EP3518858A1 - Mobile assistance robot comprising at least one pivoting bearing system - Google Patents

Mobile assistance robot comprising at least one pivoting bearing system

Info

Publication number
EP3518858A1
EP3518858A1 EP17787472.4A EP17787472A EP3518858A1 EP 3518858 A1 EP3518858 A1 EP 3518858A1 EP 17787472 A EP17787472 A EP 17787472A EP 3518858 A1 EP3518858 A1 EP 3518858A1
Authority
EP
European Patent Office
Prior art keywords
robot
support system
mobile base
person
robot according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17787472.4A
Other languages
German (de)
French (fr)
Other versions
EP3518858B1 (en
Inventor
Vincent Dupourque
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kompai Robotics
Original Assignee
Kompai Robotics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kompai Robotics filed Critical Kompai Robotics
Publication of EP3518858A1 publication Critical patent/EP3518858A1/en
Application granted granted Critical
Publication of EP3518858B1 publication Critical patent/EP3518858B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • 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
    • A61H2201/12—Driving means
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A61H2201/1223—Frequency controlled AC motor
    • 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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by the user
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • 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
    • A61H2201/5069—Angle 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
    • A61H2201/5079—Velocity sensors

Definitions

  • the present application relates to a mobile assistance robot comprising at least one pivoting support system.
  • the document WO-2008/149018 describes a polyvalent robot more particularly adapted for the assistance of a person.
  • This robot comprises a mobile base which comprises in the lower part of the wheels and a control system comprising actuators, sensors and controls for controlling the movements of the mobile base.
  • the multipurpose robot described in this document WO-2008/149018 is thus fully efficient for moving in a domestic environment for example.
  • the robot is more particularly adapted for the assistance of a person and may be equipped with accessories.
  • the multi-purpose robot can tow a walking device that includes a rolling base coupled to the multi-purpose robot.
  • the robot follows a trajectory he has determined and the person pressing on the walking device follows the path imposed by the robot.
  • the trajectory followed by the robot and imposed on the person is not necessarily the ideal trajectory for the person. Since the ideal trajectory varies from person to person, it is difficult to configure the control system so that the trajectories of each robot are adapted to the trajectories of each person.
  • the present invention aims to overcome the disadvantages of the prior art.
  • the subject of the invention is a mobile robot comprising:
  • a mobile base which has a control system configured to control the movement characteristics of the mobile base
  • a support system configured to be entered by a person
  • the support system is configured to pivot freely relative to the movable base along a vertical axis of rotation and in that the robot comprises at least a first sensor configured to detect at least one characteristic of a movement of rotation of the support system with respect to the mobile base and to inform the system of control which is configured to change the trajectory of the robot according to the characteristic of the rotational movement of the support system detected by the first sensor.
  • the person can choose a path independent of that of the mobile base and impose on the moving base a trajectory.
  • FIG. 1 is a side view of a robot equipped with a walking device which illustrates an embodiment of the invention
  • FIG. 2 is a perspective view of the robot equipped with a walking device visible in FIG. 1,
  • FIG. 3 is a perspective view of the walking device visible in FIG. 1 which illustrates an embodiment of the invention
  • FIG. 4 is a perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention
  • FIGS. 5A and 5B are diagrams of a robot equipped with a walking device which illustrate the transition from a sitting position to a standing position of a person resting on the walking device,
  • FIG. 6 is a view from above of a robot equipped with a walking device and a person illustrating a first configuration of trajectories followed by the robot and the person,
  • FIG. 7 is a plan view of a robot equipped with a walking device and a person illustrating a second configuration of trajectories followed by the robot and the person,
  • FIG. 8 is a top view of a robot equipped with a walking device and a person illustrating a third configuration of trajectories followed by the robot and the person,
  • FIG. 9 is a first perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention.
  • FIG. 10 is a second perspective view of the robot visible in FIG. 9.
  • a mobile robot This robot is particularly suitable for the assistance of a person.
  • This robot 10 comprises a mobile base 12.
  • the mobile base 12 is identical to that described in the document WO-2008/149018.
  • the mobile base 12 is not further described.
  • this mobile base 12 allows the robot 10 to move autonomously in an environment, such as for example inside a house or building.
  • the mobile base 12 comprises a base 100 resting on at least three wheels 16, a control system 14 configured to control the characteristics (speed, trajectory, %) of the movement of the mobile base 12.
  • the mobile base 12 comprises two driving wheels 16 and at least one idler wheel 16 ', the characteristics (rotation speeds, direction of rotation) of the rotational movement of the two driving wheels 16 being controlled by the control system 14.
  • the driving wheels 16 are configured to operate in differential mode.
  • the mobile base 12 follows a curved trajectory by imposing on the 16-wheel drive wheels different speeds.
  • the movable base 12 is configured to pivot on itself along a pivot axis 18 perpendicular to the ground (therefore vertical if the ground is horizontal) and positioned in the middle of the two wheels.
  • the movable base 12 comprises four wheels, namely two side wheels 16 with axes perpendicular to a direction of advance and two idlers 16 'configured to rotate according to a vertical axis, positioned at the front and at the rear in the direction of advance relative to the side wheels 16.
  • the mobile base 12 comprises three wheels, namely two driving lateral wheels 16, with axes perpendicular to a direction of advance and a idler wheel 16 'configured to pivot according to a vertical axis, positioned at the front in the direction of advance relative to the side wheels 16.
  • This configuration allows to release more space for the feet of the person.
  • the mobile base 12 also comprises at least one environment sensor 102 configured to detect obstacles and inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12.
  • this sensor 102 is positioned in a first horizontal slot 104 formed on the base 100 and which extends over at least a portion of the periphery of the base 100.
  • the robot is equipped with a walking device 20.
  • the robot 10 or the ambulatory device 20 comprises a body 22 movable in rotation with respect to the mobile base 12 along an axis of rotation A22 parallel to the pivot axis 18 of the mobile base 12 and preferably coinciding with said axis of rotation. pivoting 18.
  • the robot comprises a vertical column 24 whose lower end is connected to the rolling base 12 and whose upper end 26 supports the body 22.
  • the ambulatory device 20 is integral with the robot 10 and can not be dismantled, as illustrated in FIG.
