• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    It is an exoskeleton (2) of lower limbs and a method of moving an object by a user (1) provided with such an exoskeleton, said exoskeleton comprising two articulated legs (5, 6) arranged to be coupled to the lower limbs (3, 4) of a user (1), a connecting member (7) between the upper ends (8, 9) of the legs (5, 6) to which it is articulated, adapted to be positioned at the pelvis (14) of the user (1) and means (21) of actioning articulated legs (5, 6) according to the movements of the user (1). The connecting member (7) is entirely located at the front of the legs (5, 6) hinged in the direction of travel.
    公开号:FR3016821A1
    申请号:FR1450696
    申请日:2014-01-29
    公开日:2015-07-31
    发明作者:Serge Grygorowicz；Aurelie Riglet
    申请人:ROBOTIQUES 3 DIMENSIONS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a 5-limb exoskeleton comprising two articulated legs arranged to be coupled to the lower limbs of a user, a connecting member between the upper extremities of the legs. to which it is articulated, adapted to be positioned at the user's pelvis and means for actuating the articulated legs according to the movements of the user. It also relates to a method of using an exoskeleton of the type described above. It finds a particularly important, though not exclusive, application in the field of handling over short distances (a few tens of meters), from a first location to a second location, from heavy loads, that is to say over 20 20 kg, for example greater than 40 kg. It can be used advantageously in the construction and public works (construction and public works), automobile construction, aeronautics or any other type of industry sector requiring such punctual movements. At present, when it is a question of moving a load of more than 50 kg, a fortiori when it weighs 75 or 100 kg, over short distances, it is used teams of several persons or lifting equipment (forklift, crane , etc ...). These means have disadvantages. Manipulation of such manipulations poses health problems for operators at risk of musculoskeletal disorders. With lifting gear, in addition to these generally require the presence of two operators, one to lift the load and the other to guide it, there are congestion problems, preventing their implementation in tight places . Also known (WO 2006/078871) are individual devices for assisting the transport of exoskeleton type charges. If such devices make it possible to overcome in part the disadvantages of the means described above, they are not really satisfactory. Indeed, they do not allow flexible operations allowing the easy taking and the abandonment of a heavy load. Originally intended for military applications (foot soldiers having to travel long distances for example), they are designed for a back-worn port by allowing the load to be resumed parallel to the user's back, and substantially perpendicular to his or her spine. while releasing the front of the user's body (for handling a firearm, for example). They require more and usually the intervention of a third for the harnessing of loads in the back of the user and / or the handling of the exoskeleton. It is also known (WO 2006/078871) a device with extension of the frame laterally and forward parallel to the hips of the user. This is a device of the previous type with the same disadvantages. Finally, (WO 2010/101595) discloses a rear side-bar exoskeleton comprising straps fixed on said bar and returning forward over the shoulders of the user, to support a suspended tablet. Although more stable, this device still has disadvantages.
    [0002] It requires indeed counter-weight or force distribution elements at the rear of the user. It is then trapped in the front and back by the exoskeleton, which is on the one hand detrimental to the speed of donning (clothing) and on the other hand creates a sense of imprisonment for the user, harmful under stress or fighting. The invention, among others, is based on an idea contrary to the prior art and the practice of exoskeletons, in particular (but not exclusively) by accepting a cantilever on the front taken up solely or essentially at the level of the hips or the size of the user and / or lower part of the exoskeleton. For this purpose, the present invention aims to provide an exoskeleton and a method of using such an exoskeleton that better responds than those previously known to the requirements of the practice, in particular in that it will allow a manipulation of charges by the user in the front and in his field of vision, leaving the arms of the latter free of their movements, without feeling of suffocation for the user while allowing great ease and speed to coat and remove it, which additionally increases security for the user. It allows, in particular, a load / unload of an object by the user of the type "pick and drop" ("take and leave" in Anglo-Saxon language) thanks to the front port that it allows. It will also be possible to thread the exoskeleton, already loaded, from the back of the exoskeleton quickly and easily. Although reducing the field of vision to the user's front, the invention allows a better understanding of space by the user more accustomed to handling loads in front of than behind. The perception and efforts of the user are thus very little different from those he experiences when walking without equipment. The invention also allows greater safety, since the load is not likely to fall and / or collapse on the user when moving with the exoskeleton. For this purpose, the invention notably proposes an exoskeleton of lower limbs comprising two articulated legs arranged to be coupled to the lower limbs of a user, a connecting member between the upper extremities of the legs to which it is articulated, capable of being positioned. at the pelvis of the user and the means 30 for actuating the articulated legs according to the movements of the user, characterized in that the connecting member is entirely located at the front of the legs articulated in the direction of walking.
