s'engager sous une table, l'individu étant alors positionné par rapport à la table de sorte à ce que ses bras puissent y reposer et à pouvoir manger, écrire, travailler, etc., sans avoir à quitter le dispositif d'aide à la marche selon l'invention.Preferably, these control means are operable by the individual so that the height position of the upper element relative to the lower element can be adjusted manually at any time. Such a feature is particularly advantageous in that it limits the transfer of the individual in the course of his day. For example, the height of the upper element of the device can be easily adjusted so that the device can engage under a table, the individual is then positioned relative to the table so that his arms can rest and be able to eat, write, work, etc., without having to leave the walking aid device according to the invention.

Dans des modes de réalisation préférés de l'invention, le dispositif est alimenté en énergie par un système de stockage d'énergie constitué par une ou plusieurs batteries électriques portables, de préférence rechargeables, et préférentiellement fixées sur la base de l'élément inférieur.In preferred embodiments of the invention, the device is supplied with energy by an energy storage system consisting of a or several portable electric batteries, preferably rechargeable, and preferably fixed on the base of the lower element.

Les roues sur lesquelles repose le dispositif, et plus particulièrement l'élément inférieur, sont en outre de préférence du type multidirectionnelles. Au moins une d'entre elles est en outre préférentiellement équipée de moyens de freinage et/ou de moyens de blocage. Ceci augmente la manoeuvrabilité et la sécurité d'utilisation du dispositif.The wheels on which the device rests, and more particularly the lower element, are moreover preferably of the multidirectional type. At least one of them is moreover preferably equipped with braking means and / or locking means. This increases the maneuverability and safety of use of the device.

L'invention sera maintenant plus précisément décrite dans le cadre de modes de réalisation préférés, qui n'en sont nullement limitatifs, représentés sur les figures 1 à 5c, dans lesquelles :

  • la figure 1 représente un dispositif selon l'invention dans lequel est positionné un individu soutenu dans sa marche, en vue de côté ;
  • la figure 2 montre le dispositif et l'individu de la figure 1, en vue de trois-quarts ;
  • la figure 3 illustre de façon schématique le fonctionnement du système de mesure de position des membres inférieurs d'un dispositif selon l'invention, lors de différentes phases d'un schéma de marche d'un individu ;
  • la figure 4a montre, en vue de côté, un dispositif selon l'invention en position dite haute, dans laquelle l'élément supérieur du dispositif est surélevé au maximum par rapport à l'élément inférieur ;
  • la figure 4b montre le dispositif de la figure 4a en vue de dessus ;
  • la figure 4c montre le dispositif de la figure 4a en vue de face ;
  • la figure 5a représente en vue de côté le dispositif de la figure 4a en position dite basse, dans laquelle l'élément supérieur du dispositif est surélevé au minimum par rapport à l'élément inférieur ;
  • la figure 5b montre le dispositif de la figure 5a en vue de dessus ;
  • et la figure 5c représente le dispositif de la figure 5a en vue de face.
The invention will now be more specifically described in the context of preferred embodiments, which are in no way limiting, represented on the Figures 1-5c , in which :
  • the figure 1 represents a device according to the invention in which is positioned an individual supported in its march, in side view;
  • the figure 2 shows the device and the individual of the figure 1 in view of three-quarters;
  • the figure 3 schematically illustrates the operation of the position measuring system of the lower limbs of a device according to the invention, during different phases of a walk diagram of an individual;
  • the figure 4a shows, in side view, a device according to the invention in so-called high position, wherein the upper element of the device is raised at most with respect to the lower element;
  • the figure 4b shows the device of the figure 4a in top view;
  • the figure 4c shows the device of the figure 4a in front view;
  • the figure 5a represents in side view the device of the figure 4a in so-called low position, in which the upper element of the device is raised at least with respect to the lower element;
  • the figure 5b shows the device of the figure 5a in top view;
  • and the figure 5c represents the device of the figure 5a in front view.

Un exemple de réalisation d'un dispositif conforme à l'invention d'aide à la marche réelle par soutènement d'un individu assisté 100 est représenté sur les figures 1 et 2.An exemplary embodiment of a device according to the invention for assisting the actual walk by supporting an assisted individual 100 is represented on the Figures 1 and 2 .

Ce dispositif comporte une structure support comprenant un élément supérieur 1 et un élément inférieur 2 solidaires l'un de l'autre. L'élément inférieur 2 repose sur le sol par des roues 7, qui sont de préférence au nombre de trois, de préférence encore au nombre de quatre, réparties aux quatre coins de l'élément inférieur 1 de sorte à obtenir la meilleure stabilité au sol possible. Les roues 7 sont de préférence de type multidirectionnelles, et au moins une d'entre elles est de préférence pourvue d'un système de freinage et/ou de blocage.This device comprises a support structure comprising an upper element 1 and a lower element 2 integral with one another. The lower element 2 rests on the ground by wheels 7, which are preferably three in number, more preferably four in number, distributed at the four corners of the lower element 1 so as to obtain the best ground stability. possible. The wheels 7 are preferably of multidirectional type, and at least one of them is preferably provided with a braking and / or locking system.