  • the ambulation device 20 is coupled to the robot 10 by a coupling system 28 making it possible to connect or disassociate the walking device 20 of the robot 10, as illustrated in FIGS. 2 and 3.
  • the body 22 is secured to the robot 10 and the coupling system 28 is provided between the body 22 and the walking device 20.
  • the body is secured to the ambulation device 20 and the coupling system 28 is provided between the body 22 and the column 24.
  • the ambulatory device 20 comprises at least one gripping support system 30, connected to the body 22 and configured to serve as a support for a person.
  • the support system 30 comprises at least one handrail 32 in the form of a tube which follows, in a plane perpendicular to the axis of rotation A22, a U-shaped profile.
  • U-shaped handrail 32 comprises two branches 34, 34 'parallel to the direction of advance, with 34E ends curved downwards.
  • Prehensile support system means an element of the robot that a person can grip with at least one of his hands and on which the person can exert a force with a component facing the ground.
  • the ambulation device may comprise only a support system 30 configured to pivot freely relative to the mobile base 12 along a vertical axis of rotation A22.
  • the person can choose a path independent of that of the mobile base.
  • the radius of curvature of the trajectory C1 of the person may be greater than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 6, or the radius of curvature of the trajectory C1 of the person may be smaller. than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 7.
  • FIG. 8 insofar as the pivoting of the support system 30 is independent of that of the mobile base 12, the latter can rotate on itself without the person having to move. Thus, it is possible to assist lateral movements of the person.
  • the body 22 and the handrail 32 have cooperating shapes.
  • the body 22 has the shape of a circular plate and the base 36 of the U formed by the handrail 32 describes an arc that circle whose diameter is proportional to that of the plate.
  • the base 36 of the U has a diameter slightly greater than that of the plate so as to leave a spacing between the handrail 32 and the body 22 to allow gripping of the handrail 32 by a person.
  • the ambulatory device 20 comprises at least two connectors 38 which connect the handrail 32 to the body 22. These connectors 38 are arranged around the body 22 and are preferably diametrically opposed. According to one configuration, a coupling system 28 is positioned between each coupling 38 and the body 22.
  • the ambulatory device 20 comprises, for each branch
  • each leg 40, 40' vertical, positioned under the branch 34, 34 ', a lower end rests on the ground and an upper end is rigidly connected to the branch.
  • the lower end of each leg 40, 40 ' includes a idler wheel 42, 42'.
  • the legs 40, 40 'ensure the recovery of the downward forces generated during the support of a person on the walking device 20, especially during a change of posture (sitting /standing).
  • the support system 30 comprises two tubular frames 44, 44 'each with two vertical uprights arranged in the same vertical planes as the branches 34, 34 'of the handrail 32, for each of them one of the branches 34, 34' of the handrail 32 forming the upper side of the frame 44, 44 '.
  • each leg 40, 40 ' is connected to the lower side 46, 46' of the corresponding tubular frame 44, 44 '.
  • the ambulation device is configured so that the distance between the idler wheels 42, 42 'of the legs 40, 40' is substantially equal to the spacing between the side wheels 16, 16 'driving the mobile base 12.
  • the branches 34, 34 'and the legs 40, 40' are arranged in the same planes as the side wheels 16, 16 'driving the mobile base 12, the idlers 42, 42 'being positioned offset rearward with respect to the driving side wheels 16 of the mobile base 12.
  • the support system 30 comprises two vertical uprights arranged under each branch 34, 34 '.
  • the uprights allow to offer several levels of grip.
  • the walking device may comprise at least one cane support 48, at least one basket 50 and / or at least one screen 52.
  • the ambulation device 20 comprises at least one control configured to transmit at least one signal to the control system 14 of the mobile base 12 in order to control the movements of the mobile base 12.
  • the walking device 20 comprises at least one manual control operable directly by the person.
  • the ambulation device 20 comprises a first control 54, positioned on the straight leg 34, configured to control a change of direction of the robot to the right and a second control 56, positioned on the branch 34 'left, configured to control a change of direction of the robot to the left.
  • the walking device 20 comprises a third control 58 configured to control a change of speed of the mobile base 12.
  • the ambulatory device 20 comprises at least one automatic control.
  • the robot comprises at least a first sensor 60 configured to detect at least one characteristic of a rotational movement of the support system 30 relative to the mobile base 12 and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12 according to the characteristic of the rotational movement detected by the first sensor 60.
  • this first sensor 60 is configured to detect the direction of rotation of the support system 30 relative to the base 12.
  • the rotation of the support system 30 in a first direction generates a change of direction to the right of the mobile base 12 and the rotation of the body 22 according to a second direction generates a change of direction to the left.
  • the first sensor 60 is configured to determine an angle of rotation of the rotational movement of the support system 30 relative to the mobile base 12, the radius of rotation. turning of the mobile base 12 being inversely proportional to the angle of rotation of the support system 30 relative to the movable base 22 as a function of the values measured by the second sensor 106.
  • the mobile base 12 comprises at least one second sensor 106 configured to detect a speed of movement of a person resting on the support system and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12.
  • This second sensor 106 is configured to detect movement of the person's legs and is positioned in a second substantially horizontal slot 108 in the base 100 and positioned approximately at the knee height of a person.
  • This second slot 108 may extend all around the base 100. The same is true of the first slot 104.
  • the walking device comprises a display device such as the screen 52 for displaying information relating to the movements of the robot, for example the direction of advance of the robot (forward / backward direction), the speed of the robot (slow / moderate / fast), a future change of direction (right / left direction change) or destination.
  • This information relating to the movements of the robot can be communicated to the person by means of sound messages.
  • the robot can operate in several modes.
  • a first so-called manual mode the person resting on the walking device can control the changes of direction of the robot by pivoting the support system 30 around the axis of rotation A22.
  • the robot comprises sensors configured to detect the speed, direction and direction of the person and a command to control the speed, direction and direction of movement of the mobile base 22 from the data. detected by the sensors.
  • the mobile base 12 moves autonomously and the pivoting of the support system 30 with respect to the mobile base 12 has no influence on the trajectory of the mobile base 12.
  • the robot adapts its speed of advance to that of the person resting on the walking device 20.
  • the robot equipped with the ambulatory device can make it possible to make the person pressing on the walking device exercise.
  • a succession of movements can be programmed and performed automatically by the mobile base 12.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

