• 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:
    The present invention relates to a slipper, an exoskeleton and a method of using such a slipper. The liner comprises means (2) for fastening to a shoe or a user's foot and a rigid sole (3) for supporting the load on the ground capable of being articulately connected to the end (36) of a leg (32) of the exoskeleton. The fixing means (2) are fixed and articulated about a pivot axis (5) integral with the rigid sole of the side (6) of its distal end (7), so as to allow the heel of the foot to be detached. the user's footwear relative to the rigid sole (3) when walking.
    公开号:FR3018469A1
    申请号:FR1451981
    申请日:2014-03-11
    公开日:2015-09-18
    发明作者:Serge Grygorowicz；Aurelie Riglet；Antoine Perrin
    申请人:ROBOTIQUES 3 DIMENSIONS；
    IPC主号:
    专利说明:

    [0001] The present invention relates to an exoskeleton liner comprising means for attaching to a shoe or a user's foot and a rigid base for supporting the load on the ground capable of being articulately connected to the end. of a leg of the exoskeleton. It also relates to an exoskeleton provided with such slippers and a corresponding method of use. It finds a particularly important, though not exclusive, application in the field of walking exoskeletons, ie exoskeletons used for load ports or in the context of gesture assistance. But it can also be used in rehabilitation or rehabilitation in order to return to a natural approach or to find a higher walking speed. Currently, walking with an exoskeleton requires almost automatically to keep feet flat permanently, ie it is not possible to take off the heel of the operator as the foot in phase aerial is not totally in support unless fighting the exoskeleton. In this case it is the ankle of the operator who must provide the bending torque / extension of ankle necessary for the recovery of exoskeleton effort 30 which causes discomfort and energy consumption for the operator. Exoskeletons are thus known (EP 2,296,602) in which the sole of the exoskeleton is coupled to the shoe or to the foot of the operator. This sole, linked to the leg of the exoskeleton bearing on the ground does not allow any degree of freedom between the sole of the exoskeleton and the shoe / foot of the operator. At most when it is supple, does it allow movement around the metarsophalangeal foot joint, provided that the exoskeleton is supported against the ground.
    [0002] Also known (WO 2013188868) devices or the weight is not transferred directly to the ground but through the human structure for example at the tibia. Such systems still have disadvantages, particularly related to the high effort and high oxygen consumption generated by the user to operate. The present invention aims at providing an exoskeleton liner, an exoskeleton and a method of using such an exoskeleton with slippers which better than those previously known to meet the requirements of the practice, in particular by making it possible to make the approach with a more natural exoskeleton and by consuming less energy by the user than with known exoskeletons. To do this, the invention is based on an entirely different principle than that known by authorizing the detachment of the operator's foot from the outsole of the exoskeleton. The exoskeleton can then transfer weight to the ground while the man takes off the heel. Admittedly, in doing so the exoskeleton is not anthropomorphic, ie the flexion / extension of the user do not coincide with those of the exoskeleton. Similarly the setting in motion of the leg will be performed at the forefoot which may seem annoying. In fact, with the invention the approach will be more natural. The detachment of the heel facilitates indeed the greatest strides and therefore a walk at a faster pace. It also facilitates stair climbing, or reaching the squatting position. The detachment of the heel further allows the exoskeleton to be supported on his leg as long as possible, which allows better assistance (decrease in oxygen consumption). In addition, in one embodiment of the invention and through its instrumentation, for example with a linear potentiometer detecting the detachment of the heel of the man from the exoskeleton, it will be possible to anticipate the wish. of the operator to take off the foot. A measurement of the detachment of the heel makes it possible to anticipate the aerial phase of the exoskeleton or the contact phase, since the sole of the exoskeleton comes into contact or not with the ground before the moving soleplate. This allows a better acceptance of the slight phase difference between the exoskeleton and the man, because of the high reactivity then possible thanks to the anticipated control of the operation of the exoskeleton. Finally, with the invention, in the aerial phase, the flexion / hip and knee extension torque can be proportional to the detachment sensor (followed in position around the detachment of the heel), which will make it possible to eliminate all the efforts of setting in motion of the leg, thanks to the observation of the intention of the