L'individu 100 est représenté sur ces figures 1 et 2 dans une position dite opérante, dans laquelle il est soutenu par l'élément supérieur 1.The individual 100 is represented on these Figures 1 and 2 in a so-called operative position, in which it is supported by the upper element 1.

L'élément supérieur 1 et l'élément inférieur 2 sont mobilisés entre eux, c'est-à-dire que l'élément supérieur 1 est rendu mobile selon un axe sensiblement vertical par rapport à l'élément inférieur 2, par un système coulissant, par exemple, dans le mode de réalisation particulier représenté sur la figure 1, par un système à quatre barres en X 3, s'étendant entre l'élément inférieur 2 et l'élément supérieur 1 et possédant quatre liaisons pivots antérieures et quatre liaisons glissières postérieures.The upper element 1 and the lower element 2 are mobilized together, that is to say that the upper element 1 is made movable along a substantially vertical axis relative to the lower element 2, by a sliding system for example, in the particular embodiment shown on the figure 1 by a four-bar X 3 system extending between the lower member 2 and the upper member 1 and having four anterior pivot links and four posterior slide links.

Un tel mode de réalisation du système coulissant n'est cependant nullement limitatif de l'invention, qui s'applique de manière similaire à tout autre système connu de l'homme du métier, tel par exemple qu'un moyen de guidage coulissant de type glissière.Such an embodiment of the sliding system is however not limited to the invention, which applies similarly to any other system known to those skilled in the art, such as for example a sliding guide means of the type slide.

Le dispositif comporte en outre une tige dite d'insertion 5, intégrée à l'élément supérieur 2, disposée de préférence sensiblement en position médio-sagittale par rapport à l'individu, et sur laquelle est fixée une assise 4 de positionnement et de réception de l'individu assisté 100. Dans le mode de réalisation représenté sur les figures, la tige d'insertion 5 s'étend depuis une partie supérieure de l'élément supérieur 2, jusqu'à l'assise 4. Dans d'autres modes de réalisation préférés de l'invention, non représentés sur les figures, la tige d'insertion 5 est disposée sous l'assise 4, très légèrement en avant par rapport à la position médio-sagittale.The device further comprises a so-called insertion rod 5, integrated in the upper element 2, preferably arranged substantially in the mid-sagittal position with respect to the individual, and on which is fixed a seating 4 for positioning and receiving of the assisted individual 100. In the embodiment shown in the figures, the insertion rod 5 extends from an upper part of the upper element 2, to the seat 4. In other modes preferred embodiment of the invention, not shown in the figures, the insertion rod 5 is disposed under the seat 4, very slightly forward with respect to the mid-sagittal position.

L'assise de positionnement 4, représentée sur la figure 1, est destinée à positionner l'individu assisté et à le soulever au niveau du bassin. Elle est de préférence, mais non limitativement, constituée d'une coque thermoformée, comprenant un siège périnéal et un appui pubien antérieur. Ce système d'assise peut être complété par un appui lombaire postérieur 9 fixé à une barre de fermeture de sécurité postérieure 6, qui délimite, avec un autre élément constitutif de l'élément supérieur 1, à savoir un arceau d'habitacle antérieur 8, un espace de réception de l'individu assisté. La barre de fermeture de sécurité postérieure 6 est de préférence associée à des moyens de contrôle de sa fermeture, notamment de moyens visuels, tels qu'un voyant lumineux, qui émettent un signal lorsque la barre de fermeture 6 est correctement fermée.The positioning seat 4, shown on the figure 1 , is intended to position the assisted individual and to raise it at the level of the basin. It is preferably, but not exclusively, constituted by a thermoformed shell, comprising a perineal seat and anterior pubic support. This seating system can be completed by a posterior lumbar support 9 fixed to a posterior safety closing bar 6, which delimits, with another constituent element of the upper element 1, namely an arch of anterior cabin 8, a reception area for the assisted individual. The posterior safety closing bar 6 is preferably associated with means for controlling its closure, in particular visual means, such as an indicator light, which emit a signal when the closing bar 6 is correctly closed.