The subject of the invention is a mobile robot which comprises: - a mobile base (12) which exhibits a control system (14) configured to control the characteristics of the motion of the mobile base (12), and - a bearing system (30) configured to be grasped by a person, and which is characterized in that the bearing system (30) is configured to pivot freely with respect to the mobile base (12) about a vertical rotation axis (A22) and in that the robot comprises at least one first sensor (60) configured to detect at least one characteristic of a rotation motion of the bearing system (30) with respect to the mobile base (12) and to advise the control system (14) which is configured to modify the trajectory of the robot as a function of the characteristic, detected by the first sensor (60), of the rotation motion of the bearing system (30).

Description

ROBOT MOBILE D'ASSISTANCE COMPRENANT AU MOINS UN SYSTEME D'APPUI PIVOTANT  MOBILE ASSISTANCE ROBOT COMPRISING AT LEAST ONE SWIVEL SUPPORT SYSTEM
La présente demande se rapporte à un robot mobile d'assistance comprenant au moins un système d'appui pivotant. The present application relates to a mobile assistance robot comprising at least one pivoting support system.
Le document WO-2008/149018 décrit un robot polyvalent plus particulièrement adapté pour l'assistance d'une personne. Ce robot comprend une base mobile qui comporte en partie inférieure des roues et un système de contrôle comprenant des motorisations, des capteurs et des commandes permettant de contrôler les déplacements de la base mobile. Le robot polyvalent décrit dans ce document WO-2008/149018 est ainsi pleinement performant pour se déplacer dans un environnement domestique par exemple.  The document WO-2008/149018 describes a polyvalent robot more particularly adapted for the assistance of a person. This robot comprises a mobile base which comprises in the lower part of the wheels and a control system comprising actuators, sensors and controls for controlling the movements of the mobile base. The multipurpose robot described in this document WO-2008/149018 is thus fully efficient for moving in a domestic environment for example.
Selon un mode de réalisation décrit sur la figure 8, le robot est plus particulièrement adapté pour l'assistance d'une personne et il peut être équipé d'accessoires. Selon ce document, le robot polyvalent peut tracter un dispositif de déambulation qui comprend une base roulante attelée au robot polyvalent. Dans ce cas, le robot suit une trajectoire qu'il a déterminée et la personne en appui sur le dispositif de déambulation suit la trajectoire imposée par le robot. Dans certaines circonstances, par exemple lorsque le robot suit une trajectoire courbe, la trajectoire suivie par le robot et imposée à la personne n'est pas forcément la trajectoire idéale pour la personne. Dans la mesure où la trajectoire idéale varie d'une personne à l'autre, il est difficile de configurer le système de contrôle pour que les trajectoires de chaque robot soient adaptées aux trajectoires de chaque personne. According to an embodiment described in FIG. 8, the robot is more particularly adapted for the assistance of a person and may be equipped with accessories. According to this document, the multi-purpose robot can tow a walking device that includes a rolling base coupled to the multi-purpose robot. In this case, the robot follows a trajectory he has determined and the person pressing on the walking device follows the path imposed by the robot. In certain circumstances, for example when the robot follows a curved trajectory, the trajectory followed by the robot and imposed on the person is not necessarily the ideal trajectory for the person. Since the ideal trajectory varies from person to person, it is difficult to configure the control system so that the trajectories of each robot are adapted to the trajectories of each person.
La présente invention vise à remédier aux inconvénients de l'art antérieur. The present invention aims to overcome the disadvantages of the prior art.
A cet effet, l'invention a pour objet un robot mobile comprenant : For this purpose, the subject of the invention is a mobile robot comprising:
une base mobile qui présente un système de contrôle configuré pour contrôler les caractéristiques du mouvement de la base mobile,  a mobile base which has a control system configured to control the movement characteristics of the mobile base,
un système d'appui configuré pour être saisi par une personne,  a support system configured to be entered by a person,
caractérisé en ce que le système d'appui est configuré pour pivoter librement par rapport à la base mobile selon un axe de rotation vertical et en ce que le robot comprend au moins un premier capteur configuré pour détecter au moins une caractéristique d'un mouvement de rotation du système d'appui par rapport à la base mobile et pour renseigner le système de contrôle qui est configuré pour modifier la trajectoire du robot en fonction de la caractéristique du mouvement de rotation du système d'appui détectée par le premier capteur. characterized in that the support system is configured to pivot freely relative to the movable base along a vertical axis of rotation and in that the robot comprises at least a first sensor configured to detect at least one characteristic of a movement of rotation of the support system with respect to the mobile base and to inform the system of control which is configured to change the trajectory of the robot according to the characteristic of the rotational movement of the support system detected by the first sensor.
Ainsi, la personne peut choisir une trajectoire indépendante de celle de la base mobile et imposer à la base mobile une trajectoire.  Thus, the person can choose a path independent of that of the mobile base and impose on the moving base a trajectory.
D'autres caractéristiques et avantages ressortiront de la description de l'invention qui va suivre de l'invention, description donnée à titre d'exemple uniquement, en regard des dessins annexés sur lesquels :  Other features and advantages will emerge from the description of the invention which follows from the invention, a description given by way of example only, with reference to the appended drawings, in which:
La figure 1 est une vue latérale d'un robot équipé d'un dispositif de déambulation qui illustre un mode de réalisation de l'invention,  FIG. 1 is a side view of a robot equipped with a walking device which illustrates an embodiment of the invention,
La figure 2 est une vue en perspective du robot équipé d'un dispositif de déambulation visible sur la figure 1,  FIG. 2 is a perspective view of the robot equipped with a walking device visible in FIG. 1,
La figure 3 est une vue en perspective du dispositif de déambulation visible sur la figure 1 qui illustre un mode de réalisation de l'invention,  FIG. 3 is a perspective view of the walking device visible in FIG. 1 which illustrates an embodiment of the invention,
