• 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 lower extremity exoskeleton comprising two legs (2, 3), a frame (4) of the backpack type intended to be fixed on the back of a user and to support a load, actuating means legs according to the movements of the user, each leg being connected at one end to the frame, by a first joint (42, 43), and at another end to a connecting member (5, 6) with the foot of the user, by a second articulation. The legs (2, 3) are of the telescopic type and located at the back of the body of the user, in use
    公开号:FR3046744A1
    申请号:FR1650328
    申请日:2016-01-15
    公开日:2017-07-21
    发明作者:Serge Grygorowicz；Aurelie Riglet；Stephane Charmoille；Antoine Perrin；Yannick Lelogeais
    申请人:ROBOTIQUES 3 DIMENSIONS；
    IPC主号:
    专利说明:

    EXOSQUELET WITH TELESCOPIC LEGS ON THE BACK
    The present invention relates to the field of exoskeletons and more particularly to an exoskeleton of lower limbs.
    In general, an exoskeleton is designed to allow the transfer to the ground of a load, normally supported by a user, without passing through his body. It thus makes it possible to limit the fatigue of the user as well as pains related to bad postures.
    Furthermore, an exoskeleton can be used with tools that are very difficult, particularly because of the great efforts to be made at the level of the tool itself, or with loads carried by a user on his back. The invention is concerned with the latter type of exoskeleton which is useful when loads can not be transported by wheeled vehicles, given the terrain on which the user must evolve. An exoskeleton of this type is particularly useful in the military field.
    Document US 2012/0156661 discloses a lower limb exoskeleton comprising a pair of pseudo-anthropomorphic and motorized legs that is coupled to a hip module, and a backpack type frame, on which heavy loads may be fixed.
    Each leg has a first segment coupled on the one hand to the hip by a joint and secondly to a second segment by a knee joint, the second segment being connected to a sole by an ankle joint.
    A motorized hydraulic cylinder, connected between the first segment and the upper part of the second segment, makes it possible to apply a torque to the knee joint and to ensure the displacement of each leg according to the movements of the user.
    In addition, a motorization is provided at the hip module, to compensate for the torque created by the lever arm between the hips of the exoskeleton and the center of gravity of the load.
    Finally, each leg of the exoskeleton is connected to a leg of the user by means of straps.
    This exoskeleton makes it possible to transfer a load from the frame of the backpack type and the hip module to the legs then to the soles and finally to the ground. This exoskeleton thus makes it possible to isolate the load carrier from the load fixed on the frame.
    This exoskeleton has the advantage of being able to easily control legs, thanks to sensors placed under each sole of the exoskeleton.
    However, it has the disadvantage of not being adapted to all user morphologies due to the presence of a relatively bulky hip module.
    It also requires a system of straps for attachment to the legs of the user that can be a nuisance.
    Finally, it requires a presetting of the length of at least one of the segments forming the articulated leg according to the morphology of the user. This extra step is relatively tedious. The object of the invention is to overcome these drawbacks by proposing an exoskeleton of lower limbs that efficiently transfer a load located in the back of a user directly to the ground, while easily adapting to all the morphologies and all positions of a user.
    Thus, the invention relates to a lower limb exoskeleton comprising two legs, a backpack-type frame intended to be fixed on the back of a user and to support a load, each leg being connected at one end to the frame, by a first articulation, and at the other end to a connecting element with the foot of the user, by a second articulation, the exoskeleton also comprising means for actuating the legs according to the movements of the user, characterized in that the legs are of the telescopic type and located at the rear of the body of the user, in use.
    Thus, this exoskeleton allows to transfer the weight of a load located in the back of a user directly to the ground without it being necessary to fix his legs on the legs of the user.
    In addition, the use of telescopic legs makes it easy to adjust their length according to the user and makes the exoskeleton adaptable to all morphologies and positions of a user.
    These telescopic legs also have other advantages because of the lack of articulation at the knee.
    First, in use, the legs being located at the back of the body of the user, it can be positioned forward, as it would in the absence of exoskeleton.
    It should be noted that this exoskeleton has no element on the sides of the user.