    [0003] Forwards, it is therefore understood the area in front of the user's knees. In advantageous embodiments, one or more of the following provisions are further and / or in addition: - the connecting member comprises a transverse connecting branch between the upper ends of the legs and load recovery efforts, said member being arranged to press or cooperate with the user's belly in the operating position. The transverse connecting branch is thus arranged to be horizontal or substantially horizontal in operation; The transverse branch is U-shaped or substantially U-shaped, the ends of the lateral portions of the U are articulated respectively to the upper ends of the legs; The connecting member is perforated in its central part. This allows the user to see the ground between his legs and more particularly to better see his feet and where he puts them when walking; - The connecting member further comprises a flexible blade 25 arranged to cooperate directly or indirectly with the belly of the user for example by means of a lap belt passed by the user which is secured to the flexible blade; The flexible blade for resting on the belly is, at rest, at a distance d from the branch, for example greater than 30 mm. By idle means when the exoskeleton is not used or in operation. The respect of this distance then forms at least in part the visual clearance allowing the user to see the ground at his feet; the legs each comprise a thigh and a tibia connected by a so-called knee articulation arranged to allow flexion / extension of the thigh and tibia, the thighs being connected to the upper parts by the connecting member by joints at the hip, and the actuating means comprise actuators at the thighs for actuating the knee joints and at the connecting member for actuating the joints at the hip; - The exoskeleton further comprises securing means with the upper body of the user, for example via a strap system; the exoskeleton comprises a load port system arranged to carry a load vertically and / or at the front of the connecting member, comprising weight detection sensors arranged to transmit information to the means of actuation and calculating means for generating via said actuating means a torque opposite the weight of the load and / or the device comprises passive elements arranged to generate a torque between the pelvis and the support leg or legs, opposite the Torque generated by the determined weight of the load; the support is adaptable to one or more loads of different weight; - The exoskeleton comprises a system of tools adapted to be manipulated by the user in the upper part, for example removably attached to the connecting member. Due to the fact that it is threadable through the back of the exoskeleton, adapted only towards the lower part of the body of the user, the user will also be able, independently, to use tools easily accessible by the user. its upper limbs, 10 multiplying the strength of the whole; - The tool system comprises at least one articulated exoskeleton arm attached to the connecting member to the right of the upper end of one and / or the other of the two legs; The tool system comprises a video camera; - The connecting member having lateral ends, the exoskeleton further comprises a complementary rigid or semi-rigid back support belt having a central curved support plate 20, and whose ends of the belt are arranged to be fixed with detachably on said lateral ends of the connecting member; - The device comprises energy generating means placed at the rear, with respect to the direction of travel, the upper end of the thigh and / or the connecting member; - the tool is articulated. The invention also provides a method of using a lower extremity exoskeleton to move one or more objects, said exoskeleton comprising two articulated legs arranged to be coupled to the lower limbs of a user, a connecting member between upper ends of the legs to which it is articulated, adapted to be positioned at the pelvis of the user and means for actuating the articulated legs according to the movements of the user, characterized in that the connecting member being entirely located at the front of the legs articulated in the direction of travel, the user - controls the actuating means to lower the connecting member, - loads and / or hooks the object or objects to be moved to the bar of connection, - controls the actuating means to raise the connecting member with the object or objects in a position suitable for walking, - threads the exoskeleton by the arr the legs articulated in the direction of travel, - fixed the exoskeleton to its size, - moves with the exoskeleton loaded with the object or objects, - and controls the actuating means to lower the connecting member and unload the object (s) before storing the exoskeleton. Advantageously, the user leaves the exoskeleton before descending the connecting member provided with the charge or charges. Also advantageously, the transverse branch of the connecting member is arranged to be horizontal or substantially horizontal during the entire movement of the exoskeleton. In an advantageous embodiment, the exoskeleton comprising a tool and / or an articulated arm mounted on the connecting member and generating a cantilever, - the torque generated by said cantilever is determined on the exoskeleton, - the distance d of the leg whose upper end is located to the right of the mounting of said tool and / or arm in front, relative to the other leg, is determined, - it is determined whether the distance d from the leg is sufficient to ensure the balance of the exoskeleton calculated according to said torque, - an authorization instruction is generated if the distance d is sufficient. The authorization is for example that of the movement of the arm. Indeed, we understand that the authorization will be given only if the leg is advanced enough to cash the couple. Otherwise the value will be limited or the offset limited. The invention will be better understood on reading the following description of embodiments given hereinafter by way of non-limiting examples. The description refers to the accompanying drawings in which: Figure 1 is a schematic view of an exoskeleton and its user according to one embodiment of the invention. Figure 2 shows a front perspective view of another embodiment of an exoskeleton according to the invention. Figure 3 is a rear perspective view of the exoskeleton of Figure 2.