- La figure 4 est une vue en perspective d'un robot équipé d'un dispositif de déambulation qui illustre un autre mode de réalisation de l'invention,  FIG. 4 is a perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention,
Les figures 5A et 5B sont des schémas d'un robot équipé d'un dispositif de déambulation qui illustrent le passage d'une position assise à une position debout d'une personne en appui sur le dispositif de déambulation,  FIGS. 5A and 5B are diagrams of a robot equipped with a walking device which illustrate the transition from a sitting position to a standing position of a person resting on the walking device,
- la figure 6 est une vue de dessus d'un robot équipé d'un dispositif de déambulation et d'une personne qui illustre une première configuration de trajectoires suivies par le robot et la personne,  FIG. 6 is a view from above of a robot equipped with a walking device and a person illustrating a first configuration of trajectories followed by the robot and the person,
la figure 7 est une vue de dessus d'un robot équipé d'un dispositif de déambulation et d'une personne qui illustre une deuxième configuration de trajectoires suivies par le robot et la personne,  FIG. 7 is a plan view of a robot equipped with a walking device and a person illustrating a second configuration of trajectories followed by the robot and the person,
la figure 8 est une vue de dessus d'un robot équipé d'un dispositif de déambulation et d'une personne qui illustre une troisième configuration de trajectoires suivies par le robot et la personne,  FIG. 8 is a top view of a robot equipped with a walking device and a person illustrating a third configuration of trajectories followed by the robot and the person,
la figure 9 est une première vue en perspective d'un robot équipé d'un dispositif de déambulation qui illustre un autre mode de réalisation de l'invention, et  FIG. 9 is a first perspective view of a robot equipped with a walking device which illustrates another embodiment of the invention, and
la figure 10 est une deuxième vue en perspective du robot visible sur la figure 9. Sur les différentes figures, on a représentée en 10 un robot mobile. Ce robot est plus particulièrement adapté pour l'assistance d'une personne. FIG. 10 is a second perspective view of the robot visible in FIG. 9. In the various figures, there is shown in 10 a mobile robot. This robot is particularly suitable for the assistance of a person.
Ce robot 10 comprend une base mobile 12. This robot 10 comprises a mobile base 12.
Selon un mode de réalisation, la base mobile 12 est identique à celle décrite dans le document WO-2008/149018. La base mobile 12 n'est pas plus décrite. De manière générale, cette base mobile 12 permet au robot 10 de se déplacer de manière autonome dans un environnement, comme par exemple l'intérieur d'une habitation ou d'une construction. Ainsi, la base mobile 12 comprend une base 100 reposant sur au moins trois roues 16, un système de contrôle 14 configuré pour contrôler les caractéristiques (vitesse, trajectoire,...) du mouvement de la base mobile 12.  According to one embodiment, the mobile base 12 is identical to that described in the document WO-2008/149018. The mobile base 12 is not further described. In general, this mobile base 12 allows the robot 10 to move autonomously in an environment, such as for example inside a house or building. Thus, the mobile base 12 comprises a base 100 resting on at least three wheels 16, a control system 14 configured to control the characteristics (speed, trajectory, ...) of the movement of the mobile base 12.
Selon une configuration privilégiée, la base mobile 12 comprend deux roues 16 motrices et au moins une roue folle 16', les caractéristiques (vitesses de rotation, sens de rotation) du mouvement de rotation des deux roues 16 motrices étant contrôlées par le système de contrôle 14.  According to a preferred configuration, the mobile base 12 comprises two driving wheels 16 and at least one idler wheel 16 ', the characteristics (rotation speeds, direction of rotation) of the rotational movement of the two driving wheels 16 being controlled by the control system 14.
Selon un mode de pilotage, les roues 16 motrices sont configurées pour fonctionner en mode différentiel. Ainsi, la base mobile 12 suit une trajectoire courbe en imposant aux roues 16 motrices des vitesses de rotation différentes. La base mobile 12 est configurée pour pouvoir pivoter sur elle-même selon un axe de pivotement 18 perpendiculaire au sol (par conséquent vertical si le sol est horizontal) et positionné au milieu des deux roues. According to a driving mode, the driving wheels 16 are configured to operate in differential mode. Thus, the mobile base 12 follows a curved trajectory by imposing on the 16-wheel drive wheels different speeds. The movable base 12 is configured to pivot on itself along a pivot axis 18 perpendicular to the ground (therefore vertical if the ground is horizontal) and positioned in the middle of the two wheels.
Selon un mode de réalisation visible notamment sur les figures 1 et 2, la base mobile 12 comprend quatre roues, à savoir deux roues latérales 16 motrices, avec des axes perpendiculaires à une direction d'avance et deux roues folles 16' configurées pour pivoter selon un axe vertical, positionnées à l'avant et à l'arrière selon la direction d'avance par rapport aux roues latérales 16. According to an embodiment visible in particular in Figures 1 and 2, the movable base 12 comprises four wheels, namely two side wheels 16 with axes perpendicular to a direction of advance and two idlers 16 'configured to rotate according to a vertical axis, positioned at the front and at the rear in the direction of advance relative to the side wheels 16.
Selon un autre mode de réalisation visible sur les figures 9 et 10, la base mobile 12 comprend trois roues, à savoir deux roues latérales 16 motrices, avec des axes perpendiculaires à une direction d'avance et une roue folle 16' configurée pour pivoter selon un axe vertical, positionnée à l'avant selon la direction d'avance par rapport aux roues latérales 16. Cette configuration permet de dégager plus d'espace pour les pieds de la personne. La base mobile 12 comprend également au moins un capteur d'environnement 102 configuré pour détecter des obstacles et renseigner le système de contrôle 14 afin que ce dernier modifie éventuellement les caractéristiques du mouvement de la base mobile 12. Selon un mode de réalisation, ce capteur d'environnement 102 est positionné dans une première fente 104 horizontale ménagée sur la base 100 et qui s'étend sur au moins une partie du pourtour de la base 100. According to another embodiment visible in FIGS. 9 and 10, the mobile base 12 comprises three wheels, namely two driving lateral wheels 16, with axes perpendicular to a direction of advance and a idler wheel 16 'configured to pivot according to a vertical axis, positioned at the front in the direction of advance relative to the side wheels 16. This configuration allows to release more space for the feet of the person. The mobile base 12 also comprises at least one environment sensor 102 configured to detect obstacles and inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12. According to one embodiment, this sensor 102 is positioned in a first horizontal slot 104 formed on the base 100 and which extends over at least a portion of the periphery of the base 100.