    In other words, its bulk remains within the limits defined by the user himself and the support frame of the load. The exoskeleton therefore does not generate any particular inconvenience for the user when walking and swinging his arms.
    This lack of articulation at the knee also makes the exoskeleton very compact for storage or storage, by fitting the different leg segments into each other.
    In advantageous embodiments, it is moreover and / or more recourse to one and / or the other of the following provisions: - The legs are connected directly to the frame, no hip module comprising a motorization to compensate a possible overhang is not provided; - The connecting element has no sole, so as to allow direct contact between the foot of the user and the ground in use, measuring means being provided at the connecting member to detect the movements of the user; the frame comprises two substantially perpendicular elements, a first element intended to come into contact with the back of the user and a second element intended to receive the load; - By the first joint, a leg is articulated about a first axis substantially perpendicular to the first frame member and about a second axis, perpendicular to the first axis and located in the plane of the second element in the rest position of the legs, the second axes of each leg being independent of each other; - the frame is entirely located at the back of the body of the user in use; the means for actuating the legs are located in the lower part of the frame; each connecting element comprises a U-shaped element, the two branches of the U being intended to come on either side of the user's boot and in contact with the ground and the bottom of the U supporting the second articulation; one leg; the connecting element comprises a fastening system between each U-shaped element and a shoe of a user; The exoskeleton comprises means for balancing the hips, at the rear of the frame; the balancing means of the hips comprise, for each leg, a winch with a drum located in the frame and away from the first joint and on which a cable is wound, the free end of the cable being fixed to the connecting element , the cable extending between the frame and the connecting element of the leg, to ensure the balancing of the frame relative to the legs; The exoskeleton comprises means connected to the frame for carrying loads in front of the user; these means for carrying the loads at the front comprise a pair of arms extending forward of the frame in the direction of travel, so as to be positioned on either side of the torso of the user, use in order to balance the arms relative to the frame; The exoskeleton comprises means for lifting the load at the front of the user which are supported by the frame; - The lifting means comprise a bracket equipped with a hoist. The invention also proposes a method for implementing the exoskeleton, as described above.
    It thus proposes a method for transporting a load by a user by means of an exoskeleton of lower limbs comprising two legs, a backpack-type frame, means for actuating the legs according to the movements of the user. , each leg being connected at one end to the frame, by a first articulation, and at another end to a connecting element with the foot of the user by a second articulation, characterized in that the legs are of the telescopic type, located at the rear of the body of the user in use, and detection means being provided at the link member for detecting the movements of the user, the method according to which the user: back the frame supporting the load, through connecting means, - fixed, each of its feet, a connecting element, the length of the telescopic legs being automatically adjusted according to its ana tomie and the user's movement detection means controlling the means for actuating the legs of the exoskeleton according to these movements. The invention will be better understood on reading the following description of embodiments given hereinafter by way of nonlimiting examples and which will be made with reference to the following appended drawings in which:
    Figure 1 is a side view of an exoskeleton according to an embodiment of the inventor, worn by a user.
    FIG. 2 is a front view corresponding to FIG.
    Figures 3A and 3B are side views of an exoskeleton according to one embodiment of the invention, illustrating its use by an operator walking on rough terrain.
    FIGS. 4A and 4B are side views illustrating an exoskeleton according to the invention in its storage position (FIG. 4A) and in an intermediate position between that illustrated in FIG. 4A and that illustrated in FIG.
    FIGS. 5A and 5B schematically illustrate the articulation between the legs and the frame of the exoskeleton, FIG. 5A being a side view and FIG. 5B a front perspective view, the exoskeleton being in the rest position.
    Figures 6A and 6B are side views illustrating a connecting member having a sole.
    Figs. 7A to 7C illustrate a soleless connecting member, Figs. 7A and 7B being side views of the connecting member, and Fig. 7C is a perspective view corresponding to Fig. 7A.
    Figure 8 is a side view of an exoskeleton according to another embodiment and worn by a user.
    Figure 9 is a side view of an exoskeleton according to yet another embodiment of the invention, worn by a user.
    In the remainder of the description, the same numerical references will be used to designate identical or similar elements.
    Reference is first made to FIGS. 1 and 2 which illustrate an exoskeleton according to one embodiment of the invention.