user, for example according to two directions. For this purpose, the present invention essentially proposes an exoskeleton liner comprising means for attaching to a shoe or a user's foot and a rigid sole for supporting the load on the ground that can be articulately connected to the end. a leg of the exoskeleton, characterized in that the fixing means are fixed and articulated around a pivot axis integral with the sole on the side of its distal end, so as to allow the heel of the foot to be detached or the user's footwear relative to the rigid sole when walking. Articulated by pivoting means in particular a connection in rotation. But it may also be more generally a so-called universal connection that will allow pivoting in the transverse or sagittal axis but also a compliance in the longitudinal or frontal axis relative to the rigid sole. In advantageous embodiments, it is moreover and / or moreover recourse to one and / or the other of the following provisions: the axis of pivoting is an axis of rotation perpendicular to the longitudinal direction of the soleplate and located one-third or substantially one-third of its length from its distal end, so as to coincide or substantially coincide with the axis of the metatarsophalangeal joint of the foot of the user using the liner; the fixing means comprise a second sole fixed on one side to the distal end of the rigid soleplate and free with respect to said rigid soleplate on the other side to allow pivoting about the pivot axis, and means for retaining the foot or the shoe on said second sole; - The fastening means comprise on the side of the distal portion of the rigid sole means for limiting the pivot angle of the second sole below a given angle value and / or stiffening means arranged to withstand the pressure exerted by the heel of the user in operation. The stiffening means are for example a stiffness spring system adjustable in known manner in itself; the fixing means comprise a flexible blade for supporting the foot or the user's shoe fixed to the distal portion of the rigid sole on one side and free on the other side, and means for connecting the foot or of the user's shoe on said blade. The flexible blade naturally takes an angle of a few degrees, for example 30 ° in the unsolicited position and / or comprises angular limitation means; the flexible blade has a bending stiffness of between 1 Nm / rad and 45 Nm / rad; - The shoe of the user being equipped with a male or female snap-in end, the fastening means comprise a female or male clipping member of complementary shape (arranged to cooperate with the shoe end), integral with the part the distal end of the rigid soleplate and movable in rotation about said pivot axis; - The liner comprises stop means arranged to limit the rotation about the pivot axis at an adjustable value of less than 30 ° relative to the rigid sole; the liner comprises a first pressure sensor fixed on the side of the distal portion of the rigid week, and a second pressure sensor located on the side of the proximal portion of said sole and measuring and calculating means arranged to detect the delamination. the foot or the shoe of the user of said rigid sole from measurements made on said sensors. Thus, in the aerial phase, it will be possible to follow in position around the detachment of the heel to eliminate or significantly limit the efforts to be provided by the operator to put the leg in motion. The invention also relates to an exoskeleton of lower limbs comprising two articulated legs each comprising a thigh, a tibia and means for connecting the lower end of the tibia to a liner as described above, characterized in that the means of connection with the liner comprises an elongated piece of a determined length, articulated in rotation on one side with said lower end of the tibia and fixed rigidly at an angle to the other side with the rigid sole.
    [0003] This angle is for example between 90 ° and 60 °, for example 80 °. Such an arrangement will structurally cause articulated legs necessarily longer than the total sum of lengths placed end to end and in the extension of each other of the thigh and tibia. Although a priori contrary to the anthropomorphic provisions intuitively perceived as necessary for the proper functioning of an exoskeleton of lower limbs, such an arrangement makes it possible in fact not to hinder the operator during his walking cycle, the legs of the exoskeleton (thigh + tibia) being arranged to be longer than those of the operator. In practice the links on the thighs are therefore removed unlike the exoskeletons of the prior art. Advantageously, the exoskeleton comprises a connecting member between the upper ends of the legs to which it is articulated, suitable for being positioned at the user's pelvis, and means for controlling the actuation of the articulated legs according to the means of measuring and calculating arranged to detect the detachment of the foot or the shoe of the user of said rigid sole from the measurements made on said sensors, so the detachment of the foot of the user is anticipated.