    [0004] Figure 4 is a front view of the exoskeleton of Figure 2 with strap and removable back support belt. Figure 5 is a schematic view of a user provided with an exoskeleton according to another embodiment of the invention, provided for the hooking of a load (a bucket for example). FIGS. 6A and 6B show diagrammatic side views illustrating the first two stages of use of an exoskeleton of the type of FIG. 1, with the connecting bar respectively lowered for taking the load and then taken up, before threading for the displacement by the user. FIGS. 7A and 7B schematically show an embodiment of an exoskeleton provided with an articulated arm, with both legs at the same level and the arm folded (FIG. 7A) and with one leg forward and the arm extended to a larger door on the other hand (Figure 7B). FIG. 8 gives a possible parameterization of an exoskeleton according to the invention. FIG. 9 shows an embodiment of a logic diagram for generating laws for controlling the operation of an exoskeleton according to the invention, starting from the parameterization of FIG. 8. FIG. 1 schematically shows a user 1 coated with an exoskeleton 2 adapted to its lower limbs 3, 4. It comprises two articulated legs 5, 6 arranged to be each respectively coupled to the lower limbs of the user by means of the straps (not shown) at the feet and the size and a connecting member 7 between the upper ends 8 and 9 of the legs 5, 6 to which it is hingedly articulated 10, 11 formed in a manner known in itself on the one hand by transverse axes 12 horizontally parallel or substantially parallel to the connecting member, to allow the flexion / extension of the corresponding leg and secondly by sagittal axes 12 '(horizontal and perpendicular to the transverse axes 12) to allow passive abduction / adduction of the hips. The connecting member 7 is adapted to be positioned at the pelvis 14 of the user and is entirely located at the front of the legs articulated in the direction of travel. It comprises a branch 15 substantially U-shaped whose parts or end bars 16 are connected to the hinge pins 12 and whose central bar 17 is located in front of the user's belly. The bar 17 is horizontal and is here provided with a plate 18 which is also horizontal, cantilevered with respect to the lifting polygon of the user's body which substantially coincides with that determined by the articulated legs and feet of the exoskeleton. . The tray 18 is arranged to carry the load either on top with holding means (not shown) (strap for example), or by hooks 19, lateral or centered with respect to the bar 17. The exoskeleton also comprises joints 20 at the knees of the user for example formed similarly to the joints 10, 11 at the hips (horizontal axes) and means 21 for actuating the legs articulated according to the movements of the user, schematized in mixed lines in the figure, which will be detailed below with reference to the embodiment of Figures 2 to 4. In the following description will use the same reference numbers to designate the same or similar elements. We will now describe more precisely with reference to Figures 2, 3 and 4, the embodiment of the exoskeleton 2 more particularly described here.
    [0005] Each leg has a thigh 22 and a tibia 23 identical in pairs. The thigh 22 comprises an internal metal tubing 24 (dashed lines in the figure), for example titanium, on which is fixed a first cover 25 for example of plastic. The first cover 25, elongate of substantially trapezoidal longitudinal section in the form of a human thigh, provides an interior space around the tubing 24, in which space will be housed at least in part the actuating means. The thigh is connected to the tibia by the so-called knee joint, which is arranged to allow flexion / extension of the thigh and tibia. In this embodiment, a portion of the knee is for example included within the interior of the first cache. The knee joint 20 is for example of the type formed by a horizontal axis 26.
    [0006] When the exoskeleton is at rest, the thigh and the tibia form an angle α greater than 140 ° for example 160 °. The actuating means 21 comprise the means 27 for actuating the knees (in phantom in the figure), for example, housed inside the first corresponding cover 25 and are each respectively formed by a DC electric motor 28. powered by a corresponding removable battery 28 '10 located on each side on the rear part of the connecting member 7 and / or the upper part of the thighs 22. The motor is of a power adapted to generate a torque greater than 100 nm It is connected to a piston 29 of actuation (broken line in the figure) known in itself, fixed on one side to the tubing 24 of the thigh and the other to a blade 30 (mixed line) forming the corresponding tibia. More precisely, and in the embodiment described, the tibia 23 has a slightly curved elongate shape (for example a radius of curvature of between 1 m and 2 m). It is formed by an inner blade 30, rigid enough to take up the load but also flexible enough to act as a damping spring, attached at its proximal end to the lower part of the tubing 24 by the hinge formed by the 26 and at its distal end to the foot described below. The tibia comprises a cover 31 of the blade for example in the form of an open sheath of U-shaped cross-section and lateral profile adapted to the respect of aesthetics.
