Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/0006—Exoskeletons, i.e. resembling a human figure
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/04—Foot-operated control means

Definitions

• the present invention relates to the field of exoskeletons and more particularly to an exoskeleton of lower limbs.
• an exoskeleton is designed to allow the transfer to the ground of a load, normally supported by a user, without passing through his body. It thus makes it possible to limit the fatigue of the user as well as pains related to bad postures.
• an exoskeleton can be used with tools that are very difficult, particularly because of the great efforts to be made at the level of the tool itself, or with loads carried by a user on his back.
• the invention is concerned with the latter type of exoskeleton which is useful when loads can not be transported by wheeled vehicles, taking into account the terrain on which the user must evolve.
• An exoskeleton of this type is particularly useful in the military field.
• Each leg has a first segment coupled on the one hand to the hip by a joint and secondly to a second segment by a knee joint, the second segment being connected to a sole by an ankle joint.
• a motorized hydraulic cylinder connected between the first segment and the upper part of the second segment, makes it possible to apply a torque to the knee joint and to ensure the displacement of each leg according to the movements of the user.
• an engine is provided at the hip module, to compensate for the torque created by the lever arm between the hips of the exoskeleton and the center of gravity of the load.
• each leg of the exoskeleton is connected to a leg of the user by means of straps.
• This exoskeleton makes it possible to transfer a load from the frame of the backpack type and the hip module to the legs then to the soles and finally to the ground. This exoskeleton thus makes it possible to isolate the load carrier from the load fixed on the frame.
• This exoskeleton has the advantage of being able to easily control legs, thanks to sensors placed under each sole of the exoskeleton.
• the object of the invention is to overcome these drawbacks by proposing an exoskeleton of lower limbs that efficiently transfer a load located in the back of a user directly to the ground, while adapting easily to all the morphologies and all positions of a user.
• the invention relates to a lower limb exoskeleton comprising two legs, a backpack-type frame intended to be fixed on the back of a user and to support a load, each leg being connected at one end to the frame, by a first articulation, and at the other end to a connecting element with the foot of the user, by a second articulation, the exoskeleton also comprising means for actuating the legs according to the User movements, characterized in that the legs are of the telescopic type and located at the back of the user's body, in use.
• this exoskeleton allows to transfer the weight of a load located in the back of a user directly to the ground without it being necessary to fix his legs on the legs of the user.
• telescopic legs makes it easy to adjust their length according to the user and makes the exoskeleton adaptable to all morphologies and positions of a user.
• the legs being located at the back of the body of the user, it can be positioned forward, as it would in the absence of exoskeleton.
• this exoskeleton has no element on the sides of the user.
• one or more of the following provisions are also and / or in addition:
• the second articulation is of the swivel type
• the center of the ball coincides substantially with the user's ankle when his foot and the connecting element are placed on the ground;
• the connecting element has no sole, so as to allow direct contact between the foot of the user and the ground in use, measuring means being provided at the connecting member to detect the movements of the user;
• the frame comprises two substantially perpendicular elements, a first element intended to come into contact with the back of the user and a second element intended to receive the load;
• a leg is articulated around a first axis substantially perpendicular to the first element of the frame and about a second axis, perpendicular to the first axis and located in the plane of the second element in the rest position of the legs, the second axes of each leg being independent of one another;
• the frame is entirely located at the back of the body of the user in use;
• the means for actuating the legs are located in the lower part of the frame;
• each connecting element comprises a U-shaped element, the two branches of the U being intended to come on either side of the user's boot and in contact with the ground and the bottom of the U supporting the second articulation; one leg;
• the connecting element comprises a fastening system between each U-shaped element and a shoe of a user
• the exoskeleton comprises means for balancing the hips, at the rear of the frame;
• the balancing means of the hips comprise, for each leg, a winch with a drum located in the frame and away from the first joint and on which a cable is wound, the free end of the cable being fixed to the connecting element , the cable extending between the frame and the connecting element of the leg, to ensure the balancing of the frame relative to the legs;
• the exoskeleton comprises means connected to the frame for carrying loads in front of the user;
• these means for carrying the loads at the front comprise a pair of arms extending forward of the frame in the direction of travel, so as to be positioned on either side of the torso of the user, use in order to balance the arms relative to the frame;
• the exoskeleton comprises means for lifting the load at the front of the user which are supported by the frame;
• the lifting means comprise a bracket equipped with a hoist.