    This exoskeleton 1 has two legs 2 and 3 and a frame 4.
    As illustrated in FIG. 1, the frame is intended to be fixed on the back of a user by means of connecting means 47 of the harness type and to support a load 48.
    Each leg of the exoskeleton also comprises a connecting element with the foot of the user which will be described in more detail in the following description.
    The two legs 2 and 3 are of the telescopic type, that is to say that they comprise at least two segments that fit and slide into each other.
    In the example illustrated in the various figures, the legs 2 and 3 comprise three segments 20, 21, 22 and 30, 31, 32 which fit and slide into each other.
    Each leg 2, 3 is connected at one end to the frame 4, by means of a first hinge. This end of the leg corresponds to the free end of the upper segment 20, 30 of the leg 2, 3.
    This first articulation is referenced 42, 43 for the leg 2, 3 and this first articulation will be described in more detail with reference to FIGS. 5A and 5B. At its opposite end, each leg 2, 3 is connected to a connecting member 6, 5 by a second hinge 60, 50 which will be described in more detail with reference to Figures 6A-6B and 7A-7C. This end of the leg corresponds to the free end of the lower segment 22, 32 of the leg 2, 3.
    Figure 1 shows that these second joints 60, 50 are located behind the feet of the user, when it has coated the exoskeleton. Thus, the two legs 2 and 3 are located at the rear of the body of the user, no connection between the legs 2 and 3 and the legs of the user being necessary.
    This exoskeleton is therefore not of the anthropomorphic type and the weight of the load fixed on the frame is directly transferred to the ground, without passing through the body of the user.
    This direct transfer to the ground is shown schematically by arrow F.
    Reference is now made to FIG. 2, in which the load 48 placed on the frame 4 is schematically represented by dashed outlines.
    Figure 2 confirms that the exoskeleton according to the invention has no elements on the sides of the user. It can not interfere with the movement of the user's arms.
    In addition, the positioning of the legs at the back of his body allows the user to position himself naturally forward, as when he does not wear the exoskeleton.
    Conventionally, the exoskeleton comprises means for actuating the legs which are preferably located in the lower part of the frame 4.
    These actuation means are controlled, also in a conventional manner, using means for detecting the movements of the user and means for measuring the positions of the exoskeleton, as well as means for detecting the contact on the ground to ensure the phase transition between the two legs.
    Thus, these different means are connected, via a WiFi and / or wired connections passing inside the legs, to a control device connected to the leg actuating means and comprising, in a known manner, a microphone processor, storage means and calculation means arranged to react to the indications obtained by the detection means.
    This control device thus makes it possible to control means for actuating the telescopic legs. This allows the user to walk with the exoskeleton even on uneven ground, as illustrated in FIGS. 3A and 3B.
    Reference will now be made to Figures 4A and 4B.
    Figure 4A illustrates the exoskeleton 1 in a folded position. In this position, the different segments constituting each leg are nested within each other.
    The frame 4 is, in the example shown, the rack type carrier. It essentially comprises two elements 40 and 41 which are substantially perpendicular to each other.
    The first element 40 is intended to come into contact with the back of the user when the latter carries the exoskeleton and the second element 41 is intended to receive the load.
    These two elements 40 and 41 each define a plane, the plane of the first element 40 being substantially vertical when the exoskeleton is in use and the plane defined by the second element 41 being substantially horizontal in this situation.
    The second element 41 is designed to receive the actuating means 45 of the legs.
    Furthermore, in the folded position, the connecting element 6 and the second element 41 of the frame 4 are placed on the ground and the first hinge 42 is located substantially in the middle portion of the first element 40 of the frame.
    The harness 47 of the frame 4 is then substantially opposite the first element 40 of the frame.
    In this folded position, the exoskeleton has a minimal footprint which is also used for storage.
    When the exoskeleton 1 is in the stable position illustrated in FIG. 4A, the load is positioned on the frame 4 and then secured to the latter. The user can then position himself at the front of the exoskeleton and equip himself with the connecting elements 6, 5 of each of the legs 2, 3 as well as the harness 47 in an indifferent order, the frame 4 still remaining on the ground .