Le robot est équipé d'un dispositif de déambulation 20. The robot is equipped with a walking device 20.
Le robot 10 ou le dispositif de déambulation 20 comprend un corps 22 mobile en rotation par rapport à la base mobile 12 selon un axe de rotation A22 parallèle à l'axe de pivotement 18 de la base mobile 12 et de préférence confondu avec ledit axe de pivotement 18.  The robot 10 or the ambulatory device 20 comprises a body 22 movable in rotation with respect to the mobile base 12 along an axis of rotation A22 parallel to the pivot axis 18 of the mobile base 12 and preferably coinciding with said axis of rotation. pivoting 18.
Selon un mode de réalisation, le robot comprend une colonne 24 verticale dont une extrémité inférieure est reliée à la base roulante 12 et dont une extrémité supérieure 26 supporte le corps 22.  According to one embodiment, the robot comprises a vertical column 24 whose lower end is connected to the rolling base 12 and whose upper end 26 supports the body 22.
Selon une première variante, le dispositif de déambulation 20 est solidaire du robot 10 et indémontable, comme illustré sur la figure 4.  According to a first variant, the ambulatory device 20 is integral with the robot 10 and can not be dismantled, as illustrated in FIG.
Selon une deuxième variante, le dispositif de déambulation 20 est accouplé au robot 10 par un système d'accouplement 28 permettant de relier ou de dissocier le dispositif de déambulation 20 du robot 10, comme illustré sur les figures 2 et 3.  According to a second variant, the ambulation device 20 is coupled to the robot 10 by a coupling system 28 making it possible to connect or disassociate the walking device 20 of the robot 10, as illustrated in FIGS. 2 and 3.
Selon un mode de réalisation visible sur les figures 2 et 3, le corps 22 est solidaire du robot 10 et le système d'accouplement 28 est prévu entre le corps 22 et le dispositif de déambulation 20.  According to an embodiment visible in Figures 2 and 3, the body 22 is secured to the robot 10 and the coupling system 28 is provided between the body 22 and the walking device 20.
Selon un autre mode de réalisation, le corps est solidaire du dispositif de déambulation 20 et le système d'accouplement 28 est prévu entre le corps 22 et la colonne 24.  According to another embodiment, the body is secured to the ambulation device 20 and the coupling system 28 is provided between the body 22 and the column 24.
Le dispositif de déambulation 20 comprend au moins un système d'appui 30 préhensible, relié au corps 22 et configuré pour servir d'appui à une personne. Selon un mode de réalisation, le système d'appui 30 comprend au moins une main courante 32 sous la forme d'un tube qui suit, dans un plan perpendiculaire à l'axe de rotation A22, un profil en U. De préférence, la main courante 32 en U comprend deux branches 34, 34' parallèles à la direction d'avance, avec des extrémités 34E recourbées vers le bas.  The ambulatory device 20 comprises at least one gripping support system 30, connected to the body 22 and configured to serve as a support for a person. According to one embodiment, the support system 30 comprises at least one handrail 32 in the form of a tube which follows, in a plane perpendicular to the axis of rotation A22, a U-shaped profile. U-shaped handrail 32 comprises two branches 34, 34 'parallel to the direction of advance, with 34E ends curved downwards.
On entend par système d'appui préhensible un élément du robot qu'une personne peut saisir avec au moins une de ses mains et sur lequel la personne peut exercer un effort avec une composante orientée vers le sol. Selon une caractéristique de l'invention, le dispositif de déambulation peut ne comprendre qu'un système d'appui 30 configuré pour pivoter librement par rapport à la base mobile 12 selon un axe de rotation A22 vertical. Ainsi, la personne peut choisir une trajectoire indépendante de celle de la base mobile. Ainsi, le rayon de courbure de la trajectoire Cl de la personne peut être plus grand que celui de la trajectoire C2 de la base mobile 12 comme illustré sur la figure 6 ou le rayon de courbure de la trajectoire Cl de la personne peut être plus petit que celui de la trajectoire C2 de la base mobile 12 comme illustré sur la figure 7. Comme illustré sur la figure 8, dans la mesure où le pivotement du système d'appui 30 est indépendant de celui de la base mobile 12, cette dernière peut pivoter sur elle-même sans que la personne n'ait à bouger. Ainsi, il est possible d'assister des mouvements latéraux de la personne. Prehensile support system means an element of the robot that a person can grip with at least one of his hands and on which the person can exert a force with a component facing the ground. According to one characteristic of the invention, the ambulation device may comprise only a support system 30 configured to pivot freely relative to the mobile base 12 along a vertical axis of rotation A22. Thus, the person can choose a path independent of that of the mobile base. Thus, the radius of curvature of the trajectory C1 of the person may be greater than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 6, or the radius of curvature of the trajectory C1 of the person may be smaller. than that of the trajectory C2 of the mobile base 12 as illustrated in FIG. 7. As illustrated in FIG. 8, insofar as the pivoting of the support system 30 is independent of that of the mobile base 12, the latter can rotate on itself without the person having to move. Thus, it is possible to assist lateral movements of the person.
Selon un mode de réalisation visible sur les figures 2 et 3, le corps 22 et la main courante 32 ont des formes qui coopèrent. Selon un mode de réalisation, le corps 22 a la forme d'un plateau circulaire et la base 36 du U formé par la main courante 32 décrit un arc ce cercle dont le diamètre est proportionnel à celui du plateau. Comme illustré sur la figure 2, la base 36 du U a un diamètre légèrement supérieur à celui du plateau de manière à laisser un espacement entre la main courante 32 et le corps 22 pour permettre la préhension de la main courante 32 par une personne.  According to an embodiment visible in Figures 2 and 3, the body 22 and the handrail 32 have cooperating shapes. According to one embodiment, the body 22 has the shape of a circular plate and the base 36 of the U formed by the handrail 32 describes an arc that circle whose diameter is proportional to that of the plate. As illustrated in Figure 2, the base 36 of the U has a diameter slightly greater than that of the plate so as to leave a spacing between the handrail 32 and the body 22 to allow gripping of the handrail 32 by a person.