    [0004] Also advantageously it comprises calculating means for limiting the user's effort on the exoskeleton in the position of detachment of the user's foot, when setting in motion of the leg. The invention also relates to a method of using an exoskeleton comprising slippers as described above. It also relates to a method of using an exoskeleton comprising slippers provided with a rigid sole and means for fixing the feet of a user on said sole, characterized in that the fastening means being rotatable around a pivot axis integral with the sole on the side of its distal end, so as to allow the heel of the boot of the user's boot to be detached from the rigid sole when walking, the user being in the In the process of walking, pressure values and / or angle values of the user's heels are acquired in relation to the ground continuously and / or at regular time intervals, and when the pressure and / or the detected angle fall in value below reference values previously introduced into the calculation means 25 and corresponding to a foot resting on the ground, it generates an anticipation control of the movement of the leg. Advantageously, the detection of the descent of the pressure and / or the angle corresponding to the detection of a movement intention, an automatic operating mode of the legs of the so-called robot mode exoskeleton is initiated by implementing a protocol (pattern in Anglo-Saxon language) market previously recorded. The recording is done at the start of use according to the needs and concerns 5 including angles, speeds, couples that we want to implement. It will thus be possible even more effectively to partially erase the force required to overcome the inertias of the legs of the exoskeleton, and this by following the angle of the attachment means and / or the pressure differentials by relative to the rigid sole, depending on the predictive control. The invention will be better understood on reading the following description of embodiments given below by way of non-limiting examples. The description refers to the accompanying drawings in which: Figure 1 is a perspective view of a first embodiment of a shoe according to the invention. Figures 2A and 2B are side views of the liner of Figure 1 respectively in the support position and in detachment position. Figure 3 is a schematic side view showing the principle of another embodiment of the hinge fixing means about a pivot axis according to the invention. Figure 4 is a schematic rear perspective view of an exoskeleton according to one embodiment of the invention. Figure 5 schematically illustrates the relative positions of the exoskeleton with respect to the legs of the user, in the embodiment of the invention more particularly described here. Figure 6 shows a flowchart of the main steps of a method of using an exoskeleton, according to one embodiment of the invention. FIG. 1 shows an exoskeleton liner 1 comprising means 2 for fastening to a user's shoe or foot (not shown) and a rigid sole 3 capable of being hingedly connected by means 4 of connection with the end of a leg of the exoskeleton (not shown). The rigid sole is, for example, a plate, for example a metal plate, for example 3 mm thick and of oval shape at the end of the foot and substantially rectangular at the heel side, in a manner known per se in the field of shoes. The fastening means 2 are (see also FIGS. 2A and 2B) fixed and articulated about a pivot axis 20 integral with the sole 3 of the side 6 of its distal end 7 so as to allow (see FIG. 2B) the detachment of the heel 8 of the shoe and / or the foot of the user, relative to the rigid sole 3 when walking. The pivot axis 5 is perpendicular to the longitudinal direction of the sole 3 and located substantially one-third of its length L from its distal end 7, so as to coincide with the metatarsophalangeal joint 9 of the foot of the foot. the user using the liner 1. More precisely the liner according to the embodiment of the invention described with reference to Figures 1, 2A and 2B comprises a flexible blade 10 for supporting the foot 11 of the user, fixed by a side 12 at its distal portion 13 located on the side of the distal end 7 of the rigid sole 3, and free on the other side 14, to allow the detachment of the heel. The fastening means 2 also comprise retention means 15 known per se, for example a strap trapping the back and the top of the foot or the shoe, with scratch and / or fastening means known in themselves. . The flexible blade 10 is for example made of spring steel and here has a stiffness for example of 10 Nm / rad. Spring return means 16 and / or complementary 16 may also be provided between the heel portion 17 of the flexible blade 10 and the proximal end portion 18 of the sole 3. The means 16 are for example adjustable in a known manner in itself with a limitation of the angle of separation. In the embodiment more particularly described here, the means 4 for connecting with the end of the tibia of the leg of the exoskeleton comprise an elongate piece 19, for example of the same height (relative to the sole) as the rear part. straps for holding the boot on the sole. The piece 19 is for example formed by a small parallelepipedal tubing secured to the sole 3 in the lower part by means of a rectangular end plate 20. More precisely, it is part of and comprises reinforcing means 21 giving this tubular element 19 an angle 13 relative to the sole, for example 80 °. The element 19 is terminated at the top by an axis 22 for connection in rotation, with the end of the tibia (not shown) in a direction parallel to the pivot axis 5.