Cette figure 1 montre également l'intégration de l'assise 4 à la structure support, ainsi que la position d'un système de mesure de position des membres inférieurs 50, c'est-à-dire des jambes, respectivement 101, 102, de l'individu 100. Dans le mode de réalisation de l'invention représenté sur les figures 1 et 2, ce système de mesure comporte deux capteurs de localisation des membres inférieurs qui sont disposés sur l'élément inférieur 2, sensiblement à hauteur des genoux, en avant par rapport à l'individu dans le sens de la marche, et de sorte à être dirigés en direction dudit individu.This figure 1 also shows the integration of the seat 4 to the support structure, as well as the position of a position measuring system of the lower limbs 50, that is to say the legs, respectively 101, 102, of the 100. In the embodiment of the invention shown in Figures 1 and 2 , this measuring system comprises two lower limb locating sensors which are arranged on the lower element 2, substantially at knee height, forward relative to the individual in the direction of travel, and so to be directed towards said individual.

Préférentiellement, ces capteurs 50 sont des capteurs du type à infrarouge, ou de tout autre type permettant de mesurer la distance qui les sépare de chaque membre inférieur 101, 102 de l'individu 100.Preferably, these sensors 50 are sensors of the infrared type, or any other type for measuring the distance separating them from each lower limb 101, 102 of the individual 100.

Tout autre système de mesure de position des membres inférieurs de l'individu assisté 100 classique en lui-même entre également dans le cadre de l'invention, dans la mesure où ce système permet de déterminer lequel des membres inférieurs se trouve en appui sur le sol, à tout moment donné, ou sera le prochain à le faire. En particulier, des systèmes de type à accéléromètres, montés sur chacun des membres inférieurs 101, 102 de l'individu, ou des systèmes se disposant au niveau des chaussures de l'individu 100, pour détecter un contact avec le sol, peuvent être utilisés dans le cadre de l'invention.Any other system for measuring the position of the lower limbs of the assisted individual 100 in itself also falls within the scope of the invention, insofar as this system makes it possible to determine which of the lower limbs is supported by the ground, at any given time, or will be the next to do so. In particular, accelerometer-type systems, mounted on each of the lower limbs 101, 102 of the individual, or systems located at the level of the shoes of the individual 100, for detecting contact with the ground, can be used. in the context of the invention.

Comme illustré de manière plus visible sur la figure 2, qui illustre le dispositif au sein duquel l'individu assisté 100 est représenté, en vue de trois-quarts, l'élément supérieur 1 se présente de préférence sous forme d'un arceau d'habitacle antérieur 8, disposé sensiblement horizontalement, sur lequel viennent se fixer la tige d'insertion 5 de l'assise de positionnement 4 de l'individu, le système à quatre barres en X 3, ainsi que la barre de fermeture de sécurité postérieure 6. Cette barre de fermeture de sécurité 6 délimite avec l'arceau antérieur 8 l'espace de réception et de liberté de l'individu assisté.As illustrated in a more visible way on the figure 2 , which illustrates the device in which the assisted individual 100 is represented, in view of three-quarters, the upper element 1 is preferably in the form of an anteriorly arranged bow bar 8, disposed substantially horizontally, on which the insertion rod 5 of the positioning seat 4 of the individual, the four-bar system X 3, as well as the rear safety closing bar 6 are fastened thereto. This safety closing bar 6 delimits with the anterior arch 8 the space of reception and freedom of the assisted individual.

L'élément inférieur 2 présente la forme d'une sorte de parallélépipède ouvert en arrière, monté sur les quatre roues 7, sur lequel se fixe la partie inférieure du système quatre barres en X 3.The lower element 2 has the form of a kind of parallelepiped open back mounted on the four wheels 7, on which attaches the lower part of the four X-bar system 3.

Le dispositif comporte également un système d'actionneur 20, qui actionne le coulissement du système coulissant 3, qui peut être linéaire de type vérin, et qui permet de surélever l'élément supérieur 1 par rapport à l'élément inférieur 2 et de soulever ainsi l'individu assisté reposant sur l'assise de positionnement 4. Ce système d'actionneur peut être de tout type connu de l'homme du métier. Il comporte par exemple un vérin dit de levage, dont la chape de pied est fixée sur l'élément inférieur 1 et la chape de tige sous la tige d'insertion de l'assise 5. Un tel mode de réalisation du système d'actionneur n'est nullement limitatif de l'invention, et tout autre moyen connu en lui-même entre également dans le cadre de l'invention, dans la mesure cependant où il permet un mouvement sensiblement selon la direction verticale de l'élément supérieur 1 par rapport à l'élément inférieur 2.The device also comprises an actuator system 20, which actuates the sliding of the sliding system 3, which can be linear type jack, and which raises the upper element 1 relative to the lower element 2 and lift and the assisted individual resting on the positioning seat 4. This actuator system can be of any type known to those skilled in the art. It comprises, for example, a so-called lift jack, the foot cap of which is fixed to the lower member 1 and the stem cap under the seat insertion rod 5. Such an embodiment of the actuator system is not at all limiting of the invention, and any other means known in itself also falls within the scope of the invention, insofar as it allows a movement substantially in the vertical direction of the upper element 1 by relative to the lower element 2.