Selon un mode de réalisation, le dispositif de déambulation 20 comprend au moins deux raccords 38 qui relient la main courante 32 au corps 22. Ces raccords 38 sont disposés autour du corps 22 et sont de préférence diamétralement opposés. Selon une configuration, un système d'accouplement 28 est positionné entre chaque raccord 38 et le corps 22.  According to one embodiment, the ambulatory device 20 comprises at least two connectors 38 which connect the handrail 32 to the body 22. These connectors 38 are arranged around the body 22 and are preferably diametrically opposed. According to one configuration, a coupling system 28 is positioned between each coupling 38 and the body 22.
Selon une caractéristique, le dispositif de déambulation 20 comprend, pour chaque branche According to one characteristic, the ambulatory device 20 comprises, for each branch
34, 34' de la main courante 32, une jambe 40, 40' verticale, positionnées sous la branche 34, 34', dont une extrémité inférieure repose sur le sol et dont une extrémité supérieure est reliée de manière rigide à la branche. L'extrémité inférieure de chaque jambe 40, 40' comprend une roue folle 42, 42'. 34, 34 'of the handrail 32, a leg 40, 40' vertical, positioned under the branch 34, 34 ', a lower end rests on the ground and an upper end is rigidly connected to the branch. The lower end of each leg 40, 40 'includes a idler wheel 42, 42'.
Comme illustré sur les figures 5A et 5B, les jambes 40, 40' assurent la reprise des efforts vers le bas générés lors de l'appui d'une personne sur le dispositif de déambulation 20, notamment lors d'un changement de posture (assis/debout).  As illustrated in FIGS. 5A and 5B, the legs 40, 40 'ensure the recovery of the downward forces generated during the support of a person on the walking device 20, especially during a change of posture (sitting /standing).
Selon un mode de réalisation, le système d'appui 30 comprend deux cadres tubulaire 44, 44' avec chacun deux montants verticaux disposés dans les mêmes plans verticaux que les branches 34, 34' de la main courante 32, pour chacun d'eux l'une des branches 34, 34' de la main courante 32 formant le côté supérieur du cadre 44, 44'. Selon ce mode de réalisation, chaque jambe 40, 40' est reliée au côté inférieur 46, 46' du cadre tubulaire 44, 44' correspondant. According to one embodiment, the support system 30 comprises two tubular frames 44, 44 'each with two vertical uprights arranged in the same vertical planes as the branches 34, 34 'of the handrail 32, for each of them one of the branches 34, 34' of the handrail 32 forming the upper side of the frame 44, 44 '. According to this embodiment, each leg 40, 40 'is connected to the lower side 46, 46' of the corresponding tubular frame 44, 44 '.
Le dispositif de déambulation est configuré de sorte que l'écartement entre les roues folles 42, 42' des jambes 40, 40' soit sensiblement égal à l'écartement entre les roues latérales 16, 16' motrices de la base mobile 12. The ambulation device is configured so that the distance between the idler wheels 42, 42 'of the legs 40, 40' is substantially equal to the spacing between the side wheels 16, 16 'driving the mobile base 12.
Selon une configuration, lorsque le robot 10 avance en ligne droite, les branches 34, 34' et les jambes 40, 40' sont disposées dans les mêmes plans que les roues latérales 16, 16' motrices de la base mobile 12, les roues folles 42, 42' étant positionnées décalées vers l'arrière par rapport aux roues latérales 16 motrices de la base mobile 12.  According to a configuration, when the robot 10 advances in a straight line, the branches 34, 34 'and the legs 40, 40' are arranged in the same planes as the side wheels 16, 16 'driving the mobile base 12, the idlers 42, 42 'being positioned offset rearward with respect to the driving side wheels 16 of the mobile base 12.
Selon une variante simplifiée, le système d'appui 30 comprend deux montants verticaux disposés sous chaque branche 34, 34'. According to a simplified variant, the support system 30 comprises two vertical uprights arranged under each branch 34, 34 '.
Les montants verticaux permettent d'offrir plusieurs niveaux de prise en main.  The uprights allow to offer several levels of grip.
Le dispositif de déambulation peut comprendre au moins un support de canne 48, au moins un panier 50 et/ou au moins un écran 52. The walking device may comprise at least one cane support 48, at least one basket 50 and / or at least one screen 52.
Selon une caractéristique de l'invention, le dispositif de déambulation 20 comprend au moins une commande configurée pour transmettre au moins un signal au système de contrôle 14 de la base mobile 12 afin de contrôler les déplacements de la base mobile 12. Selon une première variante, le dispositif de déambulation 20 comprend au moins une commande manuelle actionnable directement par la personne.  According to one characteristic of the invention, the ambulation device 20 comprises at least one control configured to transmit at least one signal to the control system 14 of the mobile base 12 in order to control the movements of the mobile base 12. According to a first variant , the walking device 20 comprises at least one manual control operable directly by the person.
Selon cette première variante, le dispositif de déambulation 20 comprend une première commande 54, positionnée sur la branche 34 droite, configurée pour commander un changement de direction du robot vers la droite et une deuxième commande 56, positionnée sur la branche 34' gauche, configurée pour commander un changement de direction du robot vers la gauche. De manière optionnelle, le dispositif de déambulation 20 comprend une troisième commande 58 configurée pour commander un changement de vitesse de la base mobile 12.  According to this first variant, the ambulation device 20 comprises a first control 54, positioned on the straight leg 34, configured to control a change of direction of the robot to the right and a second control 56, positioned on the branch 34 'left, configured to control a change of direction of the robot to the left. Optionally, the walking device 20 comprises a third control 58 configured to control a change of speed of the mobile base 12.
