• 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 invention relates to a device for assisting the movement of a user (11), the device (10) comprising: • a frame (12), • at least three wheels (13) movable in rotation relative to the frame (12), and configured to allow the frame (12) to move stably, • a seat (14) linked to the frame (12) and configured to allow the user (11) to sit, • a first anchor (22) linked to the frame (12) and configured to hold the user (11) at the level of his hips, • a first mechanism (24) configured to move the first anchor (22) so that the user (11) can move from a seated position to a standing position, • a second and a third anchorage (23) linked to the frame (12) and configured to hold the user (11) each at the level of one of his ankles, • a second mechanism (30) configured to move the second and third anchors (23) so as to simulate a walking movement for the user (11).
    公开号:FR3055798A1
    申请号:FR1658526
    申请日:2016-09-13
    公开日:2018-03-16
    发明作者:Samer Alfayad；Faycal Namoun；Fathi Ben Ouezdou
    申请人:Assistive Robotic Tech；
    IPC主号:
    专利说明:

    © Publication no .: 3,055,798 (to be used only for reproduction orders)
    ©) National registration number: 16 58526 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE
    ©) Int Cl 8 : A 61 H3 / 04 (2017.01), A 61 G 5/04, 5/14
    A1 PATENT APPLICATION
    ©) Date of filing: 13.09.16. ©) Applicant (s): ASSISTIVE ROBOTIC TECHNOLO- (30) Priority: GIES Simplified joint stock company - FR. ©) Inventor (s): ALFAYAD SAMER, NAMOUN FAY- CAL and BEN OUEZDOU FATHI. (43) Date of public availability of the request: 16.03.18 Bulletin 18/11. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ©) Holder (s): ASSISTIVE ROBOTIC TECHNOLO- related: GIES Simplified joint-stock company. ©) Extension request (s): @) Agent (s): MARKS & CLERK FRANCE Company in collective name.
    (04) DEVICE FOR ASSISTING THE MOVEMENT OF A USER.
    FR 3 055 798 - A1 _ The invention relates to a device for assisting the movement of a user (11), the device (10) comprising:
    a chassis (12), at least three wheels (13) movable in rotation relative to the chassis (12), and configured to allow the chassis (12) to move stably, a seat (14) linked to the chassis (12 ) and configured to allow the user (11) to sit down, a first anchor (22) linked to the chassis (12) and configured to keep the user (11) at hip level, a first mechanism (24 ) configured to move the first anchor (22) so that the user (11) can move from a seated position to a standing position, a second and a third anchor (23) linked to the frame (12) and configured to hold the user (11) each at one of his ankles, a second mechanism (30) configured to move the second and third anchors (23) so as to simulate a walking movement for the user (11) .
    13
    Help device for moving a user
    The invention relates to a device for assisting the movement of a user. The device is particularly intended for a user with reduced mobility.
    Many devices have been developed to allow a disabled user to move around. The most common of these devices is a wheelchair that the user can use with his arms. The chair can also be motorized. The user remains seated on his armchair which can hinder him in certain activities of everyday life. Sitting in his chair, the user cannot access objects located high up. It is then necessary to adapt the user's environment to his sitting position. A permanent sitting position also presents physiological risks for the user such as the risk of the appearance of pressure sores or the lack of mobilization of the lower limbs.
    Other devices have been developed to allow users to be rehabilitated, in particular to relearn walking. There are in particular static machines in which the user takes place. Its lower limbs are strapped to the machine which animates them to reproduce movements similar to those of a walking user. The machine has a treadmill on which the user steps when moving. These machines are generally bulky. They are installed in premises intended for rehabilitation. The user must therefore move or be moved to use this type of machine.
    More recently, exoskeletons have been developed. These are motorized devices to relieve or completely compensate for the work of certain joints in the human body, in particular the joints of the lower limbs. Exoskeletons have been offered to disabled users. Managing the balance of a disabled person is not easy, and users generally supplement the exoskeleton with crutches, which makes it difficult or even impossible for users with upper limb disabilities.
    The invention aims to propose a stable device making it possible to make a user, particularly a disabled person, completely autonomous, allowing him to move both in a sitting and standing position.