    [0005] FIG. 3 schematically shows another embodiment of a slipper using a connector of the type used in the field of cross-country skiing and / or cycling shoes, which will allow articulation in rotation from the end 25 the end of the shoe 26. It rests on the rigid sole 27, the connector comprising a male end 28 attaching to the female member 29 by means of a ball joint 30 movable in rotation in the sagittal plane, between a angle of 0 ° and a maximum angle of 30 ° for example. The patella may also include a degree of freedom in the frontal and / or transverse planes. Known means in themselves make it possible to adjust the blocking and / or frictional force of the ball 30. The rigid sole 27 is also connected in a known manner as described for example with reference to FIG. 4 connecting with the end of the tibia (not shown). FIG. 4 shows an exoskeleton 31 comprising slippers 1 according to the embodiment of the invention of the type described with reference to FIG. 1. The exoskeleton 31 comprises two articulated legs 32, each formed in a manner known in FIG. itself by two thighs 33 and two shins 34 connected by ball joints 35 actuated motorized manner in a known manner. The lower ends 36 of the shins 34 are connected at 37 rotatably with an end 38 of a rod 39, for example here bent but which may be straight as shown in Figure 1. The rod 39 is fixed integrally on its other side in 40 on the side of the proximal end of the rigid sole 41 (of the type of the sole 3 described with reference to Figure 1). The portion 42 of the second sole of the fastening means is rotatably mounted about the axis 43 between a position of contact with the rigid sole and a detachment position. In the embodiment more particularly described here the exoskeleton further comprises control means 45 anticipating the movement actuating motors (not shown) for moving the thighs and shins, movements are performed as- them in a manner known in itself. These control means of the actuation of the articulated legs are connected to the measuring and computing means 46 formed by a small calculator programmed from measurements made on the slipper threaded by the foot of the user. To do this they include a first pressure sensor 47 fixed on the side of the distal portion of the rigid sole and a second sensor 48 fixed either on the side of the proximal portion of said sole, or on the movable portion 42 of the second sole. These sensors are, for example, weight sensors of the strain gauge type.
    [0006] The measuring and calculating means 46 are arranged to detach the detachment of this moving part and therefore the heel of the user's boot from the difference of the measurement values made on said sensors in a known manner. in herself. FIG. 5 shows the respective positions of the legs 50 of the user (in broken lines) and of the exoskeleton 31 (in solid lines) when walking, using the same reference numbers to designate the same elements. that for Figure 4. The articulation 37 of the rod 39 is located substantially at the hinge 51 of the foot 52 (flat) of the user with his tibia 53, itself articulated in 54 to the corresponding thigh 55. When the sole 41 of the first leg 32 is resting on the ground, the heel 56 of the user is detached, the tip 57 of its feet being fixed to the end of the sole 41, which allows it to walk, the second leg 32 of the exoskeleton being in motion and detached from the ground with the second foot of the user, whose leg is then in the forward position to advance in the walk (see Figure 5 ). So there is support on the right leg (back). It can be seen that in order not to impede the user during his walking cycle, the legs of the exoskeleton (thigh + shin) are longer than those of the user, and that the connections between the thighs of the user and the exoskeleton must be removed.