    [0007] The upper part of the cover 31 of the tibia collaborates with the inner face of the first cover during the rotation of the knee. The tubes 24 of the thigh and the blades 30 of the 5 tibias are for example made of titanium or any suitable material and dimensioned to withstand moments greater than 400 Newton meter, for example 1000 N.m. The lower end of the curved blade 30 is in turn hingedly connected at 32 to a slipper 33 adapted to be threaded. The hinge 32 is of the bi-axis type for flexion / extension and abduction / adduction, in a manner known per se. The shoe 33 comprises for example a spatula 34 15 of support of the assembly and a strap 35 for retaining the foot of the user forming stirrup with the spatula. Each leg of the exoskeleton further comprises a hinge 36 at the upper end of each thigh, hingedly attached to the connecting member 7, of the type described with reference to FIG. 1. This articulation allows in particular a rotation of angle 13 substantially between 20 ° and 80 °, between the thigh 22 and the connecting member 7, the latter remaining also horizontal. Each leg further comprises an actuating motor 37 of the type of actuating motors 28 of the knee, for actuating the joints at the hip, respectively placed at the end and fixed on the lateral bars of the U of the connecting member 7. As indicated above, the actuating motors 28 and 37 are powered leg by leg, by electric batteries 28 ', for example respectively fixed at the rear of the upper end of the corresponding thigh relative to the direction of travel. .
    [0008] In the embodiment described here, the batteries are partially inserted into the first cover 24 and protrude from said cover in its upper part, where they are protected from moisture and shock by a battery cover 38 inserted partially into the first cover. hidden. The protrusion of the batteries is adapted so that when the thigh is at a maximum angulation it does not abut on the connecting member. Each battery has a mass between 3.5kg and 10kg. The transverse branch of the connecting member 7 is here again generally U-shaped. It comprises two parallel bars 39 forming the U-shaped parallelepiped-shaped limbs, hollow to contain the motors 37 for actuating the connected hip joints. on one side to the upper thighs by the corresponding hinges, and on the other side to a transverse central bar 40 formed of a rigid horizontal beam. The horizontal beam is arranged to be provided with a horizontal plate (not shown) for example removable, or load bearing hooks (not shown), and is adaptable to one or more loads of different weights. The entire organ forms a user E space.
    [0009] The transverse bar 40, substantially parallelepipedic, is the attachment element of the objects to be transported and is at a distance D forward with respect to the second articulation, of between 50 cm and 1 m, for example 80 cm. The cantilever thus formed is compensated in particular by the actions of the motors 28 and 37, combined with the angulation of the thighs and shins, and with the dimensions of the spatulas 34. The transverse bar 40 takes up the load loads and comes, in operation, directly or indirectly in contact with the belly of the user. It also includes one or more unthreaded through openings, allowing the user to partially see the positioning of the shoes and any imminent obstacles when walking. But in the embodiment described here, a blade 41, rounded, flexible, flexible but nevertheless rigid enough to consolidate the bar and 20 leave a space 42 of visibility for the user down, is interposed between the belly of the user and the transverse branch 40 and each of its ends 43 is fixed to the connecting bar, rigidly. The blade 41 has a concavity vis-à-vis the user to roughly marry the physiognomy of the belly. The distance d between the apex 44 of the curve defined by the blade 41 and the transverse branch 40 is greater than 30 mm, for example greater than 50 mm. The blade 41 makes it possible to drive the walking movement forward and its distance provides a window for viewing the user's feet.