    To this end, the subject of the invention is a device for assisting the movement of a user, the device comprising:
    • a chassis, • at least three wheels movable in rotation relative to the chassis, the at least three wheels defining a substantially flat bearing surface intended to be placed on the ground, the at least three wheels being configured to allow the chassis to move stably, • a seat linked to the chassis and configured to allow the user to sit down, • a first anchor linked to the chassis and configured to keep the user at hip level, • a first mechanism configured to move the first anchor so that the user can move from a seated position to a standing position, • a second and a third anchor linked to the chassis and configured to hold the user each at one of his ankles , • a second mechanism configured to move the second and third anchors so as to simulate a walking movement for the user.
    Advantageously, the second mechanism is configured to place the user's feet on the support surface during walking simulation movements.
    The device may further include a fourth and a fifth anchorages linked to the chassis and configured to hold the user, each at one of his knees.
    The device may further include a third mechanism configured to move the fourth and fifth anchors in a coordinated fashion with the movement of the second and third anchors during a walking movement of the user.
    The invention will be better understood and other advantages will appear on reading the detailed description of an embodiment given by way of example, description illustrated by the attached drawing in which:
    Figure 1 shows a device according to the invention in which a user is in a seated position;
    Figure 2 shows the device of Figure 1 in which a user is in the standing position;
    Figure 3 shows a block diagram of the device of Figure 1;
    FIG. 4 represents a kinematic diagram of the device of FIGS. 1 and 2.
    For the sake of clarity, the same elements will have the same references in the different figures.
    FIG. 1 represents a device 10 in which a user 11 is in a seated position. In this position, the device can be compared to a wheelchair. It comprises a chassis 12, four wheels 13 and a seat 14 on which the user 11 is seated. The wheels 13 allow the chassis to move on the ground like a vehicle. The device comprises at least three non-aligned wheels 13 to ensure its stability. The three wheels 13 define a support plane 16 of the device intended to be placed on the ground. More specifically, the bottom of the wheels 13 coincides with the plane 16. In the case where the device has four wheels, these are arranged so as to define a substantially flat bearing surface, also marked 16. Each wheel is connected to the chassis 12 by means of a pivot link 15. The wheels 13 can have the same diameter and in this case, the axes of the different pivot links 15 connecting the wheels 13 have coplanar axes in order to allow movement of the device while rolling on a level ground. It is possible to provide at least one of the steering wheels in order to modify the direction of movement of the device 10 rolling on the ground.
    The device 10 can move independently on the ground by means of at least one on-board motor and connected to one of the wheels. This or these motors may be electric and to ensure their supply, a battery is fixed to the chassis 12.
    The device comprises two footrests 21 on which the user can place his feet. To keep the user in a seated position with both feet on the footrests 21, the device comprises an anchor 22 ensuring the user is kept at his hips and two anchors 23 ensuring the user is being held at his ankles. The footrests 21 can be replaced by caps making it possible to hold each of the user's feet 11. For example, the user 11 can wear shoes. The device 10 can then allow the sole of the shoes to be placed on the ground.
    FIG. 2 represents the device 10 in which a user 11 is in a standing position. To move from the sitting position shown in Figure 1 to the standing position shown in Figure 2, the device comprises a mechanism 24 for moving the anchor 22. This mechanism mainly ensures a translation of the anchor 22 vertically in order to lift the user 11 from the sitting position to the standing position. In this position, the user 11, even a disabled member of the lower limbs, can access objects situated high up and inaccessible from a seated position. The wheels 13 of the device allow the device to remain mobile even when the user 11 is in a standing position. The arrangement of the wheels 13 is advantageously defined so that the device remains stable on its wheels even when the user 11 is in the standing position. In other words, the device and the user in the standing position retain a center of gravity, the projection of which on a horizontal plane passing through the wheels 13 remains between the wheels 13. The definition of the center of gravity takes account of the distribution of the mass d 'an user. It is possible to model this distribution and to take into account certain movements of the user, for example the fact of reaching out forwards and grabbing objects.
    To improve this stability, the device can include casters 25 integral with the chassis 12 and arranged towards the front of the wheels 15. As for the wheels 13, the bottom of the casters 25 coincides with the bearing surface 16. The front of the device is defined in a direction carried by the Y axis in FIG. 2. The Y axis is a horizontal axis contained in a sagittal plane of the user 11 and directed towards the front of the user. The main direction of movement of the device is the Y axis, like the main direction of movement of a human. Two other axes X and Z make it possible, with the axis Y to define a reference frame in which the device 10 is described. The axis X is a horizontal axis perpendicular to the sagittal plane and the axis Z is a vertical axis contained in the plane sagittal.