L'énergie électrique nécessaire au fonctionnement du dispositif, notamment du système d'actionneur 20 et du système 50 de mesure de position des membres inférieurs de l'individu 100, est de préférence fournie par un système de batteries électriques portables 60, de préférence rechargeables sur secteur. Il en est de même pour tous les autres organes constitutifs du dispositif selon l'invention nécessitant une telle alimentation en énergie.The electrical energy necessary for the operation of the device, in particular the actuator system 20 and the system 50 for measuring the position of the lower limbs of the individual 100, is preferably provided by a system of portable electric batteries 60, preferably rechargeable batteries. on sector. It is the same for all other components of the device according to the invention requiring such a power supply.

L'extrémité inférieure de l'actionneur 20, le système de mesure de position des membres inférieurs 50 et les batteries 60 sont de préférence fixés sur l'élément inférieur 2.The lower end of the actuator 20, the position measuring system of the lower limbs 50 and the batteries 60 are preferably fixed on the lower element 2.

Le dispositif comporte en outre un système de capteur de force gravitaire, qui n'est pas visible sur les figures 1 et 2 et qui est de préférence constitué de capteurs de force à jauges de contraintes 30, montés sous la tige d'insertion d'assise 5, préférentiellement sur l'axe de l'actionneur 20. Ce système de capteur de force gravitaire permet d'effectuer la pesée de l'élément supérieur 1, qui inclut le poids de l'individu assisté 100 dans une position de levée maximale de l'élément supérieur 1 par rapport à l'élément inférieur 2, dans laquelle le poids de l'individu ne repose plus sur ses pieds mais entièrement sur l'assise de positionnement 4.The device further comprises a gravity force sensor system, which is not visible on the Figures 1 and 2 and which is preferably made up of strain gauge force sensors 30, mounted under the seat insertion rod 5, preferably on the axis of the actuator 20. This gravity force sensor system makes it possible to carry out the weighing of the upper element 1, which includes the weight of the assisted individual 100 in a maximum lifting position of the upper element 1 relative to the lower element 2, in which the weight of the individual does not rest more on his feet but entirely on the positioning seat 4.

Le dispositif selon l'invention comporte en outre un système de programmation et de gestion du soutènement, qui n'est pas visible sur les figures 1 et 2, et qui commande, en fonction de données qu'il reçoit du système de capteur de force gravitaire 30 et du système de mesure de position des membres inférieurs 101, 102 de l'individu, le système d'actionneur 20 de sorte à permettre une surélévation de l'élément supérieur 1 par rapport à l'élément inférieur 2, et donc un soutènement de l'individu assisté 100, plus ou moins important selon lequel des membres inférieurs 101, 102 se trouve en contact avec le sol.The device according to the invention also comprises a system for programming and managing the support, which is not visible on the Figures 1 and 2 and which controls, based on data received from the gravity sensor system 30 and the lower limb position measurement system 101, 102 of the individual, the actuator system 20 so as to allow elevation of the upper element 1 relative to the lower element 2, and thus a support of the assisted individual 100, more or less important according to which lower limbs 101, 102 is in contact with the ground.

Le fonctionnement du système 50 de mesure de position des membres inférieurs 101, 102 est illustré de manière plus détaillée sur la figure 3, qui représente de manière schématique différentes phases du schéma de marche de l'individu, en distinguant la phase d'envol du membre inférieur droit 101, à gauche sur la figure, au cours de laquelle ce membre est en suspension, de la phase d'appui au cours de laquelle il se trouve en appui sur le sol, à droite sur la figure. Au cours de ce mouvement, la distance d entre le membre inférieur 101 et les capteurs 50 du système de mesure de position des membres, fixés sur l'élément inférieur 2 du dispositif, diminue, alors que la distance entre le second membre inférieur 102 et ces mêmes capteurs 50 augmente. Ces données de distance mesurées par les capteurs 50 sont transférées au système de programmation et de gestion du soutènement du dispositif, qui est avantageusement conçu de sorte à être apte à envoyer, en fonction de ces données, un ordre au système d'actionneur 20 pour en fixer la direction et l'amplitude d'actionnement, et ainsi régler une hauteur de l'élément supérieur 1 par rapport à l'élément inférieur 2 adaptée au soutènement souhaité et préréglée pour le membre inférieur en appui de l'individu.The operation of the lower limb position measuring system 50, 101, 102 is illustrated in more detail on the figure 3 , which schematically represents different phases of the walk diagram of the individual, distinguishing the flight phase of the right lower limb 101, on the left in the figure, during which this limb is in suspension, of the phase of support in the course of which it is supported on the ground, on the right in the figure. During this movement, the distance d between the lower limb 101 and the sensors 50 of the position measuring system members, fixed on the lower member 2 of the device, decreases, while the distance between the second lower member 102 and these same sensors 50 increases. These distance data measured by the sensors 50 are transferred to the system for programming and managing the support of the device, which is advantageously designed so as to be able to send, according to these data, an order to the actuator system 20 for set the direction and amplitude of actuation, and thus adjust a height of the upper member 1 relative to the lower member 2 adapted to the desired support and preset for the lower limb in support of the individual.

