EP3518858B1 - Robot mobile d'assistance comprenant au moins un système d'appui pivotant - Google Patents

Robot mobile d'assistance comprenant au moins un système d'appui pivotant Download PDF

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Publication number
EP3518858B1
EP3518858B1 EP17787472.4A EP17787472A EP3518858B1 EP 3518858 B1 EP3518858 B1 EP 3518858B1 EP 17787472 A EP17787472 A EP 17787472A EP 3518858 B1 EP3518858 B1 EP 3518858B1
Authority
EP
European Patent Office
Prior art keywords
robot
mobile base
bearing system
rotation
base
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.)
Active
Application number
EP17787472.4A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3518858A1 (fr
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/fr
Application granted granted Critical
Publication of EP3518858B1 publication Critical patent/EP3518858B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61H3/04—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 versatile robot more particularly suitable for assisting a person.
  • This robot comprises a mobile base which comprises wheels in the lower part and a control system comprising motorizations, sensors and commands making it possible to control the movements of the mobile base.
  • the versatile robot described in this document WO-2008/149018 is thus fully efficient for moving around in a domestic environment for example.
  • the robot is more particularly suitable for the assistance of a person and it can be equipped with accessories.
  • the multipurpose robot can tow a walking device which comprises a rolling base coupled to the multipurpose robot.
  • the robot follows a trajectory that it has determined and the person resting on the walking device follows the trajectory 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 remedy the drawbacks of the prior art.
  • the person can choose a trajectory independent of that of the mobile base and impose a trajectory on the mobile base.
  • a mobile robot In the various figures, there is shown at 10 a mobile robot. This robot is more particularly suitable for the assistance of a person.
  • This robot 10 includes 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 a 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, etc.) 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 (rotational 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 path by imposing on the driving wheels 16 different speeds of rotation.
  • the movable base 12 is configured to be able 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 lateral drive wheels 16, with axes perpendicular to a direction of advance and two idle wheels 16 'configured to pivot along a vertical axis, positioned at the front and at the rear according to the direction of advance relative to the side wheels 16.
  • the mobile base 12 comprises three wheels, namely two lateral drive wheels 16, with axes perpendicular to a direction of advance and a idler wheel 16 'configured to pivot along a vertical axis, positioned at the front in the direction of advance relative to the side wheels 16. This configuration allows more space for the feet of the person.
  • the mobile base 12 also comprises at least one environmental sensor 102 configured to detect obstacles and inform the control system 14 so that the latter possibly modifies the characteristics of the movement of the mobile base 12.
  • this sensor environment 102 is positioned in a first horizontal slot 104 formed on the base 100 and which extends over at least part of the periphery of the base 100.
  • the robot is equipped with a walking device 20.
  • the robot 10 or the walking device 20 comprises a body 22 movable in rotation with respect to the movable base 12 along an axis of rotation A22 parallel to the pivot axis 18 of the movable base 12 and preferably coincident with said axis of rotation. pivoting 18.
  • the robot comprises a vertical column 24, a lower end of which is connected to the rolling base 12 and of which an upper end 26 supports the body 22.
  • the walking device 20 is integral with the robot 10 and cannot be dismantled, as illustrated in figure 4 .
  • the ambulation device 20 is coupled to the robot 10 by a coupling system 28 making it possible to connect or dissociate the ambulation device 20 from the robot 10, as illustrated in the figures. figures 2 and 3 .
  • the body 22 is integral with the robot 10 and the coupling system 28 is provided between the body 22 and the ambulation device 20.
  • the body is integral with the ambulation device 20 and the coupling system 28 is provided between the body 22 and the column 24.
  • the ambulation 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.
  • the U-shaped handrail 32 comprises two branches 34, 34 'parallel to the direction of advance, with ends 34E bent downwards.
  • gripping support system 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 oriented towards the ground.
  • the walking device may only comprise 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 can be greater than that of the trajectory C2 of the mobile base 12 as illustrated in the figure.
  • figure 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 the figure figure 7 .
  • the pivoting of the support system 30 is independent of that of the movable base 12, the latter can pivot on itself without the person having to move.
  • the body 22 and the handrail 32 have forms which cooperate.
  • 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 this circle, the diameter of which 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 space between the handrail 32 and the body 22 to allow the gripping of the handrail 32 by a person.
  • the walking 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 connector 38 and the body 22.
  • the walking device 20 comprises, for each branch 34, 34 'of the handrail 32, a vertical leg 40, 40', positioned under the branch 34, 34 ', a lower end of which rests on the ground and an upper end of which is rigidly connected to the branch.
  • the lower end of each leg 40, 40 ' includes an idler wheel 42, 42'.
  • the legs 40, 40 ensure the resumption of the downward forces generated when a person leans on the ambulation device 20, in particular 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 spacing between the idle wheels 42, 42 'of the legs 40, 40' is substantially equal to the spacing between the lateral driving wheels 16, 16 'of 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 idle wheels 42, 42 'being positioned offset rearwardly relative to the side driving wheels 16 of the movable base 12.
  • the support system 30 comprises two vertical uprights arranged under each branch 34, 34 '.
  • the vertical uprights provide several levels of handling.
  • the ambulation device may comprise at least one cane support 48, at least one basket 50 and / or at least one screen 52.
  • the walking 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 ambulation 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 right branch 34, configured to control a change of direction of the robot to the right and a second control 56, positioned on the left branch 34 ′, configured to command a change of direction of the robot to the left.
  • the ambulation device 20 comprises a third control 58 configured to control a change of speed of the mobile base 12.
  • the walking 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 possibly modifies the characteristics of the movement of the mobile base 12 as a function of 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 in 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 movable base 12, the radius of deflection of the mobile base 12 being inversely proportional to the angle of rotation of the support system 30 relative to the mobile base 22 as a function of the values measured by the second sensor 106.
  • the mobile base 12 comprises at least a second sensor 106 configured to detect a speed of movement of a person pressing on the support system and to inform the control system 14 so that the latter possibly modifies the characteristics of the movement of the mobile base 12.
  • This second sensor 106 is configured to detect the movement of the legs of the person and it is positioned in a second substantially horizontal slot 108 formed in the base 100 and positioned approximately at the height of the knees of a person.
  • This second slot 108 can extend over the entire periphery of the base 100. The same applies to 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 such as 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 (change of direction to the right / change of direction to the left) or the 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.
  • the person resting on the walking device can control the changes in direction of the robot by causing the support system 30 to pivot around the axis of rotation A22.
  • the robot includes sensors configured to detect the speed, direction and direction of travel of the person and a command to control the speed, direction and direction of travel 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 relative 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 leaning on the walking device 20.
  • the robot equipped with the ambulation device can make it possible to make the person leaning on the ambulation device do physical exercises.
  • a succession of movements can be programmed and carried out automatically by the mobile base 12.