• the invention also provides a method of implementing the exoskeleton as described above.
• Figure 1 is a side view of an exoskeleton according to an embodiment of the inventor, worn by a user.
• FIG. 2 is a front view corresponding to FIG.
• Figures 3A and 3B are side views of an exoskeleton according to one embodiment of the invention, illustrating its use by an operator walking on rough terrain.
• FIGS. 4A and 4B are side views illustrating an exoskeleton according to the invention in its storage position (FIG. 4A) and in an intermediate position between that illustrated in FIG. 4A and that illustrated in FIG.
• FIGS. 5A and 5B schematically illustrate the articulation between the legs and the frame of the exoskeleton, FIG. 5A being a side view and FIG. 5B a front perspective view, the exoskeleton being in the rest position.
• Figures 6A and 6B are side views illustrating a connecting member having a sole.
• Figs. 7A to 7C illustrate a soleless connecting member
• Figs. 7A and 7B being side views of the connecting member
• Fig. 7C is a perspective view corresponding to Fig. 7A.
• FIGS. 7D to 7E illustrate a variant of the insole-type connecting element of the type illustrated in FIGS. 7A to 7C, FIGS. 7D and 7E being side views of the connecting element and FIG. 7F a corresponding perspective view. in Figure 7D.
• Figure 8 is a side view of an exoskeleton according to another embodiment and worn by a user.
• Figure 9 is a side view of an exoskeleton according to yet another embodiment of the invention, worn by a user.
• FIGS. 1 and 2 illustrate an exoskeleton according to one embodiment of the invention.
• This exoskeleton 1 has two legs 2 and 3 and a frame 4.
• the frame is intended to be fixed on the back of a user by means of connecting means 47 of the harness type and to support a load 48.
• Each leg of the exoskeleton also includes a connecting member with the user's foot which will be described in more detail in the following description.
• the two legs 2 and 3 are of the telescopic type, that is to say that they comprise at least two segments that nest and slide into each other.
• the legs 2 and 3 comprise three segments 20, 21, 22 and 30, 31, 32 which fit together and slide into each other.
• Each leg 2, 3 is connected at one end to the frame 4, by means of a first hinge. This end of the leg corresponds to the free end of the upper segment 20, 30 of the leg 2, 3.
• each leg 2, 3 is connected to a connecting member 6, 5 by a second hinge 60, 50 which will be described in more detail with reference to Figures 6A-6B and 7A-7C.
• This end of the leg corresponds to the free end of the lower segment 22, 32 of the leg 2, 3.
• Figure 1 shows that these second joints 60, 50 are located behind the feet of the user, when it has coated the exoskeleton.
• the two legs 2 and 3 are located at the rear of the body of the user, no connection between the legs 2 and 3 and the legs of the user being necessary.
• This exoskeleton is not of the anthropomorphic type and the weight of the load fixed on the frame is directly transferred to the ground, without passing through the body of the user.
• FIG. 2 in which the load 48 placed on the frame 4 is schematically represented by dashed outlines.
• Figure 2 confirms that the exoskeleton according to the invention has no element on the sides of the user. It can not interfere with the movement of the user's arms.
• the legs of the exoskeleton remain at the back of the user's body regardless of the cycle of use (walking, running, squatting, knees to the ground %), and this at all times.
• the positioning of the legs at the back of his body allows the user to position himself naturally forward, as when he does not wear the exoskeleton.
• the exoskeleton comprises means for actuating the legs which are preferably located in the lower part of the frame 4.
• actuation means are controlled, also in a conventional manner, by means of movement detection means of the user and means for measuring the positions of the exoskeleton, as well as means for detecting the contact on the ground to ensure the phase transition between the two legs.
• these different means are connected, via a WiFi connection and / or wired through the legs, to a control device connected to the means actuating the legs and comprising, in known manner, a microprocessor, storage means and calculation means arranged to react with the indications obtained by the detection means.
• This control device thus makes it possible to control means for actuating the telescopic legs. This allows the user to walk with the exoskeleton even on uneven ground, as illustrated in FIGS. 3A and 3B.
• Figure 4A illustrates the exoskeleton 1 in a folded position. In this position, the different segments constituting each leg are nested within each other.
