MOTORIZED DEVICE FOR ASSISTANCE IN WALKING AND METHOD FOR CONTROLLING THIS ASSISTANCE DEVICE WITH AN ELECTRONIC HANDLE

Description

[0001] The invention relates to the field of electronic handles, and more particularly to electronic handles configured to measure one or more components of a force applied thereto and which can be used in particular in robotics for controlling motorized devices. The invention relates in particular to a walking assistance device equipped with such an electronic handle, said device being for example configured so that its movements can be controlled according to the force(s) applied to the handle. The invention also relates to a method for controlling a walking assistance device, said method implementing such an electronic handle. [Prior art]

[0002] Electronic handles are used for many applications in everyday life and industry. For example, they can be used to control robotic devices such as robotic arms or mobile motorized devices.

[0003] Several types of electronic handles have been developed that are capable of determining the forces applied to the handle according to one or more degrees of freedom of translational or rotational movement. For this purpose, electronic handles generally include force sensors such as position, torque, force or pressure sensors. Force sensors have been widely used because, on the one hand, they allow direct measurement of the user's movement intention and, on the other hand, they offer a user-friendly and intuitive way to control the robot or mobile device.

[0004] The global aging population is growing rapidly, and the percentage of older adults is expected to increase from 10% in 2000 to 24% by 2030 (Shishehgar et al. A systematic review of research into how robotic technology can help older people. Smart Health. Volumes 7-8, June 2018, Pages 1-18). This will increase the already high care needs of older adults, particularly in countries such as Japan, the United States, Canada, Australia, and Europe. However, walking speed is a significant marker of the adverse consequences of aging, and it has been shown that the risk of mortality was increased by 90% in adults whose walking speed had significantly decreased within just two years, while reduced walking speed could also predict future hospitalization and disability (White DK et al.Trajectories of gait speed predict mortality in well-functioning older adults: the Health, Aging and Body Composition study. J Gerontol A Biol Sci Med Sci. 2013. April;68(4):456-64.).

[0005] The care of a person with walking and balance disorders is then carried out in three parts: rehabilitation, adaptation of the living space and the use of technical aids. Walking assistance devices or technical aids for walking allow a person with walking and / or balance disorders to regain a certain autonomy. These disorders have varied origins and can affect all ages, but are common in the context of physiological aging.

[0006] However, technical walking aids (e.g., canes, walking frames, rollators) are still rudimentary. Their misuse or even lack of use, and the worsening of disorders, leads to wheelchair use. An alternative is the use of robotic technical walking aids, which, through their motorization and the interpretation of sensor data, facilitate and secure use.

[0007] As soon as the assistance is motorized, it is necessary to act on the motors to control the technical walking aid. One way to create a Human-Machine Interface is the button box. Activating functions through a button box, however simple it may be, is an additional task that is difficult to perform, especially in conjunction with walking, for frail elderly people.

[0008] However, walking aids systematically include handles on which users lean to maintain their balance. The handles are therefore naturally the elements of the robot in contact with its user. However, the information collected during hand-handle contact can be used to control the robot, the electronic handles thus becoming Human-Machine interfaces.

[0009] Based on this concept, walking assistance devices equipped with electronic handles containing unidirectional force sensors (along the length of the handle) using FSR technology (Force Sensing Resistors) have been proposed (AC Morris et al. A robotic walker that provides guidance, in: Proceedings of the 2003 IEEE Conference on Robotics and Automation, 2003, pp. 25-30; F. Shi et al. Based on force sensing-controlled human-machine interaction system for walking assistant robot, in: Proceedings of the 8th World Congress on Intelligent Control and Automation, Jinan, China, 2010, pp. 6528-6533).

[0010] Potentiometers have also been proposed to determine the intended direction of movement (A. J. Rentschler et al. Clinical evaluation of Guido robotic walker, Journal of Rehabilitation Research and Development 45(9) (2008) 1281-1294) and strain gauge type force sensors to instrument the handles of walkers (A. Frizera-Neto et al. Empowering and Assisting Natural Human Mobility: The Simbiosis Walker, Int J Adv Robotic Sy, 2011, Vol. 8, No. 3, Special Issue Assistive Robotics; W. Zhou et al. An intent-based control approach for an intelligent mobility aids, in: Second International Asia Conference on Informatics in Control, Automation and Robotics, 2010, pp. 54-58). However, the force or force sensors used so far in these electronic handles are expensive devices.

[0011] CN106166370 describes a walking assistance device comprising a motor and an electronic handle being arranged so as to allow the measurement of at least two components of a force applied to it.

[0012] Thus, there is a need for an electronic handle capable of detecting the application of a force greater than 15 newtons while not incorporating the expensive and bulky sensors of the prior art. [Technical problem]

[0013] The invention therefore aims to remedy the drawbacks of the prior art. In particular, the invention aims to propose an electronic handle capable of measuring at least one component of a force applied to it and this from a simple, robust and inexpensive measuring component.

[0014] The invention further aims to provide a walking assistance device incorporating such a handle, said walking assistance device being able to be controlled intuitively from the data generated by the electronic handle. Furthermore, the invention aims to provide a method for controlling such a walking assistance device from the generated data. [Brief description of the invention]

[0015] For this purpose, the invention relates to a walking assistance apparatus according to claim 1 and a method for controlling such a walking assistance apparatus according to claim 14.