    Advantageously, the device 10 allows certain movements of the lower limbs, for example for rehabilitation or a simple mobilization of the joints of the lower limbs. To this end, the device 10 comprises two mechanisms 30 each configured to move one of the anchors 23 so as to simulate a walking movement for the user
    11. These mechanisms are for example formed by jacks making it possible to move the footrests 21 or the anchors 23 of the ankles. These cylinders can advantageously be hydraulic.
    In order to better guide the lower limbs, the device may include additional anchors 31 linked to the chassis and configured to keep the user 11 at each of his knees. To simulate walking movements, the device 10 includes two mechanisms 32 each allowing one of the anchors 31 to be moved in a coordinated manner with the movements of the anchors 23 of the ankles. The mechanisms 32 are for example formed by jacks making it possible to move the anchors 31. These jacks can advantageously be hydraulic.
    When simulating walking movements, the footrests 21 can be kept away from the ground. This makes it possible to carry out a fluid and decorrelated simulation movement of the movements of the chassis 11 by means of its wheels 13. Alternatively, it is possible, at each step, to place the footrests 21 on the ground. This ground support improves the stability of the device 10 and its user 11. The movement of the device 10 by means of its wheels 13 is then coordinated with the ground support of the footrests 21.
    The motorization of the various mechanisms of the device can be complete and completely replace the movements normally made by the lower limbs of the user 11. It is also possible to partially help the movements of the lower limbs. The proportion between the efforts made by the lower limbs and those made by the different mechanisms can be adjustable. This adjustment is particularly useful for rehabilitation of the lower limbs. The mechanisms of the device can even provide resistance so as to impose on the user efforts greater than those he would have to perform to walk. Such resistance is particularly useful for building muscle or regenerating the user's muscles 11.
    FIG. 3 represents an example of a functional diagram of the device 10 and in particular of its control. A computer 40 controls the various mechanisms of the device 10. Each wheel 13 can be motorized separately from one another in order to allow the device to move in the X and Y directions of the plane. In FIG. 3, an actuator 41 is shown, associated with each of the wheels 13. The computer 40 controls each of the actuators 41 separately. It is of course possible not to motorize all the wheels 13.
    The mechanism 24, making it possible to move the anchor 22 of the hips, has its actuator 42, also controlled by the computer 40.
    Similarly, each of the mechanisms 30, making it possible to move the anchors 23 of the pins, has its actuator 43, always controlled by the computer 40. Position sensors 44 can measure the relative position of the anchors 23 relative to the chassis 12. These sensors transmit their measurement to the computer 40. The sensors 44 can also measure the speed and / or acceleration of the anchorages 23. It is also possible to have force sensors at the anchorages 23 measuring the force exerted by the user on the anchors. These force sensors also transmit their measurement to the computer 40. The force sensor measurements are particularly useful when the user 11 produces part of the force necessary to perform the walking movements.
    The mechanisms 32, each making it possible to move the user's knees, are controlled in a similar manner to the mechanisms 30. Sensors can be associated with the mechanisms 32. This control has not been shown in FIG. 3 so as not to to become heavier.
    FIG. 4 represents a kinematic diagram of the device 10. This diagram and the various connections which are described there are represented in the reference Χ, Υ, Ζ presented above.
    The device 10 comprises four wheels 13 each connected to the chassis 12 by a pivot link 15 marked respectively Θ1, Θ2, Θ3, and Θ4 allowing rotation around axes parallel to the X axis. It is possible to add other pivot links of axes parallel to the Y axis to make some of the wheels steerable.
    The mechanism 24 mainly makes it possible to move the anchor 22 from the hips upwards to raise the user 11, that is to say in a direction parallel to the axis Z. This movement is ensured by a translation T6. In order to adapt the anchor 22 in a parametric manner to different sizes of users, other degrees of freedom can be arranged between the chassis 12 and the anchor 22 as a translation T5 of axis parallel to the axis Y, a translation T7 of axis parallel to the axis X and two rotations Θ8 and Θ9 of axes parallel to the axis X. Some of these degrees of freedom can be motorized to help the user 11 to pass from the position sitting in the standing position, especially the T6 translation. It is also advantageous to motorize the translation T5 in order to control the position of the center of gravity of the user 11. The translation T7 can be passive and have a spring tending to bring the user 11 back to a middle position. This degree of freedom allows the user to lean sideways. The rotations Θ8 and Θ9 allow in particular to facilitate the attachment of the user's hips to the anchor 22.