• the frame 4 is, in the example shown, the rack type carrier. It essentially comprises two elements 40 and 41 which are substantially perpendicular to each other.
• the first element 40 is intended to come into contact with the back of the user when the latter carries the exoskeleton and the second element 41 is intended to receive the load.
• These two elements 40 and 41 each define a plane, the plane of the first element 40 being substantially vertical when the exoskeleton is in use and the plane defined by the second element 41 being substantially horizontal in this situation.
• the second element 41 is designed to receive the means 45 for actuating the legs.
• the connecting element 6 and the second element 41 of the frame 4 are placed on the ground and the first hinge 42 is located substantially in the middle portion of the first element 40 of the frame.
• the harness 47 of the frame 4 is then substantially opposite the first element 40 of the frame.
• the exoskeleton In this folded position, the exoskeleton has a minimal footprint which is also used for its storage.
• the load is positioned on the frame 4 and then secured to the latter.
• the user can then position himself at the front of the exoskeleton and equip himself with the connecting elements 6, 5 of each of the legs 2, 3 as well as the harness 47 in an indifferent order, the frame 4 still remaining on the ground .
• the user controls the actuating means 45 of the legs, for example by means of a button 460 located at the end of the strap 46 whose length is adjustable (for example an electric cable of the spiral cable type).
• the exoskeleton 1 is positioned on the user as shown in FIG.
• first joint of each leg is able to move along an L-shaped rail 44.
• the movement of the joint along the rail can be synchronized with the movement of the legs to a position locking. It can also be passive.
• a telescope may be provided between the harness and the first frame member to allow height adjustment between them. The telescope is locked when the exoskeleton is in the position illustrated in FIG.
• FIGS. 5A and 5B illustrate the articulation between the legs and the frame.
• FIG. 5A is a schematic side view of the frame 4, with the first and second elements 40 and 41 of the frame 4.
• the second element 41 supports a rod 410 of X axis.
• This axis X is substantially perpendicular to the first element 40 of the frame and is intended to be substantially parallel to the anteroposterior axis of the user.
• each leg 2, 3 ends with a bent element 200, 300.
• the first articulation 42, 43 of each leg comprises a bent element 420, 430. At one end, this bent element 420, 430 is articulated around the axis X, this axis being therefore common to the two legs 2 and 3.
• this rotational assembly is obtained thanks to a sleeve 421, 431, through which rod 410 of the frame passes, and located at one end of the bent element 420, 430.
• this articulation is obtained by inserting the other end of the elbow element 420, 430 in a sleeve 201, 301 located at the end of the elbow element 200, 300 of each leg 2, 3.
• FIG. 5A illustrates the two legs 2 and 3 in the rest position, that is to say when the user stands straight and is static. The user is therefore in the position illustrated in FIG. 5A
• each of the axes Y2 and Y3 is situated substantially on the perpendicular common to the corresponding telescopic leg and the X axis.
• the Y2 and Y3 axes are always perpendicular to the X axis but they are inclined relative to the plane defined by the second element 41 of the frame.
• each leg may move away from a positive angle when the leg is forward and a negative angle when the leg is backward.
• the deflections around the axes Y2 and Y3 are between about 65 ° and -10 °.
• the articulation about the X axis allows the abduction and adduction of the elbows 420 and 430 (and thus the legs 2 and 3) relative to the frame 4 of the exoskeleton.
• the deflections of this articulation about the X axis are for example between 0 °, corresponding to a leg in the upright position, and 20 °, when the leg is outside the median plane of the body.
• the X axis is common to both legs and is positioned substantially in the sagittal plane.
• the two legs form an angle between them (for example by 10 °), so that they are further apart at the level of the feet of the user than at the level of the first articulations.
• each leg could be articulated at the sleeves 421 and 431 around two parallel axes and spaced from each other by a distance of about 100 mm.
• these two axes will be substantially symmetrical with respect to the sagittal plane.
• the two legs can extend substantially vertically as shown in Figure 2.
• the two axes Y2 and Y3 are then substantially in the plane of the second element 41 of the frame.
• passive elements are provided such as springs which are fixed at one end to the frame 4 and at the other end to the upper segment. 20, 30 of the leg 2, 3. These passive elements allow to generate an elastic return around a given position, for example the upright position and feet of the user.
• the articulation about the axes Y2 and Y3 can be left free when the joints 42, 43 are positioned substantially in line with the center of gravity of the load.