Landscapes

  • 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)
EP17787472.4A 2016-09-29 2017-09-27 Robot mobile d'assistance comprenant au moins un système d'appui pivotant Active EP3518858B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1659321A FR3056434B1 (fr) 2016-09-29 2016-09-29 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant
PCT/FR2017/052601 WO2018060597A1 (fr) 2016-09-29 2017-09-27 Robot mobile d'assistance comprenant au moins un systeme d'appui pivotant

Publications (2)

Publication Number Publication Date
EP3518858A1 EP3518858A1 (fr) 2019-08-07
EP3518858B1 true EP3518858B1 (fr) 2020-12-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP17787472.4A Active EP3518858B1 (fr) 2016-09-29 2017-09-27 Robot mobile d'assistance comprenant au moins un système d'appui pivotant

Country Status (7)

Country Link
US (1) US10603244B2 (ja)
EP (1) EP3518858B1 (ja)
JP (1) JP2019536498A (ja)
CN (1) CN109862861B (ja)
ES (1) ES2863666T3 (ja)
FR (1) FR3056434B1 (ja)
WO (1) WO2018060597A1 (ja)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109381325B (zh) * 2018-10-10 2021-02-05 上海傅利叶智能科技有限公司 一种延续性强的五自由度混联下肢康复机器人

Family Cites Families (19)

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JPH10216183A (ja) * 1997-02-04 1998-08-18 Sony Corp 歩行補助装置と歩行補助方法
FR2796548B1 (fr) * 1999-07-19 2001-10-05 Burin Gilles Payet Ambulateur a moteur d'assistance a la marche
JP2007139710A (ja) * 2005-11-22 2007-06-07 Advanced Telecommunication Research Institute International 歩行補助ロボット
JP2007301071A (ja) * 2006-05-10 2007-11-22 Toyota Motor Corp 歩行介助装置
WO2008062408A2 (en) * 2006-11-22 2008-05-29 Noga Nishry Personal mobility device
FR2916152B1 (fr) 2007-05-14 2010-03-05 Robosoft Robot polyvalent
KR100963276B1 (ko) * 2008-07-21 2010-06-11 이선경 전동식 보행기
DE102008049035A1 (de) * 2008-09-25 2010-04-01 Schaeffler Kg Stützhilfe zur Unterstützung einer Person
JP2011224294A (ja) * 2010-04-19 2011-11-10 Shiro Numata 歩行補助装置
CN102551994B (zh) * 2011-12-20 2013-09-04 华中科技大学 一种康复助行机器人及其控制***
DE202012007865U1 (de) * 2012-08-16 2012-08-27 Gerd Wilsdorf Gehwagen
JP2014230681A (ja) * 2013-05-30 2014-12-11 船井電機株式会社 パワーアシスト装置及び歩行補助車
JP6301927B2 (ja) * 2013-07-26 2018-03-28 富士機械製造株式会社 介助ロボット
JP6187049B2 (ja) * 2013-08-30 2017-08-30 船井電機株式会社 歩行アシスト移動体
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CN208710425U (zh) * 2017-10-06 2019-04-09 原星股份有限公司 助行车的座面结构

Also Published As

Publication number Publication date
ES2863666T3 (es) 2021-10-11
FR3056434B1 (fr) 2020-02-07
CN109862861A (zh) 2019-06-07
EP3518858A1 (fr) 2019-08-07
JP2019536498A (ja) 2019-12-19
CN109862861B (zh) 2021-09-21
US20190269572A1 (en) 2019-09-05
WO2018060597A1 (fr) 2018-04-05
FR3056434A1 (fr) 2018-03-30
US10603244B2 (en) 2020-03-31

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