Selon une deuxième variante, le dispositif de déambulation 20 comprend au moins une commande automatique. Selon cette deuxième variante, le robot comprend au moins un premier capteur 60 configuré pour détecter au moins une caractéristique d'un mouvement de rotation du système d'appui 30 par rapport à la base mobile 12 et pour renseigner le système de contrôle 14 afin que ce dernier modifie éventuellement les caractéristiques du mouvement de la base mobile 12 en fonction de la caractéristique du mouvement de rotation détecté par le premier capteur 60. Selon un mode de réalisation, ce premier capteur 60 est configuré pour détecter le sens de rotation du système d'appui 30 par rapport à la base 12. Ainsi, la rotation du système d'appui 30 selon un premier sens génère un changement de direction vers la droite de la base mobile 12 et la rotation du corps 22 selon un deuxième sens génère un changement de direction vers la gauche. According to a second variant, the ambulatory device 20 comprises at least one automatic control. According to this second variant, the robot comprises at least a first sensor 60 configured to detect at least one characteristic of a rotational movement of the support system 30 relative to the mobile base 12 and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12 according to the characteristic of the rotational movement detected by the first sensor 60. According to one embodiment, this first sensor 60 is configured to detect the direction of rotation of the support system 30 relative to the base 12. Thus, the rotation of the support system 30 in a first direction generates a change of direction to the right of the mobile base 12 and the rotation of the body 22 according to a second direction generates a change of direction to the left.
Selon un autre mode de réalisation, en plus de la détection du sens de rotation, le premier capteur 60 est configuré pour déterminer un angle de rotation du mouvement de rotation du système d'appui 30 par rapport à la base mobile 12, le rayon de braquage de la base mobile 12 étant inversement proportionnel à l'angle de rotation du système d'appui 30 par rapport à base mobile 22 en fonction des valeurs mesurées par le deuxième capteur 106. Selon un mode de réalisation visible sur les figures 9 et 10, la base mobile 12 comprend au moins un deuxième capteur 106 configurer pour détecter une vitesse de déplacement d'une personne en appui sur le système d'appui et pour renseigner le système de contrôle 14 afin que ce dernier modifie éventuellement les caractéristiques du mouvement de la base mobile 12. According to another embodiment, in addition to the detection of the direction of rotation, the first sensor 60 is configured to determine an angle of rotation of the rotational movement of the support system 30 relative to the mobile base 12, the radius of rotation. turning of the mobile base 12 being inversely proportional to the angle of rotation of the support system 30 relative to the movable base 22 as a function of the values measured by the second sensor 106. According to an embodiment visible in FIGS. 9 and 10 , the mobile base 12 comprises at least one second sensor 106 configured to detect a speed of movement of a person resting on the support system and to inform the control system 14 so that the latter optionally modifies the characteristics of the movement of the mobile base 12.
Ce deuxième capteur 106 est configuré pour détecter le mouvement des jambes de la personne et il est positionné dans une deuxième fente 108 sensiblement horizontale ménagée dans la base 100 et positionnée approximativement à la hauteur des genoux d'une personne.  This second sensor 106 is configured to detect movement of the person's legs and is positioned in a second substantially horizontal slot 108 in the base 100 and positioned approximately at the knee height of a person.
Cette deuxième fente 108 peut s'étendre sur tout le pourtour de la base 100. Il en est de même de la première fente 104.  This second slot 108 may extend all around the base 100. The same is true of the first slot 104.
Selon une autre caractéristique, le dispositif de déambulation comprend un dispositif d'affichage comme l'écran 52 pour afficher des informations relatives aux mouvements du robot comme par exemple le sens d'avance du robot (sens avant/ arrière), la vitesse du robot (lente/modérée/rapide), un futur changement de direction (cha ngement de direction vers la droite/changement de direction vers la gauche) ou la destination. Ces informations relatives aux mouvements du robot peuvent être communiquées à la personne par le biais de message sonores.  According to another characteristic, the walking device comprises a display device such as the screen 52 for displaying information relating to the movements of the robot, for example the direction of advance of the robot (forward / backward direction), the speed of the robot (slow / moderate / fast), a future change of direction (right / left direction change) or destination. This information relating to the movements of the robot can be communicated to the person by means of sound messages.
Selon l'invention, le robot peut fonctionner selon plusieurs modes. Selon un premier mode dit manuel, la personne en appui sur le dispositif de déambulation peut contrôler les changements de direction du robot en faisant pivoter le système d'appui 30 autour de l'axe de rotation A22. En complément, le robot comprend des capteurs configurés pour détecter la vitesse, la direction et le sens d'avance de la personne et une commande pour contrôler la vitesse, la direction et le sens d'avance de la base mobile 22 à partir des données détectées par les capteurs. According to the invention, the robot can operate in several modes. According to a first so-called manual mode, the person resting on the walking device can control the changes of direction of the robot by pivoting the support system 30 around the axis of rotation A22. In addition, the robot comprises sensors configured to detect the speed, direction and direction of the person and a command to control the speed, direction and direction of movement of the mobile base 22 from the data. detected by the sensors.
Selon un deuxième mode dit automatique, la base mobile 12 se déplace de manière autonome et le pivotement du système d'appui 30 par rapport à la base mobile 12 n'a aucune influence sur la trajectoire de la base mobile 12. Dans ce cas, le robot adapte sa vitesse d'avance à celle de la personne en appui sur le dispositif de déambulation 20.  According to a second so-called automatic mode, the mobile base 12 moves autonomously and the pivoting of the support system 30 with respect to the mobile base 12 has no influence on the trajectory of the mobile base 12. In this case, the robot adapts its speed of advance to that of the person resting on the walking device 20.
Le robot équipé du dispositif de déambulation peut permettre de faire faire à la personne en appui sur le dispositif de déambulation des exercices physiques. Ainsi, une succession de mouvements peut être programmée et réalisée de manière automatique par la base mobile 12.  The robot equipped with the ambulatory device can make it possible to make the person pressing on the walking device exercise. Thus, a succession of movements can be programmed and performed automatically by the mobile base 12.