• Y3 could also be equipped with elements passive, like springs, or a motorization.
• the exoskeleton according to the invention makes it possible to dispense with motorisation at the level of the hip, such as is provided in particular in the exoskeleton described in document US 2012/0156661.
• This engine is designed to compensate for the torque created by the lever arm between the user's hips and the center of gravity of the load. By positioning the articulation substantially in line with the center of gravity of the load, this residual torque is eliminated.
• the connecting element comprises a sole.
• the foot of the user is not in direct contact with the ground.
• the connecting element 6 comprises a fixed part 61 and a movable part 62.
• the fixed portion 61 has an inverted L shape extending in a plane parallel to the sagittal plane.
• the small branch 610 of the L extends substantially vertically when the exoskeleton is placed on the ground, the large branch of the L 611 being in contact with the ground and forming a sole.
• the small branch 610 carries the hinge 60 with the leg 2 of the exoskeleton. It can be a ball joint type.
• the large branch 611 carries another fixed element 612 which supports a hinge 613 with the movable part 62 of the connecting element.
• the hinge 613 is located substantially at the level of the metatarsophalangeal joint of the foot of a user.
• fastening means 620 are secured to the movable part 62. These means 620 make it possible to maintain the foot of the fixed user relative to the movable part 62.
• FIG. 6A shows that, when the user's foot is on the ground, the mobile part 62 rests on the large branch 611 of the fixed part 61.
• FIG. 6B shows that, when the user lifts his foot, the mobile part 62 rotates around the hinge 613. The movable part 62 then departs from the large branch 611 of the fixed part 61 of the connecting element 6.
• the measuring means making it possible to detect the movements of the user comprise, for example, two force sensors placed in the sole plate 611 of the fixed part 61, to measure the load transfer of the user on the foot.
• These measuring means also include a potentiometer for detecting the angle of heel detachment of the user.
• This information is processed conventionally to control the means for actuating the legs, so as to follow the movements of the user.
• the invention also provides another embodiment of the connecting element, wherein it has no sole, the foot of the user coming directly into contact with the ground.
• the connecting element 7 comprises a rigid element 71 of U-shaped caliper type with two side walls 710 and 711 intended to come on either side of the user's foot and a bottom 712 connecting the two side portions 710 and 711 and intended to come in front of the heel of the user.
• This bottom wall 712 supports the hinge 70 with the corresponding leg of the exoskeleton. It may especially be a ball joint type.
• the connecting element 7 also comprises a fastening system 72 with the foot of the user.
• This fastening system is semi-rigid. It is, in fact, composed of a rigid portion 720 which is rotatable about a hinge 721 located at the front end of the rigid portion 71, that is to say the opposite of the articulation 70.
• the axis of this articulation 721 is substantially perpendicular to the side walls 710 and 711 of the rigid portion 71.
• This fastening system also comprises an elastic portion 722, consisting for example of an elastic strap to adapt to the length of the shoe of the user without requiring a setting action, and an adjustable strap to go around. the shoe and provided with a quick coupling allowing the user to quickly equip the connecting element.
• an elastic portion 722 consisting for example of an elastic strap to adapt to the length of the shoe of the user without requiring a setting action, and an adjustable strap to go around. the shoe and provided with a quick coupling allowing the user to quickly equip the connecting element.
• Figure 7A illustrates the connecting element 7 when the foot of the user is in contact with the ground.
• FIG. 7B illustrates the connecting element 7 when the user's foot is off the ground, the fastening system 72 having then pivoted around the hinge 721.
• stirrup-shaped element 71 is a rigid piece which is in contact with the ground, via the walls Lateral 710, 711. It allows to transfer the weight of the load placed in the frame, by the hinge 70, directly on the ground, without going through the user.
• an anti-slip material is advantageously provided under the connecting element.
• the measuring means for detecting the movements of the user comprise, for example, a potentiometer, placed at the hinge 721, so as to measure the angle of heel detachment of the user.
• These means then also comprise a switch type contact sensor, placed under the connecting element, on the surface in contact with the ground, so as to detect whether the connecting element is in contact with the ground.
• This embodiment has the advantage of allowing the user to be in direct contact with the ground.
• the ball is formed of three successive pins mounted on a ring and comprises two intermediate parts 731 and 732, for example in the form of a horseshoe.