Un exemple de réalisation du dispositif selon l'invention est représenté de manière plus détaillée sur les figures 4a, 4b, 4c et sur les figures 5a, 5b, 5c, respectivement dans une position dite maximale haute (hauteur maximale h max entre l'emplacement de l'assise 4 et le sol), et dans une position dite maximale basse (hauteur minimale h min entre l'emplacement de l'assise 4 et le sol).An exemplary embodiment of the device according to the invention is shown in more detail on the Figures 4a, 4b, 4c and on Figures 5a, 5b, 5c , respectively in a so-called maximum high position (maximum height h max between the location of the seat 4 and the ground), and in a so-called maximum low position (minimum height h min between the seat 4 and the seat). ground).

Sur ces figures, on retrouve tous les organes constitutifs du dispositif décrits ci-avant, notamment le système de capteur de force gravitaire 30 disposé sous la tige 5 d'insertion de l'assise, mais à l'exception de cette assise de positionnement de l'individu 4, qui n'y a pas été représentée pour des raisons de clarté des figures.In these figures, there are all the constituent members of the device described above, including the gravity force sensor system 30 disposed under the seat insertion rod 5, but with the exception of this seating position of the individual 4, which has not been shown for the sake of clarity of the figures.

La position maximale haute est préférentiellement réglée de telle sorte que dans cette position, l'individu assisté positionné sur l'assise de positionnement 4 ne touche pas le sol avec ses pieds, ou il l'effleure juste sans y être véritablement en appui. La position maximale basse est quant à elle choisie pour faciliter l'installation de l'individu dans le dispositif, sur l'assise de positionnement.The maximum high position is preferably adjusted so that in this position, the assisted individual positioned on the positioning seat 4 does not touch the ground with his feet, or he touches it just without really being in support. The maximum low position is chosen to facilitate the installation of the individual in the device on the positioning seat.

Le fonctionnement du dispositif conforme à l'invention, représenté sur les figures 4a, 4b, 4c et 5a, 5b, 5c, consiste globalement à mettre en synergie le système de capteur de force gravitaire 30 et le système d'actionneur 20, en tenant compte des données relevées par le système de mesure de position des membres inférieurs de l'individu 50.The operation of the device according to the invention, represented on the Figures 4a, 4b, 4c and 5a, 5b, 5c , consists generally of synergizing the gravity force sensor system 30 and the actuator system 20, taking into account the data recorded by the position measurement system of the lower limbs of the individual 50.

La mise en synergie de ces systèmes d'actionneur 20 et de capteur de force gravitaire 30 est assurée par un procédé de gestion et de programmation du soutènement, au moyen du système de programmation et de gestion du soutènement qui est inclus dans un boîtier de commande 40 disposé au niveau de l'élément supérieur 1, sur l'avant de ce dernier par rapport à la direction de marche de l'individu, de sorte à être facilement accessible à tout moment par cet individu. Ce procédé permet de programmer un soutènement préalablement défini pour chacun des appuis droit ou gauche de l'individu, les moments où chacun de ces appuis s'effectue étant déterminés en fonction de la mesure de leur position par rapport aux capteurs de distance 50.The synergy of these actuator 20 and sensor systems gravity 30 is provided by a method of management and programming of the support, by means of the programming and management system of the support which is included in a control box 40 disposed at the level of the upper element 1, on the before the latter in relation to the direction of walk of the individual, so as to be easily accessible at any time by this individual. This method makes it possible to program a support previously defined for each of the right or left supports of the individual, the moments when each of these supports is determined according to the measurement of their position relative to the distance sensors 50.

Cette mesure met en jeu les capteurs de distance infrarouges 50 placés sur l'avant de l'élément inférieur 2 de la structure de support et capables de détecter la distance d qui les sépare de chaque membre de l'individu assisté.This measurement involves the infrared distance sensors 50 placed on the front of the lower element 2 of the support structure and capable of detecting the distance d which separates them from each member of the assisted individual.