    [0010] FIG. 4 shows the exoskeleton 1 with means 45 for securing with the upper part of the body of the user, for example formed by two parallel straps 46 fixed to the connecting member 7. The straps 46 are secured by a transverse closure 47 clipping, in a manner known per se. The exoskeleton 2 is also and for example, but not necessarily secured to the user by a horizontal back support 48, formed of a strap vis-à-vis the crossbar 40, and allows back support of the user, further comprising a substantially parallelepipedal backrest 49 slightly curved in the two transverse directions of the biker shell type 49 back along the column. Fixing means 50 for example by clipping on corresponding male or female parts 51, are provided, to surround the back of the body of the user. In another embodiment (not shown) the exoskeleton 2 is simply secured to the user by a U-shaped back support and clip-able at the end of its branches on the rear parts of the connecting member. The strap is adjustable to adapt to the face of the user. Fig. 5 shows an exoskeleton 2 having a load port system 52 consisting of two hooks 53 facing upwards. The hooks 53 are for example formed by a V-shaped notch in the lateral bars 54 of the member 7 here again U-shaped or substantially U-shaped. The hooks thus constitute a support base of the handles 55 d a seal 56.
    [0011] In all the different embodiments, the exoskeleton 2 comprises weight detection sensors 57, which are known to those skilled in the art. The detection sensors are, for example, piezometric sensors housed in the hooks with their sensitive detection component at the tip of the V. They are connected to means 58 of calculations housed in the body 7 and send information relating to the weight of the charge. The calculation means 58 then generates a command based on the information received from the sensors and transmits it simultaneously almost simultaneously to the actuating means to compensate for the load. To do this, the actuating means generate from this information a torque opposite to the weight of the load. In another embodiment, the actuating means 25 comprise passive elements, arranged to generate a torque between the pelvis and the support leg or legs, opposite to the torque generated by said determined weight of the load. A method of using an exoskeleton 2 according to one embodiment of the invention will now be described with reference to FIGS. 6A and 6B.
    [0012] The exoskeleton 2 comprises a plate 59 of horizontal support, in the extension of the horizontal bar 40. The connecting member 7 comprises means 60 for controlling actuating means. These control means consist of buttons (not shown) known in themselves to those skilled in the art and connected to the means 58 of calculations. The buttons are for example positioned in the rear part of the connecting member 7 or on its outer lateral faces. The user 61 being behind the exoskeleton 1, he grasps it and actuates the control means. These then control the actuating means 15 to lower the connecting member 7. The actuating means then instruct the knee and abdominal motors to rotate in order to reduce the angles between, on the one hand, the connecting member and the thigh, and on the other hand part, the thigh and the connecting part. In this way the slippers and the link member remaining horizontal, the distance between them is reduced. Then the user 61 loads and / or hooks the object 56 or the objects to be moved to the connecting member 7 and / or secures them by means of straps (not shown). Once the charging operation is completed, the user 61 controls the actuating means so that the motors of the knee and the abdomen rotate in the opposite direction to the previous one, ie to go back up. connecting member with the object or objects in a position adapted for walking. The user 61 can then and without difficulty, place his feet 62 in the stirrups 63 of the slippers, by simply threading and close the belt strap or the back support to thread the exoskeleton 2 by the rear legs 56 hinged. Once the exoskeleton 2 is coated, the user 61 10 exerts a displacement by a normal step. The exoskeleton 2 further comprises means 64 for detecting movement of the user, and in particular angle detection means. These detection means comprise in a manner known in itself, and for example one or more gyroscopes for determining the value of the angle at a given moment, coupled to one or three directional accelerometers to determine the speed and angular acceleration. In the embodiment more particularly described here, the detection means also comprise a magnetometer thus making it possible to deduce from the measurements of the Earth's magnetic field the direction of the gravitational field. The corner detectors are adapted to continuously acquire the angles between the thighs and shins of the legs of the user as well as between the thigh and the hip, this detection being performed at a determined frequency. The detection means 64 also comprise a pressure sensor, known per se, for acquiring the belly pressure exerted on the transverse bar and / or the flexible blade.
    [0013] Thus: a concomitant reduction on each leg of the angles between the thigh and the shin of the user is analyzed by the calculating means 58 as being a descent command of the transverse bar and a reduction of one of the abdomen angles. leg or thigh / shin on one of the legs and the detection of a belly pressure greater than a determined threshold is analyzed by the calculating means as being a running command. This information transmitted to the calculation means 58 allows the regulation of the motors. During its course, the user can stoop, and then being accompanied by the exoskeleton, he can unload / reload and can get up again being accompanied by the exoskeleton. The user can also unload / reload with his arms while standing. Arrived at destination, the user 61 again controls the actuating means to lower the connecting member 7 and unload the object (s) 56. The operations of descent or raising of the exoskeleton 2 can be done without the 61 user is coated, the user can leave the exoskeleton 2 before descending the connecting member 7 with the object or objects. FIGS. 7A and 7B show an exoskeleton provided with an articulated arm 65. The arm 65 is mounted on the connecting member 7, at right 66 of the upper end 9 of one of the two legs 5 6.