    Once equipped with the connecting elements and the harness, the user controls the actuating means 45 of the legs, for example by means of a button 460 located at the end of the strap 46 whose length is adjustable (by example an electric cable type spiral cable).
    This makes it possible to deploy the telescopic legs 2 and 3 to adapt to the anatomy of the user.
    Throughout this step, the actuating means of the legs provide the force necessary for balancing the load. At the end of this step, the exoskeleton 1 is positioned on the user as shown in FIG.
    Note that the first joint of each leg is able to move along an L-shaped rail 44. The movement of the joint along the rail can be synchronized with the movement of the legs to a position locking. It can also be passive.
    In addition, a telescope may be provided between the harness and the first frame member to allow height adjustment between them. The telescope is locked when the exoskeleton is in the position illustrated in FIG. 1. The user stops activating the button 460 when he considers that the legs are well positioned and the means for actuating the legs are controlled by the means for detecting the movements of the user, to allow the latter to move with the exoskeleton.
    Reference is now made to FIGS. 5A and 5B which illustrate the articulation between the legs and the frame.
    FIG. 5A is a schematic side view of the frame 4, with the first and second elements 40 and 41 of the frame 4.
    The second element 41 supports a shaft 410 of X axis.
    This axis X is substantially perpendicular to the first element 40 of the frame and is intended to be substantially parallel to the anteroposterior axis of the user.
    Moreover, the upper segment 20, 30 of each leg 2, 3 ends with a bent element 200, 300.
    The first articulation 42, 43 of each leg comprises a bent element 420, 430. At one end, this bent element 420, 430 is articulated around the axis X, this axis being therefore common to the two legs 2 and 3.
    In the exemplary embodiment illustrated in FIGS. 5A and 5B, this rotational assembly is obtained thanks to a sleeve 421, 431, through which rod 410 of the frame passes, and located at one end of the bent element 420, 430. At its other end, the bent element 420, 430 is articulated about a second axis Y2, Y3.
    In the example illustrated in FIGS. 5A and 5B, this articulation is obtained by inserting the other end of the elbow element 420, 430 in a sleeve 201, 301 located at the end of the elbow element 200, 300 of each leg 2, 3.
    Reference is now made to FIG. 5A which illustrates the two legs 2 and 3 in the rest position, that is to say when the user stands straight and is static. The user is therefore in the position illustrated in FIG.
    In this position, each of the axes Y2 and Y3 is located substantially on the perpendicular common to the corresponding telescopic leg and the X axis.
    When the user walks, the Y2 and Y3 axes are always perpendicular to the X axis but they are inclined relative to the plane defined by the second element 41 of the frame.
    With respect to the rest position shown in Figure 5A, each leg may move away from a positive angle when the leg is forward and a negative angle when the leg is backward. The deflections around the axes Y2 and Y3 are between about 65 ° and -10 °. The articulation about the X axis allows the abduction and adduction of the elbows 420 and 430 (and thus the legs 2 and 3) relative to the frame 4 of the exoskeleton.
    The deflections of this articulation about the X axis are for example between 0 °, corresponding to a leg in the upright position, and 20 °, when the leg is outside the median plane of the body.
    In the embodiment illustrated in Figures 5A and 5B, the X axis is common to both legs and is positioned substantially in the sagittal plane. In this case, the two legs form an angle between them (for example 10 °), so that they are further apart at the user's feet than at the first joints. The invention is not limited to this embodiment and each leg could be articulated at the sleeves 421 and 431 about two parallel axes and spaced from each other by a distance of about 100 mm. Preferably, these two axes will be substantially symmetrical with respect to the sagittal plane. In this case, the two legs can extend substantially vertically as shown in Figure 2. The two axes Y2 and Y3 are then substantially in the plane of the second element 41 of the frame.
    At the articulation about the X axis, passive elements (not shown in the figures) are provided such as springs which are fixed at one end to the frame 4 and at the other end to the upper segment. 20, 30 of the leg 2, 3. These passive elements allow to generate an elastic return around a given position, for example the upright position and feet of the user.
    Motorized means could also be provided. The articulation about the axes Y2 and Y3 can be left free when the joints 42, 43 are positioned substantially in line with the center of gravity of the load.
