FR3110476B1 - IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS - Google Patents

IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS Download PDF

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Publication number
FR3110476B1
FR3110476B1 FR2005402A FR2005402A FR3110476B1 FR 3110476 B1 FR3110476 B1 FR 3110476B1 FR 2005402 A FR2005402 A FR 2005402A FR 2005402 A FR2005402 A FR 2005402A FR 3110476 B1 FR3110476 B1 FR 3110476B1
Authority
FR
France
Prior art keywords
back structure
equipment
lateral
thighs
exoskeleton
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
FR2005402A
Other languages
French (fr)
Other versions
FR3110476A1 (en
Inventor
Antoine Perrin
Stéphane Charmoille
Serge Grygorowicz
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.)
ROBOTIQUES 3 DIMENSIONS
Original Assignee
ROBOTIQUES 3 DIMENSIONS
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 ROBOTIQUES 3 DIMENSIONS filed Critical ROBOTIQUES 3 DIMENSIONS
Priority to FR2005402A priority Critical patent/FR3110476B1/en
Priority to PCT/EP2021/063395 priority patent/WO2021234061A1/en
Priority to EP21727138.6A priority patent/EP4153385A1/en
Publication of FR3110476A1 publication Critical patent/FR3110476A1/en
Application granted granted Critical
Publication of FR3110476B1 publication Critical patent/FR3110476B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Il s’agit d’un exosquelette (1) et d’un procédé d’utilisation d’un exosquelette comprenant une structure dorsale (2) axiale, fixable de façon amovible aux épaules (3) d’un opérateur (4), équipée d’un actionneur (6) en traction verticale d’un câble (9) de liaison et de mise en tension différentielle de deux équipements latéraux (10, 11) symétriques par rapport à ladite structure dorsale (2) et munis chacun respectivement de moyens (12) de fixation de façon amovible aux cuisses (13) de l’opérateur. La structure dorsale (2) et les équipements latéraux (10, 11) sont reliés entre eux par une ceinture (17) de liaison agencée pour être maintenue entièrement à distance des lombaires de l’utilisateur et comprend des moyens (19) de renvoi par poulies de l’effort de traction du câble, entre un système de poulies (21) solidaire de la structure dorsale (2) et les équipements latéraux, de transmission de la tension différentielle par le câble aux équipements latéraux pour tirer ou relâcher de façon équilibrée sur les cuisses de l’utilisateur via les moyens (12) de fixation auxdites cuisses. Figure pour l’abrégé : Fig. 1This is an exoskeleton (1) and a method of using an exoskeleton comprising an axial back structure (2), removably attachable to the shoulders (3) of an operator (4), equipped of an actuator (6) in vertical traction of a cable (9) for connecting and differentially tensioning two lateral pieces of equipment (10, 11) symmetrical with respect to said back structure (2) and each provided respectively with means (12) for removably fixing to the thighs (13) of the operator. The back structure (2) and the lateral equipment (10, 11) are connected together by a connecting belt (17) arranged to be kept entirely away from the user's lumbar region and comprises means (19) for return by pulleys of the tensile force of the cable, between a system of pulleys (21) secured to the back structure (2) and the lateral equipment, for transmitting the differential tension by the cable to the lateral equipment to pull or release in a balanced manner on the thighs of the user via the means (12) for fixing to said thighs. Figure for abstract: Fig. 1

FR2005402A 2020-05-21 2020-05-21 IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS Active FR3110476B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR2005402A FR3110476B1 (en) 2020-05-21 2020-05-21 IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS
PCT/EP2021/063395 WO2021234061A1 (en) 2020-05-21 2021-05-19 Improved exoskeleton device for assisting vertical forces
EP21727138.6A EP4153385A1 (en) 2020-05-21 2021-05-19 Improved exoskeleton device for assisting vertical forces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2005402 2020-05-21
FR2005402A FR3110476B1 (en) 2020-05-21 2020-05-21 IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS

Publications (2)

Publication Number Publication Date
FR3110476A1 FR3110476A1 (en) 2021-11-26
FR3110476B1 true FR3110476B1 (en) 2023-09-15

Family

ID=72644336

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2005402A Active FR3110476B1 (en) 2020-05-21 2020-05-21 IMPROVED EXOSKELETON FOR ASSISTANCE WITH VERTICAL EFFORTS

Country Status (3)

Country Link
EP (1) EP4153385A1 (en)
FR (1) FR3110476B1 (en)
WO (1) WO2021234061A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3132044B1 (en) 2022-01-21 2023-12-22 Robotiques 3 Dimensions Exoskeleton to assist in maintaining a leaning forward posture and straightening up

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3004230B1 (en) 2013-04-05 2015-05-15 Commissariat Energie Atomique CABLE VERIN FOR INCREASED JOINT DEBATMENT
US9662262B2 (en) * 2013-05-06 2017-05-30 Springactive, Inc. Joint torque augmentation system and method for gait assistance
CN109202863B (en) * 2017-07-04 2023-06-23 现代自动车株式会社 Wearable muscle strength assisting device and control method and system thereof
FR3075914B1 (en) * 2017-12-22 2019-12-20 Commissariat A L`Energie Atomique Et Aux Energies Alternatives REVERSIBLE ACTUATOR WITH TWO AXIS NOT SYNCHRONIZED WITH A SINGLE MOTOR

Also Published As

Publication number Publication date
WO2021234061A1 (en) 2021-11-25
FR3110476A1 (en) 2021-11-26
EP4153385A1 (en) 2023-03-29

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