    [0014] More specifically, the arm 65 is connected to the exoskeleton 2 by a motorized ball joint 67, above the end 9 of the leg 6, close to the hinge 11.
    [0015] The arm 65 is itself hinged, passively or not and is for example formed in a manner known per se to those skilled in the art. More particularly in the embodiment comprising a passive articulated arm, i.e. without own motorization, the horizontality of the connecting member 7 during operation allows a stable reference and a reduction of the cantilever. The horizontal maintenance of the connecting member 7 allows a fixed reference position for tools or articulated arms 65 attached thereto. This thus makes it possible to remain in a given position at equilibrium (for example empty) due to the stiffness of springs, the presence of counter torque, inertia and / or bonding friction. The fixity and horizontality of the member 7 relative to the direction of the gravitational field therefore allow a good balance, with compensation of the mass of the tool, and over all of its operating conditions . As described above, the exoskeleton 2 comprises the means 58 for calculating and controlling, fixed on the transverse bar 40 of the connecting member 7. The means 58 hereinafter also called calculator, determine a control law from in particular the position of the different parts of the exoskeleton 2, the actions of the user 1, the cantilever and possible disturbances.
    [0016] This control law, when the torque generated by the cantilever accentuated by the arm 65, is greater than a certain threshold and involves a risk of tilting of the exoskeleton 2, then determines the distance e between the leg 6 whose upper end 9 is located to the right of mounting the arm 65 and the other leg 5, the advance of a shoe 33 relative to the other. The computing means 58 integrate the distance e, the model of the exoskeleton 2 and the direction of the gravitational field and determine whether the distance e is sufficient to ensure the equilibrium of the exoskeleton 2 calculated as a function of the torque generated by the gate -to overhang.
    [0017] That is to say, the distance e must be sufficient for the effort and / or the displacement of the arm 65 do not generate a torque greater than that of the balance that the exoskeleton can support for the distance considered.
    [0018] If the distance e is sufficient, the calculating means 58 generates an authorization instruction and the load can be installed and / or the arm can perform the movement. More precisely, the control means 60 for the arm 65 are not then limited for the position of the arm 65 considered. If the distance e is insufficient, then the control means 60 is blocked, i.e. does not transmit the movement instruction to the arm 65 and / or the legs 5,6. In one embodiment, a siren (not shown) is for example a horn function for such a situation and is controlled by the absence of an authorization instruction. This advance of one shoe 33 relative to the other is equal to a distance e calculated by the computer and proportional to the torque generated by the cantilever. Reference will now be made to FIG. 8, a method for generating the control law of the various motors 28, 37 of the exoskeleton 2. The computer 58 comprises a non-volatile memory (not shown). This memory comprises structural parameter values of the exoskeleton 2. The parameters taken into account are the dimensional parameters (length, mass, position of the centers of gravity, relative angles, etc.) of the various elements of the exoskeleton, and in particular thigh dimensions (m6, 16, m9, 19) of the shins (m8, 18; m11, lu), branches of the connecting member 20 (ml, 11; m2, 12; m3, 13), joints ( m4, m5, m7, m10), and spatulas (m14, 114; m15, 115). The calculator also comprises a virtual reference system with its associated coordinate system whose origin A is for example in the middle of the segment 25 connecting the joints 11, 12 or 36 to the upper end of each tube 24 thigh. The calculator also acquires as the parameter the angles between hip and thigh al, 131, thigh and tibia a2, 132, tibia and liner a3, 133, as well as the direction in the virtual repository of the gravitational field.
    [0019] He then reconstructs a virtual geometric model of the position of the exoskeleton 2 in continuous or almost continuous. Then from this model combined with the information on the masses ml to mn of the different elements of the exoskeleton 2, the computer reconstructs the location of the centers of gravity of the connecting member CDG1, the thighs CDG2, CDG3, CDG4, CDG5 shins.