    However, the articulation around the axes Y2, Y3 could also be provided with passive elements, such as springs, or a motor.
    Thus, the exoskeleton according to the invention makes it possible to dispense with motorization at the level of the hip, such as is provided in particular in the exoskeleton described in document US 2012/0156661.
    This engine is designed to compensate for the torque created by the lever arm between the user's hips and the center of gravity of the load. By positioning the articulation substantially in line with the center of gravity of the load, this residual torque is eliminated.
    Reference will now be made to Figs. 6A-6B and Figs. 7A-7C to describe two embodiments of the exoskeleton connecting member with the user's foot.
    In the embodiment illustrated in Figures 6A and 6B the connecting element comprises a sole. The foot of the user is not in direct contact with the ground.
    It is of the type described in the application FR 3018469. The connecting element 6 comprises a fixed part 61 and a movable part 62.
    The fixed portion 61 has an inverted L shape extending in a plane parallel to the sagittal plane.
    The small branch 610 of the L extends substantially vertically when the exoskeleton is placed on the ground, the large branch of the L 611 then being in contact with the ground and forming a sole.
    The small branch 610 carries the hinge 60 with the leg 2 of the exoskeleton. It can be a ball joint type. At the front of the connecting element 6, that is to say opposite to the small branch 610, the large branch 611 carries another fixed element 612 which supports a hinge 613 with the mobile part 62 of the connecting element. The hinge 613 is located substantially at the level of the metatarsophalangeal joint of the foot of a user.
    Moreover, fastening means 620 are secured to the movable part 62. These means 620 make it possible to maintain the foot of the fixed user relative to the movable part 62.
    FIG. 6A shows that, when the user's foot is on the ground, the mobile part 62 rests on the large branch 611 of the fixed part 61.
    FIG. 6B shows that, when the user lifts his foot, the mobile part 62 rotates around the hinge 613. The movable part 62 then departs from the large branch 611 of the fixed part 61 of the connecting element 6.
    In this embodiment, the measuring means making it possible to detect the movements of the user comprise, for example, two force sensors placed in the soleplate 611 of the fixed part 61, to measure the load transfer of the user on the foot. These measuring means also include a potentiometer for detecting the angle of heel detachment of the user.
    This information is processed conventionally to control the actuating means of the legs, so as to follow the movements of the user.
    Due to the presence of a sole under the foot of the user, the latter loses some of the information concerning the state of the ground on which it moves. This is why the invention also provides another embodiment of the connecting element, wherein it has no sole, the foot of the user coming directly into contact with the ground.
    This other embodiment will be described with reference to FIGS. 7A to 7C.
    In this embodiment, the connecting element 7 comprises a rigid element 71 of U-shaped caliper type with two side walls 710 and 711 intended to come on either side of the user's foot and a bottom 712 connecting the two side portions 710 and 711 and intended to come in front of the heel of the user.
    This bottom wall 712 supports the hinge 70 with the corresponding leg of the exoskeleton. It may especially be a ball joint type. The connecting element 7 also includes a fastening system 72 with the user's foot.
    This fastening system is semi-rigid. It is, in fact, composed of a rigid portion 720 which is rotatable about a hinge 721 located at the front end of the rigid portion 71, that is to say the opposite of the articulation 70. The axis of this articulation 721 is substantially perpendicular to the side walls 710 and 711 of the rigid portion 71.
    This fastening system also comprises an elastic portion 722, consisting for example of an elastic strap to adapt to the length of the shoe of the user without requiring a setting action, and an adjustable strap to go around. the shoe and provided with a quick coupling allowing the user to quickly equip the connecting element.
    Thus, Figure 7A illustrates the connecting element 7 when the foot of the user is in contact with the ground.
    FIG. 7B illustrates the connecting element 7 when the user's foot is off the ground, the fastening system 72 having then pivoted around the hinge 721.
    In all cases, the stirrup-shaped element 71 is a rigid piece which is in contact with the ground, via the side walls 710, 711. It therefore makes it possible to transfer the weight of the load placed in the built by the articulation 70, directly on the ground, without passing through the user.