    The mechanism 30 may include several degrees of freedom in rotation connected in series with each other. For example, the mechanism 30 intended to operate the left ankle of the user 11 includes three degrees of freedom in rotation Θ10, Θ11 and Θ12 around axes parallel to the axis X connecting the chassis 12 and the anchor 23. Between the last degree of freedom Θ12 and the anchoring 23 of the left ankle, it is possible to add an additional degree of freedom in rotation Θ16 around an axis parallel to the axis Y. The other mechanism 30, intended to operate the right ankle symmetrically comprises three degrees of freedom in rotation Θ13, Θ14 and Θ15 around axes parallel to the axis X and possibly an additional degree of freedom in rotation Θ17 around an axis parallel to the axis Y.
    These additional degrees of freedom for maneuvering the ankles have the advantage of being as close as possible to a human step. In fact, blocked ankles lead to walking which would suffer from a lack of fluidity and exaggerated stress on the other joints of the musculoskeletal system. In addition, wanting to reproduce human walking requires having at least six active degrees of freedom per leg.
    权利要求:
    Claims (4)
    [1" id="c-fr-0001]
    1. Device for assisting the movement of a user (11), the device (10) comprising:
    • a chassis (12), • at least three wheels (13) movable in rotation relative to the chassis (12), the at least three wheels defining a substantially flat bearing surface (16) intended to be placed on the ground, the at least three wheels being configured to allow the chassis (12) to move stably, • a seat (14) linked to the chassis (12) and configured to allow the user (11) to sit, • a first anchor (22) linked to the chassis (12) and configured to hold the user (11) at hip level, • a first mechanism (24) configured to move the first anchor (22) so that the user (11) can pass from a seated position to a standing position, • a second and a third anchor (23) linked to the chassis (12) and configured to hold the user (11) each at one of its pegs, • a second mechanism (30) configured to move the second and third anchors (23) so as to simulate a walking movement for the user (11).
    [2" id="c-fr-0002]
    2. Device according to claim 1, wherein the second mechanism (30) is configured to arrange the feet of the user (11) on the bearing surface (16) during movements of walking simulation.
    [3" id="c-fr-0003]
    3. Device according to one of the preceding claims, further comprising a fourth and a fifth anchor (31) linked to the chassis (12) and configured to maintain the user (11) each at one of his knees.
    [4" id="c-fr-0004]
    4. Device according to claims 2 and 3, further comprising a third mechanism (32) configured to move the fourth and fifth anchors (31) in a coordinated manner with the movement of the second and third anchors (23) during a movement of user step (11).
    1/4
    15 13
    类似技术:
    公开号 | 公开日 | 专利标题
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    同族专利:
    公开号 | 公开日
    FR3055798B1|2022-01-14|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20100013276A1|2004-10-12|2010-01-21|Altimate Medical, Inc.|Modular standing frame|
    JP2007014698A|2005-07-11|2007-01-25|Tokyo Univ Of Science|Walking aid device|
    EP2361734A2|2008-10-22|2011-08-31|Industry-University Cooperation Foundation Sogang University|Wheelchair type robot for walking aid|
    WO2014067015A1|2012-11-01|2014-05-08|British Columbia Institute Of Technology|Mobility system including an exoskeleton assembly releasably supported on a wheeled base|
    EP2881008A1|2013-12-09|2015-06-10|Universiteit Twente|Walk training apparatus, and use thereof.|CN110124272A|2019-06-12|2019-08-16|董清河|A kind of Post lumbar surgery rehabilitation exercise device|
    EP3549570A1|2018-04-05|2019-10-09|British Columbia Institute of Technology|Active arm passive leg exercise machine with guided leg movement|
    WO2020159442A1|2019-01-29|2020-08-06|Nanyang Technological University|Mobility aid|
    法律状态:
    2017-08-29| PLFP| Fee payment|Year of fee payment: 2 |
    2018-03-16| PLSC| Publication of the preliminary search report|Effective date: 20180316 |
    2018-09-13| PLFP| Fee payment|Year of fee payment: 3 |
    2019-08-29| PLFP| Fee payment|Year of fee payment: 4 |
    2020-08-26| PLFP| Fee payment|Year of fee payment: 5 |
    2021-08-26| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1658526A|FR3055798B1|2016-09-13|2016-09-13|AID DEVICE FOR THE MOVEMENT OF A USER|
    FR1658526|2016-09-13|FR1658526A| FR3055798B1|2016-09-13|2016-09-13|AID DEVICE FOR THE MOVEMENT OF A USER|
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