• the lower segment 22, 23 of the leg 2, 3 is rotatably mounted along the axis Xi, called the axis of rotation, on the first intermediate part 731.
• the longitudinal axis of the lower segment (or leg) and the axis of rotation Xi pass through the center 733 of the patella.
• this first intermediate part 731 is deep enough to limit the risk of interference with the tibia of the user.
• the first intermediate part 731 is itself rotated on the second intermediate part 732 along the axis X 2, orthogonal to the axis of rotation X 1 and situated in a plane substantially parallel to the plane of the ground contact surface of FIG. the rigid element 71.
• This axis X2 is called the axis of flexion / extension and passes through the center 733 of the patella.
• this second intermediate part 732 does not exceed that of the rigid element 71.
• its two branches can be in line with the side walls 710 and 711 of the element 71.
• the bottom wall 712 of the connecting element supports the second intermediate part 732.
• This second intermediate piece 732 is rotatably mounted on the rigid element 71 around an axis X3, called the abduction axis.
• This axis X3 is orthogonal to the axis of flexion / extension X2 and located in a plane substantially parallel to the plane of the ground contact surface of the rigid element 71. It passes through the center 733 of the ball joint.
• the patella allows three degrees of freedom.
• the largest deflections occur around the X 2 flexion-extension axis.
• the degree of freedom around the axis of rotation X 1 allows the user to rotate and that around the axis of abduction X 3 , allows him to spread the legs.
• This embodiment makes it possible to limit the rear bulk of the element 71 by substantially coinciding the center 733 of the ball of the exoskeleton with the center of the user's ankle, when the foot of the user and the element 71 are placed on the ground. This is illustrated in Figure 7D.
• FIG. 7E illustrates the relative position of the user's foot and the rigid element 71, when the user's foot is off the ground, the fastening system 72 having then pivoted around the hinge 721 and thus around of the metarso-phalangeal axis X4.
• the comparison between FIGS. 7D and 7E shows that when the user's foot is off the ground, the angle between the two axes X1 and X3 (or between the two intermediate pieces) is greater than when the foot is on the ground.
• FIG. 8 illustrates another embodiment of the exoskeleton according to the invention.
• hip balancing means are provided at the back of the legs of the exoskeleton.
• Such balancing means are necessary when a cantilever is generated between the center of gravity of the load and the first leg joint located at the frame.
• This cantilever can notably occur in the situation illustrated in FIG.
• this figure illustrates an exoskeleton according to the invention, the frame 4 supports a load 48 at the rear and also a load 49 at the front.
• This load 49 is here supported by a pair of arms 80 which extends forward of the frame in the direction of travel, so as to be positioned on either side of the user in use.
• the arms 80 may be passive or semi-passive arms of the type marketed by the company Equipois. In this case, no motorization is necessary.
• the balancing means may have different shapes. It can in particular be a geared motor placed in the lower part of the frame 4.
• These means may also take the form of a winch 9 consisting of a drum 90 fixed to the frame, around which is wound a cable 91.
• the drum 90 is located in the lower part of the frame 4, at the level of the element 41 and above all, at a distance from the first articulation 42, 43 of the leg 2, 3 on the frame 4 .
• the cable 91 is also fixed at the level of the connecting element 6, 5.
• the cable 91 is attached to the rear of the connecting element 6, 5 for example at the joint 60, 50 with the leg 2, 3.
• the drum 90 is rotatable relative to the frame 4, about an axis substantially perpendicular to the sagittal plane.
• FIG. 9 describes another embodiment of the exoskeleton according to the invention.
• This exoskeleton comprises lifting means, hoist type, which are supported by the frame 4.
• These lifting means are controlled by the user, by appropriate means, including the intentional handle 82.
• These lifting means 81 allow the user to transfer loads from the ground to its height without effort.
• a cantilever is still created between the center of gravity of the load and the hip joint. This is why a winch 9 is also provided at the rear of the legs of the exoskeleton.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Rehabilitation Tools (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

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Family Applications (1)

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• 2016
  • 2016-01-15 FR FR1650328A patent/FR3046744B1/fr not_active Expired - Fee Related
• 2017
  • 2017-01-13 WO PCT/FR2017/050081 patent/WO2017121971A1/fr active Application Filing
  • 2017-01-13 EP EP17706841.8A patent/EP3402631A1/de not_active Withdrawn

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