    In order to improve the adhesion of the connecting element with the ground, an anti-slip material is advantageously provided under the connecting element.
    In this embodiment, the measuring means for detecting the movements of the user comprise, for example, a potentiometer, placed at the hinge 721, so as to measure the angle of heel detachment of the user.
    These means then also comprise a switch type contact sensor, placed under the connecting element, on the surface in contact with the ground, so as to detect whether the connecting element is in contact with the ground.
    This embodiment has the advantage of allowing the user to be in direct contact with the ground.
    Reference is now made to FIG. 8 which illustrates another embodiment of the exoskeleton according to the invention.
    In this embodiment, hip balancing means are provided at the back of the legs of the exoskeleton.
    Such balancing means are necessary when a cantilever is generated between the center of gravity of the load and the first leg joint located at the frame.
    This cantilever can notably occur in the situation illustrated in FIG.
    Indeed, this figure illustrates an exoskeleton according to the invention, the frame 4 supports a load 48 at the rear and also a load 49 at the front.
    This load 49 is here supported by a pair of arms 80 which extends forward of the frame in the direction of travel, so as to be positioned on either side of the user in use.
    The arms 80 may be passive or semi-passive arms of the type marketed by the company Equipois. In this case, no motorization is necessary.
    The presence of this load 49 creates a door overhang.
    The balancing means may have different shapes.
    It can in particular be a geared motor placed in the lower part of the frame 4.
    These means may also take the form of a winch 9 consisting of a drum 90 fixed to the frame, around which is wound a cable 91.
    As illustrated in FIG. 8, the drum 90 is located in the lower part of the frame 4, at the level of the element 41 and above all, at a distance from the first articulation 42, 43 of the leg 2, 3 on the frame 4 .
    For each leg, the cable 91 is also fixed at the level of the connecting element 6, 5.
    As shown in FIG. 8, the cable 91 is attached to the rear of the connecting element 6, 5 for example at the joint 60, 50 with the leg 2, 3.
    The drum 90 is rotatable relative to the frame 4, about an axis substantially perpendicular to the sagittal plane.
    There is a lever arm between the first articulation 42, 43 and the drum 90. If the presence of a load at the front creates a door overhang between the center of gravity of the load and the first articulation 42, 43, a force is then applied to the cable 91, thanks to the motor which is equipped with each cable.
    In this case, a torque is generated at the first articulation (around the axes Y2 and Y3) to balance this overhang.
    Reference is now made to FIG. 9 which describes another embodiment of the exoskeleton according to the invention.
    This exoskeleton comprises lifting means, hoist type, which are supported by the frame 4.
    These lifting means are controlled by the user, by appropriate means, including the intentional handle 82.
    These lifting means 81 allow the user to transfer loads from the ground to its height without effort.
    In this embodiment, a cantilever is still created between the center of gravity of the load and the hip joint. This is why a winch 9 is also provided at the rear of the legs of the exoskeleton.
    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 variants.
    权利要求:
    Claims (16)
    [1" id="c-fr-0001]
    1. Exoskeleton of lower limbs comprising two legs (2, 3), a frame (4) of the type backpack intended to be fixed on the back of a user and to support a load, means for actuating the legs in according to the movements of the user, each leg being connected at one end to the frame, by a first articulation (42, 43), and at another end to a connecting element (5, 6) with the user's foot , by a second articulation, characterized in that the legs (2, 3) are of the telescopic type and located at the rear of the body of the user, in use.
    [2" id="c-fr-0002]
    2. Exoskeleton according to claim 1, characterized in that the legs are connected directly to the frame.
    [3" id="c-fr-0003]
    3. Exoskeleton according to claim 1 or 2, characterized in that the connecting element (7) is devoid of sole, so as to allow direct contact between the foot of the user and the ground in use, measuring means being provided at the link member for detecting the movements of the user.
    [4" id="c-fr-0004]
    4. Exoskeleton according to one of claims 1 to 3, characterized in that the frame comprises two elements (40, 41) substantially perpendicular, a first element intended to come into contact with the back of the user and a second element intended to receive the charge.