    [0020] The computer thus obtains a continuous or almost continuous dynamic model of the geometry and the forces, moments and forces applied to the exoskeleton 2 (Yi acceleration in particular) for example by barycentric calculation for a total mass M referred to the general center of gravity GMPCC. The computer determines from these data and those of the weight of the loads and / or the tools or arms 65 and the geometry of their cantilever, on the one hand the controls of the motors of recovery of efforts and displacement legs and secondly and in particular the threshold torque and thus the distance d of advance of one leg relative to the other. More precisely, in operation and with reference to FIG. 9, the exoskeleton 2 makes a first acquisition (step 70) of the directional parameters of the gravitational field, ai, 13i xA, yA, ZA; CDGi yi etc. and deduces therefrom (step 2) a geometrical and dynamic model of the exoskeleton 30 with calculation (step 71) of the total mass M referred to the general center of gravity (CDGM). The knowledge of the direction of the gravitational field and the angles ai, 13i makes it possible to calculate the contribution of each element of the exoskeleton 2 to the stability and / or to the overhang. More precisely, the knowledge of the position of the exoskeleton 2 with respect to the direction of the gravitational field makes it possible to refine / correct the control law. The commands generated by the user 1 determining an acceleration yi of the elements of the exoskeleton 2, noisy or not, calculate the torque exerted by the cantilever and compares it with the limit threshold also calculated, and determines whether a action of the control means is required by the user 1 or necessary for the balance of the exoskeleton 2 (step 72).
    [0021] If this is the case the actuating means 21 are then controlled (step 73) to exert the necessary counter-couples in advance of the leg 5,6 of the distance d calculated. Then, the computer performs a new acquisition (step 74) of the parameters, with the deduction of a new geometric and dynamic model of the exoskeleton with updated re-calculation of the total mass M 'referred to the general center of gravity CDGm (step 75 ).
    [0022] The control law then integrates the correction elements for equilibrium and instructs the actuating means 21 accordingly (step 76). Steps 72 to 76 are repeated (line 77) as long as the motion or stability of the exoskeleton 30 is not complete or assured. As is obvious and as also follows from the above, the present invention is not limited to the embodiments more particularly described. On the contrary, it embraces all the variants and in particular those where the energies used are hydraulic and / or pneumatic rather than electric.
    权利要求:
    Claims (17)
    [0001]
    REVENDICATIONS1. Exoskeleton (2) of lower limbs comprising two articulated legs (5, 6) arranged to be coupled to the lower limbs (3, 4) of a user (1), a connecting member (7) between the upper limbs (8) 9) of the legs (5, 6) to which it is articulated, adapted to be positioned at the level of the pelvis (14) of the user (1) and the means (21) for actuating the articulated legs (5, 6 ) according to the movements of the user (1), characterized in that the connecting member (7) is entirely located in front of the legs (5, 6) articulated in the direction of travel. 15
    [0002]
    2. Exoskeleton according to claim 1, characterized in that the connecting member (7) comprises a transverse connecting branch (15, 40) between said ends (8, 9) and of loading forces, said member ( 7) being arranged to cooperate with the user's belly (1) in the operating position.
    [0003]
    3. Exoskeleton according to claim 2, characterized in that the connecting member (7) is perforated in its central portion (42) to allow the user (1) to see his feet in operation.
    [0004]
    4. Exoskeleton according to claim 2, characterized in that the connecting member (7) further comprises a blade (41) flexible support on the belly of the user.
    [0005]
    5. Exoskeleton according to claim 4, characterized in that the flexible blade (41) for supporting the belly is, at rest, at a distance d from the branch greater than 30 mm.
    [0006]
    6. Exoskeleton according to any one of the preceding claims, characterized in that the legs (5,6) each comprise a thigh (22) and a tibia (23) connected by a hinge (20) said knee arranged to allow a flexion / extension of the thigh (22) and tibia (23), the thighs (22) being connected in the upper part to the connecting member (7) by articulations (10, 11) at the of the hip, and in that the actuating means (21) comprise actuating motors (28; 37) at the level of the thighs (22) for actuating the joints (20) of the knees and at the level of the organ (7) for actuating the joints (10, 11) at the hip.
    [0007]
    7. Exoskeleton according to any one of the preceding claims, characterized in that it further comprises means (45) for securing with the upper part of the body of the user.
    [0008]
    8. Exoskeleton according to any one of the preceding claims, characterized in that it comprises a load port system arranged to carry a load at the front of the connecting member (7), comprising sensors (57) weight sensing means arranged for transmitting information to the actuating means (21) and calculating means (58) for generating via said actuating means (21) a torque opposite to the weight of the load 30 and / or it comprises passive elements arranged to generate a torque between the pelvis and the leg or legs (5, 6) of support, opposite to the torque generated by said determined weight of the load.
    [0009]
    9. Exoskeleton according to any one of the preceding claims, characterized in that it comprises a horizontal support plate (59) arranged to be adapted to one or more loads of different weights.