    [0007] We will now describe with reference to the flowchart of Figure 6 the steps of the implementation of an exoskeleton with the slippers of the invention.
    [0008] After initialization and ignition of the exoskeleton (step 60), the user programs (step 61) the mode of use that he wants to implement (long-term walking, rehabilitation left leg after accident, ...).
    [0009] Then he shoes and sets the exoskeleton (step 62). It performs at this stage some adjustment tests (step 63) resulting or not new settings. The exoskeleton is then ready to walk (link 64). It then acquires by means of the sensors 47, 48 the heel pressure values and the feet of the feet of the user relative to the ground (step 65).
    [0010] Then it calculates (step 66) from these values by subtraction whether or not the user has begun to relieve the pressure on one foot, to start wanting to transfer it to the other, which allows him to anticipate the intention of the user, and therefore the movement of his corresponding leg. In the case of a positive detection (test 67), a movement anticipation command is then generated at 68, and the movement of the leg is performed (step 69). Otherwise steps 65, 66 are repeated until differential detection. The values of the sensors are furthermore tested (step 70) continuously, and / or at repeated time intervals determined (for example every tenth or hundredth of a second). When the values obtained make it possible to determine that the following legs are in the initial support position, one comes back (link 71) to the initial steps 65, 66, etc. Otherwise, a final step 72 of stabilization before stopping is performed. As is obvious and as also follows from the foregoing, the present invention is not limited to the more specifically described embodiments. On the contrary, it embraces all the variants and in particular those in which the retention means on the second soleplate are different, or those, for invalid persons or in reeducation, it is intended to passively activate the detachment, for example through a calibrated spring according to the weight of the user. In this case, the detachment of the heel would be triggered when the weight of the user is worn on the forefoot.
    权利要求:
    Claims (12)
    [0001]
    REVENDICATIONS1. Exoskeleton liner (1) comprising means (2) for attaching to a user's shoe or foot and a rigid sole (3) for supporting the load on the ground capable of being connected in an articulated manner to the end (36) of a leg (32) of the exoskeleton, characterized in that the fixing means (2) are fixed and articulated about a pivot axis (5) integral with the rigid sole of the side ( 6) of its distal end (7), so as to allow the detachment of the heel of the foot or the shoe of the user relative to the rigid sole 15 (3) when walking.
    [0002]
    2. Boot according to claim 1, characterized in that the pivot axis is an axis of rotation (5) perpendicular to the longitudinal direction of the sole and located one third or substantially one-third of its length from its end. distal (7), so as to coincide with the axis of the metatarsophalangeal joint (9) of the foot of the user using the liner.
    [0003]
    3. Boot according to claim 2, characterized in that the fixing means (2) comprise a flexible blade (10) for supporting the foot or the user's boot attached to the distal portion (13) of the sole. rigid on one side and free on the other side, and retaining means (15) of the foot 30 or the shoe of the user on said blade.
    [0004]
    4. Boot according to claim 3, characterized in that the flexible blade (10) has a bending stiffness of between 1 Nm / rad and 45 Nm / rad.
    [0005]
    5. Slipper according to claim 1, characterized in that, the shoe (26) of the user being equipped with an end (25) snap-in male or female, the means (2) for fixing comprise a member (29) of female or male clipping of complementary shape, integral with the distal end portion of the rigid soleplate and movable in rotation about said pivot axis.
    [0006]
    6. Boot according to any one of the preceding claims, characterized in that it comprises stop means arranged to limit the rotation about the pivot axis at an adjustable value of less than 30 ° relative to the rigid sole.
    [0007]
    7. Boot according to any one of the preceding claims, characterized in that it comprises a first pressure sensor (47) fixed on the side of the distal portion of the rigid sole, and a second pressure sensor (48) located on the side of the proximal portion of said sole and means (46) for measuring and calculating arranged to detect the detachment of the foot or the shoe of the user of said rigid sole from measurements made on said sensors.