Claims

REVENDICATIONS
1. Robot mobile comprenant : 1. Mobile robot comprising:
une base mobile (12) qui présente un système de contrôle (14) configuré pour contrôler les caractéristiques du mouvement de la base mobile (12), et  a movable base (12) having a control system (14) configured to control the movement characteristics of the movable base (12), and
un système d'appui (30) configuré pour être saisi par une personne,  a support system (30) configured to be grasped by a person,
caractérisé en ce que le système d'appui (30) est configuré pour pivoter librement par rapport à la base mobile (12) selon un axe de rotation (A22) vertical et en ce que le robot comprend au moins un premier capteur (60) configuré pour détecter au moins une caractéristique d'un mouvement de rotation du système d'appui (30) par rapport à la base mobile (12) et pour renseigner le système de contrôle (14) qui est configuré pour modifier la trajectoire du robot en fonction de la caractéristique du mouvement de rotation du système d'appui (30) détectée par le premier capteur (60). characterized in that the support system (30) is configured to pivot freely relative to the movable base (12) along a vertical axis of rotation (A22) and in that the robot comprises at least a first sensor (60) configured to detect at least one characteristic of a rotational movement of the support system (30) relative to the movable base (12) and to inform the control system (14) which is configured to modify the robot's trajectory by a function of the characteristic of the rotational movement of the support system (30) detected by the first sensor (60).
2. Robot selon la revendication 1, caractérisé en ce que l'axe de rotation (A22) du système d'appui est confondu avec un axe de pivotement (18) sur elle-même de la base mobile (12).  2. Robot according to claim 1, characterized in that the axis of rotation (A22) of the support system coincides with a pivot axis (18) on itself of the movable base (12).
3. Robot selon la revendication 1 ou 2, caractérisé en ce que le système d'appui (30) comprend au moins une main courante (32) qui comprend deux branches (34, 34') parallèles à la direction d'avance de la base mobile (12).  3. Robot according to claim 1 or 2, characterized in that the support system (30) comprises at least one handrail (32) which comprises two branches (34, 34 ') parallel to the direction of advance of the mobile base (12).
4. Robot selon la revendication précédente, caractérisé en ce qu'il comprend pour chaque branche (34, 34') une jambe (40, 40') verticale, positionnée sous la branche (34, 34') et dont une extrémité inférieure repose sur le sol et dont une extrémité supérieure est reliée de manière rigide à la branche (34, 34').  4. Robot according to the preceding claim, characterized in that it comprises for each branch (34, 34 ') a leg (40, 40') vertical, positioned under the branch (34, 34 ') and a lower end rests on the floor and an upper end is rigidly connected to the leg (34, 34 ').
5. Robot selon la revendication précédente, caractérisé en ce que l'extrémité inférieure de chaque jambe (40, 40') comprend une roue folle (42, 42').  5. Robot according to the preceding claim, characterized in that the lower end of each leg (40, 40 ') comprises a idler wheel (42, 42').
6. Robot selon l'une des revendications précédentes, caractérisé en ce qu'il comprend au moins un deuxième capteur (106) configurer pour détecter une vitesse de déplacement d'une personne en appui sur le système d'appui (30) et pour renseigner le système de contrôle (14) afin que ce dernier modifie éventuellement les caractéristiques du mouvement de la base mobile (12). 6. Robot according to one of the preceding claims, characterized in that it comprises at least a second sensor (106) configured to detect a speed of movement of a person resting on the support system (30) and for informing the control system (14) so that the latter possibly modifies the characteristics of the movement of the mobile base (12).
7. Robot selon l'une des revendications précédentes, caractérisé en ce que le premier capteur (60) est configuré pour détecter le sens de rotation du système d'appui (30) par rapport à la base (12). 7. Robot according to one of the preceding claims, characterized in that the first sensor (60) is configured to detect the direction of rotation of the support system (30) relative to the base (12).
8. Robot selon la revendication précédente, caractérisé en ce que le premier capteur (60) est configuré pour déterminer un angle de rotation du mouvement de rotation du système d'appui (30) par rapport à la base mobile (12).  8. Robot according to the preceding claim, characterized in that the first sensor (60) is configured to determine an angle of rotation of the rotational movement of the support system (30) relative to the movable base (12).
9. Robot selon l'une des revendications précédentes, caractérisé en ce que le système d'appui (30) comprend deux montants verticaux.  9. Robot according to one of the preceding claims, characterized in that the support system (30) comprises two vertical uprights.
10. Robot selon l'une des revendications précédentes, caractérisé en ce qu'il comprend un dispositif d'affichage (52) pour afficher des informations relatives aux mouvements du robot.  10. Robot according to one of the preceding claims, characterized in that it comprises a display device (52) for displaying information relating to the movements of the robot.
EP17787472.4A 2016-09-29 2017-09-27 Mobile assistance robot comprising at least one pivoting bearing system Active EP3518858B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659321A FR3056434B1 (en) 2016-09-29 2016-09-29 MOBILE ASSISTANCE ROBOT INCLUDING AT LEAST ONE PIVOTING SUPPORT SYSTEM
PCT/FR2017/052601 WO2018060597A1 (en) 2016-09-29 2017-09-27 Mobile assistance robot comprising at least one pivoting bearing system

Publications (2)

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EP3518858A1 true EP3518858A1 (en) 2019-08-07
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EP (1) EP3518858B1 (en)
JP (1) JP2019536498A (en)
CN (1) CN109862861B (en)
ES (1) ES2863666T3 (en)
FR (1) FR3056434B1 (en)
WO (1) WO2018060597A1 (en)

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CN109381325B (en) * 2018-10-10 2021-02-05 上海傅利叶智能科技有限公司 Five-degree-of-freedom series-parallel lower limb rehabilitation robot with strong continuity

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CN109862861A (en) 2019-06-07
CN109862861B (en) 2021-09-21
ES2863666T3 (en) 2021-10-11
EP3518858B1 (en) 2020-12-23
FR3056434A1 (en) 2018-03-30
US10603244B2 (en) 2020-03-31
US20190269572A1 (en) 2019-09-05
WO2018060597A1 (en) 2018-04-05
FR3056434B1 (en) 2020-02-07
JP2019536498A (en) 2019-12-19

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