Le procédé de mise en oeuvre du dispositif permet alors d'ordonner les différentes phases suivantes :

  1. 1- positionnement de l'individu à assister sur l'assise de positionnement 4 et fermeture de la barre de sécurité arrière 6 ;
  2. 2- positionnement du dispositif dans une configuration de pesée : levée totale de l'individu assisté (l'élément supérieur est amené à la hauteur maximale h max, comme illustré sur les figures 4a à 4c) et mise en mémoire, dans le système de programmation et de gestion du soutènement, de la valeur du poids mesurée par le système de capteur de force gravitaire 30 ;
  3. 3- programmation du pourcentage de soutènement du poids du corps souhaité pour chacun des appuis droit et gauche de l'individu, à l'aide du boitier de commande 40. A chaque pas, le pourcentage de soutènement du poids du corps varie par exemple de 0 % à 95 %, sans dépasser 30 % de différence entre les appuis droit et gauche ;
  4. 4- positionnement du dispositif dans une configuration dite de marche, par réglage de la hauteur de l'élément supérieur 1 à une valeur adéquate en fonction de la morphologie de l'individu et de son handicap. Durant la marche, l'actionneur 20, commandé par le système de programmation et de gestion du soutènement, assure le soutènement souhaité à chaque pas de l'individu, de la manière suivante :
    • charge jambe droite, propulsion et descente asservie à la charge, fin de propulsion,
    • sur la jambe gauche, remontée et descente en charge, propulsion et descente asservie, etc. ;
  5. 5- positionnement du dispositif en position « stop » ou « sécurité », dans laquelle l'élément supérieur 1 est ramené à hauteur maximale h max.
The method of implementation of the device then makes it possible to order the different following phases:
  1. Positioning the individual to assist on the positioning seat 4 and closing the rear safety bar 6;
  2. 2- positioning of the device in a weighing configuration: total lifting of the assisted individual (the upper element is brought to the maximum height h max, as illustrated in FIGS. Figures 4a to 4c ) and stored in the system of programming and management of the support, the value of the weight measured by the gravity force sensor system 30;
  3. 3- programming the percentage of support of the body weight desired for each of the right and left supports of the individual, using the control box 40. At each step, the percentage of support of the weight of the body varies for example from 0% to 95%, without exceeding 30% difference between the right and left supports;
  4. 4- positioning of the device in a so-called walking configuration, by adjusting the height of the upper element 1 to a value adequate according to the morphology of the individual and his disability. During the walk, the actuator 20, controlled by the programming and management system of the support, provides the desired support at each step of the individual, as follows:
    • load right leg, propulsion and descent connected to the load, end of propulsion,
    • on the left leg, ascent and descent in charge, propulsion and descent, etc. ;
  5. 5- positioning of the device in "stop" or "safety" position, in which the upper element 1 is brought back to maximum height h max.

Durant toutes ces phases, le soutènement peut être quantifié et sa valeur accessible à tout opérateur à partir du système de programmation et de gestion du soutènement.During all these phases, the support can be quantified and its value accessible to any operator from the system of programming and management of the support.

Ce système de programmation et de gestion du soutènement est classique en lui-même, et de préférence du type ordinateur programmé, comportant au moins un microprocesseur, et des moyens de mémorisation (disque dur magnétique, mémoire flash, disque optique, etc.) dans lesquels est mémorisé un produit programme d'ordinateur, sous la forme d'un ensemble d'instructions de code de programme à exécuter pour mettre en oeuvre les différentes étapes de traitement des données et d'émission d'instructions pour la mise en oeuvre du procécé. Le dispositif selon l'invention peut également être mis en oeuvre en mode manuel, comme suit : réglage de la hauteur de l'élément supérieur 1 du dispositif par l'individu assisté grâce au boîtier de commande 40. Le soutènement n'est alors pas différencié entre appuis droit et gauche.This system for programming and managing the support is conventional in itself, and preferably of the programmed computer type, comprising at least one microprocessor, and storage means (magnetic hard disk, flash memory, optical disk, etc.) in which is stored a computer program product, in the form of a set of program code instructions to be executed to implement the various steps of data processing and issuing instructions for the implementation of the procécé. The device according to the invention can also be implemented in manual mode, as follows: adjustment of the height of the upper element 1 of the device by the individual assisted by the control box 40. The support is not then differentiated between right and left supports.

Les figures 4a, 4b, 4c et 5a, 5b, 5c reprennent la mise en situation opérationnelle du dispositif :

  • E n position maximale basse, illustrée sur les figures 5a à 5c, la force exercée par le système d'actionneur 20 sur la tige d'insertion 5 de l'assise est nulle, la distance entre cette dernière et le sol est alors minimale et définit une hauteur dite minimale d'assise (h min).
The Figures 4a, 4b, 4c and 5a, 5b, 5c resume the operational situation of the device:
  • E n low maximum position, illustrated on Figures 5a to 5c , the force exerted by the actuator system 20 on the insertion rod 5 of the seat is zero, the distance between the latter and the ground is then minimal and defines a so-called minimum seat height (h min).