    [0008]
    8. Exoskeleton (31) of lower limbs comprising two articulated legs (32) each comprising a thigh (33), a tibia (34) and means (37) for connecting the lower end (36) of the tibia to a slipper (1) according to any one of the preceding claims, characterized in that the means (37) for connecting with the liner comprises an elongated piece (39) of a determined length, articulated in rotation on one side with said lower end (36) of the tibia and rigidly attached (40) at an angle to the other side with the rigid sole.
    [0009]
    9. Exoskeleton (31) according to claim 8, comprising slippers according to claim 6, characterized in that it comprises a connecting member between the upper ends of the legs to which it is articulated, adapted to be positioned at the level of the pelvis. the user, and means (45, 46) for controlling the actuation of the articulated legs according to the measurement and calculation means arranged to detect the detachment of the foot or the shoe of the user of said rigid sole to from measurements made on said sensors (47, 48), so that the detachment of the user's foot is anticipated.
    [0010]
    10. Exoskeleton according to claim 9, characterized in that it comprises means (46) for calculating to limit the efforts of the user on the exoskeleton in position of detachment of the foot of the user, when setting in motion of the leg.
    [0011]
    11. A method of using an exoskeleton comprising slippers provided with a rigid sole and means for fixing the feet of a user 25 on said sole, characterized in that the fastening means being rotatable around a pivot axis (5) integral with the sole (3) on the side of its distal end, so as to allow the heel of the shoe of the user 30 to be detached from the rigid sole when walking, the being in the process of walking, the pressure values and / or the heel angle values of the user are acquired (65) from the ground continuously and / or at regular time intervals, and when the pressure and / or the detected angle fall in value below reference values previously introduced into the calculation means and corresponding to a foot resting on the ground (67), it generates (68) a motion anticipation control of the leg.
    [0012]
    12. Method according to claim 11, characterized in that, from the detection of the movement intention corresponding to the descent below the said determined value or values, an automatic operating mode of the legs of the exoskeleton implementing a previously recorded walking method.
    类似技术:
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    JP2014068868A|2014-04-21|Foot-worn device
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    KR102330974B1|2021-11-24|Metatarsophalangeal Joint Assistance Apparatus.
    FR2953126A1|2011-06-03|Dynamic foot orthosis for patient affected by e.g. hemiplegia, has actuator with lower part connected to band by collar, where clearance is provided between collar and part in plane passing via actuator axis and parallel to walking axis
    FR3051661A1|2017-12-01|DEVICE FOR ANKLE PROSTHESIS CONTROLLED BY A MOTORIZED KNEE PROSTHESIS SENSITIVE TO THE PESANTOR
    同族专利:
    公开号 | 公开日
    FR3018469B1|2016-04-01|
    EP3116691A1|2017-01-18|
    WO2015136214A1|2015-09-17|
    US20170014297A1|2017-01-19|
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    CN109223456B|2018-10-23|2020-10-13|哈尔滨工业大学|Lower limb exoskeleton robot system based on man-machine terminal interaction|
    法律状态:
    2015-03-13| PLFP| Fee payment|Year of fee payment: 2 |
    2016-03-17| PLFP| Fee payment|Year of fee payment: 3 |
    2017-03-07| PLFP| Fee payment|Year of fee payment: 4 |
    2018-03-06| PLFP| Fee payment|Year of fee payment: 5 |
    2020-03-06| PLFP| Fee payment|Year of fee payment: 7 |
    2021-12-10| ST| Notification of lapse|Effective date: 20211105 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1451981A|FR3018469B1|2014-03-11|2014-03-11|EXOSQUE PANTS.|FR1451981A| FR3018469B1|2014-03-11|2014-03-11|EXOSQUE PANTS.|
    EP15717540.7A| EP3116691A1|2014-03-11|2015-03-10|Exoskeleton slipper|
    US15/124,234| US20170014297A1|2014-03-11|2015-03-10|Exoskeleton slipper|
    PCT/FR2015/050593| WO2015136214A1|2014-03-11|2015-03-10|Exoskeleton slipper|
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