    [0010]
    10. Exoskeleton according to any one of the preceding claims, characterized in that it comprises a system of tools adapted to be handled by the user (1) in the upper part, removably attached to the member (7). ) link.
    [0011]
    11. Exoskeleton according to claim 10, characterized in that the tool system comprises at least one articulated arm (65) fixed on the connecting member (7) to the right of the upper end (8, 9) of 15 one and / or the other of the two legs (5,6).
    [0012]
    An exoskeleton according to any one of the preceding claims, characterized in that the connecting member (7) having lateral ends, the exoskeleton (2) further comprises a rigid or semi back support belt (48). complementary stiffener having a plate (49) curved central support, and whose ends of the belt (50) are arranged to be removably attached to said ends (51) side 25 of the member (7) connecting.
    [0013]
    13. Exoskeleton according to any one of the preceding claims, characterized in that it comprises energy generating means placed at the rear, with respect to the direction of travel, of the upper end (8, 9). the thigh (22) and / or the connecting member (7).
    [0014]
    14. Method of moving an object by a user (1) provided with an exoskeleton (2) of lower limbs comprising two articulated legs (5,6) arranged to be coupled to the lower limbs (3, 4) of a user (1), a member (7) connecting the upper ends (8, 9) of the legs (5, 6) to which it is articulated, able to be positioned at the level of the user's pelvis (1) and the means (21) for actuating the legs (5, 6) articulated as a function of the movements of the user (1), characterized in that the linkage member (7) is entirely located in front of the legs ( 5,6) articulated in the direction of travel, the user (1) - controls the actuating means (21) for lowering the connecting member (7), - loads and / or catches the object or the objects to be moved to the connecting rod, - controls the actuating means (21) for raising the connecting member (7) with the object or objects in a position adapted to the step, - threads the exoskeleton (2) through the rear of the articulated legs (5, 6), - and controls the actuating means to lower the connecting member (7) and unload the object or objects.
    [0015]
    15. The method of claim 14, characterized in that the user leaves the exoskeleton (2) before descending the connecting member (7) provided with the object or objects.
    [0016]
    16. Method according to one of claims 14 and 15, characterized in that the transverse branch (40) of the connecting member (7) is arranged to be horizontal or substantially horizontal during the entire movement of the exoskeleton ( 2).
    [0017]
    17. Method according to one of claims 15 and 16, characterized in that the exoskeleton (2) comprising a tool and / or articulated arm (65) mounted on the connecting member (7) generating a door-to-door false, - the torque generated by said cantilever on the exoskeleton (2) is determined, - if said pair is greater than a determined threshold value, - the distance e of the leg (6) is obtained, of which 10 l the upper end is located at the right of mounting said tool and / or arm, forward, relative to the other leg, - it is determined if the distance e of the leg is sufficient to ensure the balance of the calculated exoskeleton 15 according to said pair, - an authorization instruction is generated if the distance e is sufficient.
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    同族专利:
    公开号 | 公开日
    EP3099451A1|2016-12-07|
    WO2015114263A1|2015-08-06|
    FR3016821B1|2019-08-02|
    US20170001303A1|2017-01-05|
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    法律状态:
    2016-01-11| PLFP| Fee payment|Year of fee payment: 3 |
    2017-01-02| PLFP| Fee payment|Year of fee payment: 4 |
    2018-01-02| PLFP| Fee payment|Year of fee payment: 5 |
    2019-01-30| PLFP| Fee payment|Year of fee payment: 6 |
    2019-12-30| PLFP| Fee payment|Year of fee payment: 7 |
    2021-10-08| ST| Notification of lapse|Effective date: 20210905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1450696A|FR3016821B1|2014-01-29|2014-01-29|EXOSQUELETTE WITH FRONT PORT AND METHOD OF USING SUCH AN EXOSQUELET.|
    FR1450696|2014-01-29|FR1450696A| FR3016821B1|2014-01-29|2014-01-29|EXOSQUELETTE WITH FRONT PORT AND METHOD OF USING SUCH AN EXOSQUELET.|
    EP15705665.6A| EP3099451A1|2014-01-29|2015-01-29|Exoskelton to be worn on the front and method for using such an exoskeleton|
    US15/113,704| US10391626B2|2014-01-29|2015-01-29|Exoskelton to be worn on the front and method for using such an exoskeleton|
    PCT/FR2015/050209| WO2015114263A1|2014-01-29|2015-01-29|Exoskelton to be worn on the front and method for using such an exoskeleton|
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