En position maximale haute, illustrée sur les figures 4a à 4c, l'individu assisté est pesé, la force exercée par le système d'actionneur 20 sur la tige d'insertion 5 de l'assise 4 est maximale et la distance entre cette dernière et le sol est également maximale et définit une hauteur dite maximale d'assise (h max)In the highest position, illustrated on the Figures 4a to 4c , the assisted individual is weighed, the force exerted by the actuator system 20 on the insertion rod 5 of the seat 4 is maximum and the distance between the latter and the ground is also maximum and defines a maximum height said sitting (h max)

Au cours de la marche, la distance entre l'élément supérieur 1 et le sol peut varier à chaque pas entre les deux valeurs h min et h max ; ces deux valeurs correspondent également aux deux valeurs énergétiques extrêmes d'utilisation de l'appareil.During walking, the distance between the upper element 1 and the ground can vary with each step between the two values h min and h max; these two values also correspond to the two extreme energy values of use of the apparatus.

La position « stop » ou « sécurité » répond à la hauteur h max de ce dispositif d'aide à la marche par soutènement, cela de manière à immobiliser l'appareil dans la situation la plus favorable pour l'individu assisté, dans laquelle son poids est entièrement soutenu.The "stop" or "safety" position corresponds to the height h max of this device for assisting with walking by propping, so as to immobilize the apparatus in the most favorable situation for the assisted individual, in which his weight is fully supported.

La description ci-avant illustre clairement que par ses différentes caractéristiques et leurs avantages, la présente invention atteint les objectifs qu'elle s'était fixés. En particulier, elle fournit un dispositif d'aide à la marche par soutènement, ce soutènement étant programmable et pouvant être différencié selon chacun des appuis droit ou gauche de l'individu assisté, dispositif qui répond particulièrement aux besoins des individus requérant une sécurité et une aide à l'autonomisation par assistance à la marche réelle.The above description clearly illustrates that by its different characteristics and advantages, the present invention achieves the objectives it has set for itself. In particular, it provides a support device for walking by support, this support being programmable and can be differentiated according to each of the right or left supports of the assisted individual, a device that particularly meets the needs of individuals requiring safety and security. Assists with empowerment by assisting the actual walk.

Ce dispositif s'adresse aux personnes qui éprouvent des difficultés à utiliser un déambulateur classique ou qui refusent la dépendance et l'idée d'avilissement associées à l'utilisation du fauteuil roulant. Son utilité dans le domaine public l'assimile non seulement aux appareils de déambulation et d'autonomisation destinés à un usage personnel, mais aussi aux appareils de rééducation à usage professionnel destinés aux métiers médicaux et paramédicaux.This device is for people who have difficulty using a standard walker or who refuse the addiction and the idea of debasement associated with the use of the wheelchair. Its usefulness in the public domain not only equates it with ambulatory and autonomic devices intended for personal use, but also with rehabilitation devices for professional use intended for the medical and paramedical professions.

Claims (9)

  1. A walking aid device supporting the weight of the body of an assisted individual (100), said support being programmable, this device comprising:
    - a support structure mounted on wheels (7), which comprises a top element (1) intended to support said individual and a bottom element (2) intended to bear on the ground, said top element being made mobile relative to said bottom element along a vertical axis by the interposition of a sliding system (3) actuated by an actuator system (20) capable of raising the top element (1) relative to the bottom element (2) and thus of raising the assisted individual (100),
    - a support programming and management system,
    characterized in that it comprises:
    - a system of gravitational force sensors (30) capable of weighing said top element supporting said assisted individual,
    - a system (50) for measuring the position of the legs (101, 102) of said individual,
    said actuator system being slaved to said system of gravitational force sensors and controlled by said support programming and management system according to the measurement of the position of the legs of said individual performed by said system for measuring the position of the legs of the individual, said support programming and management system being configured to control the actuator system (20) according to the data it receives from the system of gravitational force sensors (30) and from the system (50) for measuring the position of the legs (101, 102) of said individual, so that said support can be differentiated according to each of the right or left bearings of said individual.
  2. The device as claimed in claim 1, characterized in that the top element (1) comprises a so-called insertion rod (5) to which is fastened a positioning seat (4) for the individual (100) intended to position said individual and to raise him at the pelvis.
  3. The device as claimed in claim 2, characterized in that the positioning seat (4) comprises a shell comprising a perineal seat, an anterior pubic support and a posterior lumbar support (9).
  4. The device as claimed in claim 3, characterized in that the top element (1) comprises an accommodation arc (8) limited, at the rear relative to the direction of walking of said assisted individual (100), by a safety bar (6) that can be closed, and the posterior lumbar support (9) of the shell is pinned to said posterior safety bar.
  5. The device as claimed in any one of the preceding claims, characterized in that the system of gravitational force sensors (30) consists of one or more strain gauge force sensors making it possible to weigh the top element (1) supporting the assisted individual (100).
  6. The device as claimed in any one of claims 2 to 5, characterized in that the system of gravitational force sensors (30) is placed in the medio-sagittal position under the insertion rod (5).
  7. The device as claimed in any one of claims 2 to 6, characterized in that the actuator system (20) comprises means for lifting the top element (1) relative to the bottom element (2) and supporting means differentiated according to each of the right or left bearings of the individual.
  8. The device as claimed in claim 7, characterized in that the actuator system (20) comprises:
    - a so-called lifting cylinder comprising a foot yoke and a rod yoke, said foot yoke being fixed to the bottom element (1) and the rod yoke being fixed under the insertion rod of the seat (5),
    - and a so-called supporting cylinder for differentiated support according to each of the right or left bearings, having a shorter travel and a greater actuation speed than the lifting cylinder.
  9. The device as claimed in any one of the preceding claims, characterized in that the system (50) for measuring the position of the legs (101, 102) consists of distance sensors, that can be infrared sensors, in particular placed on the front of the bottom element (2) relative to the direction of walking of the individual, and capable, while the individual (100) is walking, of detecting the distance d which separates them from each leg (101, 102) of the individual.
EP11784674.1A 2010-11-18 2011-11-18 Mobility assisting walking device by retaining structure Active EP2616035B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1004492A FR2967570B1 (en) 2010-11-18 2010-11-18 SUPPORT MARKET SUPPORT DEVICE
PCT/EP2011/070499 WO2012066137A1 (en) 2010-11-18 2011-11-18 Supporting walking aid