    [5" id="c-fr-0005]
    5. Exoskeleton according to claim 4, characterized in that, by the first articulation (42, 43), a leg (2, 3) is articulated about a first axis (X) substantially perpendicular to the first element of the frame and around a second axis (Y2, Y3), perpendicular to the first axis X and the leg (2, 3) in the rest position of the legs, the second axis of each leg being independent of one another.
    [6" id="c-fr-0006]
    6. Exoskeleton according to one of claims 1 to 5, characterized in that the frame (4) is entirely located at the rear of the body of the user in use.
    [7" id="c-fr-0007]
    7. Exoskeleton according to one of claims 1 to 6, characterized in that the actuating means of the legs are located in the lower part of the frame.
    [8" id="c-fr-0008]
    8. Exoskeleton according to one of claims 3 to 7, characterized in that each connecting element (7) comprises a U-shaped element (71), the two branches (710, 711) of the U being intended to come from on both sides of the user's shoe and in contact with the ground and the bottom (712) of the U supporting the second articulation (70) of a leg.
    [9" id="c-fr-0009]
    9. Exoskeleton according to claim 8, characterized in that the connecting element (7) comprises a fastening system (72) between each U-shaped element (71) and a shoe of a user.
    [10" id="c-fr-0010]
    10. Exoskeleton according to one of claims 1 to 9, characterized in that it comprises balancing means hips (9) at the rear of the frame.
    [11" id="c-fr-0011]
    11. Exoskeleton according to claim 10, characterized in that the balancing means of the hips comprise, for each leg, a winch with a drum (90) located in the frame and at a distance from the first articulation (42, 43) and on which is wound a cable (91), the free end of the cable being fixed to the connecting element (5, 6), the cable extending between the frame and the connecting element of the leg, to ensure the balancing the frame relative to the ground.
    [12" id="c-fr-0012]
    12. Exoskeleton according to claim 10 or 11, characterized in that it comprises means connected to the frame for carrying loads in front of the user.
    [13" id="c-fr-0013]
    13. Exoskeleton according to claim 12, characterized in that said means comprise a pair of arms (80) extending forward of the frame in the direction of travel, so as to be positioned on either side of the torso of the user, in use.
    [14" id="c-fr-0014]
    14. Exoskeleton according to one of claims 10 to 13, characterized in that it comprises means (81) for lifting the load at the front of the user who are supported by the frame.
    [15" id="c-fr-0015]
    15. Exoskeleton according to claim 14, characterized in that the lifting means comprise a bracket equipped with a hoist.
    [16" id="c-fr-0016]
    16. A method for transporting a load by a user by means of a lower extremity exoskeleton comprising two legs, a backpack-type frame, means for actuating the legs according to the movements of the user, each leg being connected at one end to the frame, by a first articulation, and at another end to a connecting element with the foot of the user by a second articulation, characterized in that the legs are of the telescopic type, located at the the back of the body of the user in use, and detection means being provided at the link member to detect the movements of the user, the method according to which the user: - fixed on his back the frame supporting the load, by means of connecting means, fixed to each of its feet, a connecting element, the length of the telescopic legs being automatically adjusted according to its anatomy and the means s of detecting the movements of the user controlling the means for actuating the legs of the exoskeleton according to these movements.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3402631A1|2018-11-21|Exoskeleton with telescopic legs at the rear
    EP3125848B1|2020-08-19|Exoskeleton comprising a foot structure
    CA3009897A1|2017-06-29|Modular exoskeleton structure that provides force assistance to the user
    WO2012164208A1|2012-12-06|Vehicle with at least three stable bearing points on the ground
    FR2702698A1|1994-09-23|Exoskeletal system.