Publications (2)

Publication Number Publication Date
EP2616035A1 EP2616035A1 (en) 2013-07-24
EP2616035B1 true EP2616035B1 (en) 2017-08-02

Family

ID=44231776

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11784674.1A Active EP2616035B1 (en) 2010-11-18 2011-11-18 Mobility assisting walking device by retaining structure

Country Status (7)

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US (1) US9180066B2 (en)
EP (1) EP2616035B1 (en)
AU (1) AU2011331137B2 (en)
CA (1) CA2855850C (en)
DK (1) DK2616035T3 (en)
FR (1) FR2967570B1 (en)
WO (1) WO2012066137A1 (en)

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US9314395B1 (en) 2014-11-04 2016-04-19 Jack Paul VanAusdall Wrap around walking aid
US10045896B2 (en) * 2014-12-04 2018-08-14 Tsushima Ironworks Co., Ltd. Standing-up assist tool and walking support device
US9585807B2 (en) * 2015-05-16 2017-03-07 Protostar, Inc., a Delaware Corporation Collapsible upright wheeled walker apparatus
AU2016363115A1 (en) 2015-12-03 2018-07-12 Mybrainwave Pty Ltd Walking aid and wheel assembly therefor
US11033451B2 (en) 2017-02-16 2021-06-15 KB Balance Products, Inc. Balance and walking trainer
CN208710425U (en) 2017-10-06 2019-04-09 原星股份有限公司 The block surface structure of travelling aided bicycle
US10617592B2 (en) 2017-10-06 2020-04-14 Protostar, Inc., a Delaware Corporation Wheeled walker
US10555866B2 (en) 2017-10-06 2020-02-11 Protostar, Inc., a Delaware Corporation Wheeled walker wheel direction lock apparatus and method
USD858366S1 (en) 2018-03-29 2019-09-03 A Better Walker, Llc Wrap around walking aid
TWI719352B (en) * 2018-10-29 2021-02-21 緯創資通股份有限公司 Walker
US10857057B2 (en) * 2019-02-20 2020-12-08 Medline Industries, Inc. Walker
US11071676B2 (en) 2019-04-05 2021-07-27 Protostar, Inc. Collapsible wheeled walker with stability enhancing bracket apparatus and method
USD902791S1 (en) 2019-09-03 2020-11-24 Protostar, Inc., a Delaware Corporation Wheeled walker
CN112315751B (en) * 2020-11-05 2023-03-28 单宝磊 Neurology old people anti-falling auxiliary walking device and using method thereof

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Also Published As

Publication number Publication date
WO2012066137A1 (en) 2012-05-24
AU2011331137A1 (en) 2014-07-10
AU2011331137B2 (en) 2017-04-20
CA2855850A1 (en) 2012-05-24
FR2967570B1 (en) 2013-08-09
DK2616035T3 (en) 2017-11-13
CA2855850C (en) 2019-01-08
US20150123365A1 (en) 2015-05-07
US9180066B2 (en) 2015-11-10
FR2967570A1 (en) 2012-05-25
EP2616035A1 (en) 2013-07-24
AU2011331137A2 (en) 2014-07-10

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