    EP3116691A1|2017-01-18|Exoskeleton slipper
    CA2031513A1|1990-10-29|Orthopedic apparatus for persons handicapped in one leg
    EP3393727B1|2020-02-05|Shoulder portion for an exoskeleton structure
    FR3018681A1|2015-09-25|EXOSQUELET COMPRISING A BASIN STRUCTURE
    WO2016166442A1|2016-10-20|Movement assistance device
    CA3009549A1|2017-06-29|Foot portion for an exoskeleton structure
    CA3009720A1|2017-06-29|Back portion for an exoskeleton structure
    EP3393726A1|2018-10-31|Modular exoskeleton structure comprising a backpack support module
    WO2015114263A1|2015-08-06|Exoskelton to be worn on the front and method for using such an exoskeleton
    EP3562627B1|2021-02-03|Linking device for an exoskeleton structure, facilitating the carrying of loads while walking or running
    EP2029082A1|2009-03-04|Walking aid
    FR3018680A1|2015-09-25|EXOSQUELETTE COMPRISING A SUBSTITUTE WITH AN ANKLE
    WO2016051081A1|2016-04-07|Exoskeleton having a centered tool holder, and method for using such an exoskeleton
    WO2018154253A1|2018-08-30|Improved exoskeleton for assisting horizontal efforts
    EP3490517B1|2020-05-27|Exoskeleton structure that provides force assistance to the user
    FR3046743A1|2017-07-21|EXOSQUELET WITH LEGS WITH TELESCOPIC ARTICULATION.
    WO2007010127A2|2007-01-25|Two-wheeler capable of being steered by a user standing transversely to a front cantilever platform
    FR2913880A1|2008-09-26|Orthopedic apparatus for lower-limb handicapped person, has connection elements that undergo wide range of movement independent of support element to assure partial disassociation of balancing function and dimension of perimeter of base
    FR3018682A1|2015-09-25|EXOSQUELETTE COMPRISING A FOOT STRUCTURE
    FR3093663A1|2020-09-18|Exoskeleton for carrying and handling photovoltaic panels
    同族专利:
    公开号 | 公开日
    FR3046744B1|2020-02-28|
    EP3402631A1|2018-11-21|
    WO2017121971A1|2017-07-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR2589360A1|1985-10-30|1987-05-07|Chareire Jean Louis|APPARATUS FOR MECHANICAL ASSISTANCE OF PROPULSION BY THE LEGS|
    FR2702698A1|1993-03-12|1994-09-23|Israel Defence|Exoskeletal system.|
    EP2153804A1|2007-04-23|2010-02-17|Golden Crab, S.L.|Exoskeleton|
    US8474672B1|2011-03-29|2013-07-02|Michael R. Keith|Hiker's buddy apparatus for sharing with a hiker the carrying load of a backpack|
    WO2014195373A1|2013-06-07|2014-12-11|J. Schmalz|Lifting aid worn on the body|WO2019047898A1|2017-09-07|2019-03-14|袁博|Exoskeleton|EP3131498A4|2014-04-16|2017-12-20|The Commonwealth Of Australia|Exoskeleton system for load carrying|FR3071401A1|2017-09-25|2019-03-29|Commissariat A L`Energie Atomique Et Aux Energies Alternatives|LOWER MEMBER OF EXOSQUELET WITH LOW ENERGY CONSUMPTION|
    FR3084921B1|2018-08-07|2021-01-15|Commissariat Energie Atomique|CABLE TELESCOPIC ACTUATOR|
    CN110575366B|2019-09-19|2022-01-18|哈尔滨工业大学|Active and passive combined lower limb assistance exoskeleton robot|
    法律状态:
    2017-01-02| PLFP| Fee payment|Year of fee payment: 2 |
    2017-07-21| PLSC| Search report ready|Effective date: 20170721 |
    2018-01-02| PLFP| Fee payment|Year of fee payment: 3 |
    2019-01-30| PLFP| Fee payment|Year of fee payment: 4 |
    2019-12-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-10-08| ST| Notification of lapse|Effective date: 20210905 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1650328|2016-01-15|
    FR1650328A|FR3046744B1|2016-01-15|2016-01-15|EXOSQUELETTE WITH TELESCOPIC LEGS ON THE BACK.|FR1650328A| FR3046744B1|2016-01-15|2016-01-15|EXOSQUELETTE WITH TELESCOPIC LEGS ON THE BACK.|
    PCT/FR2017/050081| WO2017121971A1|2016-01-15|2017-01-13|Exoskeleton with telescopic legs at the rear|
    EP17706841.8A| EP3402631A1|2016-01-15|2017-01-13|Exoskeleton with telescopic legs at the rear|
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