[0016] Other advantages and characteristics of the invention will appear on reading the following description given by way of illustrative and non-limiting example, with reference to the appended Figures: There figure 1represents an illustration of a perspective view of an electronic handle not forming part of the invention. The outer casing has been made transparent so as to allow a view of the interior of the handle. The figure 2 represents an illustration of a side view of a longitudinal section along a z axis of a not forming part of the invention. The figure 3 represents an illustration of a top view of a longitudinal section along a y axis of a handle not forming part of the invention. The figure 4 represents a curve of light intensity received by the receiver of a photoelectric cell as a function of the movement of a shutter element. The Figure 5 represents an illustration of a perspective view of a handle not forming part of the invention. The outer casing has been omitted. The figure 6represents an illustration of a side view of a longitudinal section along a z axis of a handle not forming part of the invention. The figure 7 represents an illustration of a front view of the central part of a handle according to the invention. The figure 8 represents an illustrative diagram of a method not forming part of the invention. The figure 9 represents an illustrative diagram of a method according to an embodiment of the invention in which an electronic handle comprises two photoelectric cells.

[0017] Aspects of the present invention are described with reference to flowcharts and / or functional diagrams of methods or apparatuses (systems) according to embodiments of the invention.

[0018] In the figures, flowcharts and block diagrams illustrate the architecture, functionality, and operation of possible implementations of systems and methods according to various embodiments of the present invention. In this regard, each block in the flowcharts or block diagrams may represent a system, device, module, or code, which includes one or more executable instructions for implementing the specified logical function(s). [Description of the invention]

[0019] In the remainder of the description, the expression " electronic handle » corresponds for example to a device for supporting the weight of a user, arranged to accommodate a hand of said user and comprising within it one or more sensors arranged so as to allow a force to be measured.

[0020] The term " Strength" within the meaning of the invention corresponds to a mechanical action exerted by a user on a surface and in particular on the electronic handle. Thus, a " applied force » corresponds in the sense of the invention to a user exerting pressure on the outer surface of said electronic handle.

[0021] The expression " component of a force » corresponds to a projection of a mechanical action in one direction. A « first component » corresponds for example to a projection of a force along a Z axis represented by an axis orthogonal to the longitudinal axis of the electronic handle. A « second component » thus corresponds to a projection of a force along an X axis, corresponding to the longitudinal axis of the electronic handle, notably represented in connection with the figure 1. In the context of the present invention, at least one component of a force is considered, preferably at least two components are considered and more preferably only two components of a force are considered.

[0022] The term " fixed " corresponds to the joining of two separate entities to each other. Thus, two entities can have a removable or non-removable attachment.

[0023] The term " removable » corresponds according to the invention to the ability to be detached, removed or dismantled easily without having to destroy the fixing means either because there is no fixing means or because the fixing means are easily and quickly removable (e.g. notch, screw, tab, lug, clips). For example, by removable, it should be understood that the object is not fixed by welding or by another means not provided to allow the object to be detached.

[0024] A fixation " non-removable » corresponds according to the invention to the capacity not to be detached, removed or dismantled without having to destroy the fixing means either because there is no fixing means or because the fixing means are not easily and quickly removable. For example, by non-removable, it is necessary to understand that the object is fixed by welding or more generally by any irreversible means of securing.

[0025] The term " tubular » corresponds to a substantially elongated element forming a conduit whose light is enclosed by a wall of said conduit. Such a light thus designates a hollow interior space circumscribed by the wall of the conduit.

[0026] When the term " significantly» is associated with a particular value, it is understood to mean a value varying by less than 30% from the compared value, preferably by less than 20%, even more preferably by less than 10%. When substantially identical is used to compare shapes then the vectorized shape varies by less than 30% from the compared vectorized shape, preferably by less than 20%, even more preferably by less than 10%.

[0027] By "we mean polymer ", either a copolymer or a homopolymer. A "copolymer" is a polymer that groups together several different monomer units and a "homopolymer" is a polymer that groups together identical monomer units. A polymer can, for example, be a thermoplastic or thermosetting polymer.

[0028] By "we mean thermoplastic polymer " Or " thermoplastic", a polymer that can be repeatedly softened or melted under the action of heat and which adopts new shapes by the application of heat and pressure. Examples of thermoplastics are, for example: high-density polyethylene (HDPE), polyethylene terephthalate (PET), polyvinyl chloride (PVC), polystyrene (PS) or acrylonitrile butadiene styrene (ABS).

[0029] By "we mean thermosetting polymer »_a plastic material that irreversibly transforms through polymerization into an insoluble polymer network. Once the shape of the thermosetting polymer is fixed and cooled, it can no longer be changed by the action of heat. Thermosetting polymers are, for example: unsaturated polyesters, polyimides, polyurethanes or vinyl esters which can be epoxy or phenolic.

[0030] By "we mean couple" within the meaning of the invention, connected, directly or indirectly with one or more intermediate elements. Two elements can be coupled mechanically, electrically or linked by a communication channel.

[0031] By "we mean to treat ", " calculate ", " execute ", " determine ", " display ", "extract ", " compare » or more broadly « executable operation", within the meaning of the invention, an action performed by a device or processor unless the context indicates otherwise. In this regard, operations refer to actions and / or processes of a data processing system, for example a computer system or an electronic computing device, which manipulates and transforms data represented as physical (electronic) quantities in the memories of the computer system or other devices for storing, transmitting or displaying information. These operations may be based on applications or software.

[0032] The terms or expressions " application ", " software ", " program code ", And " executable code» means any expression, code or notation, of a set of instructions intended to cause data processing to perform a particular function directly or indirectly (e.g. after a conversion operation to other code). Examples of program code may include, but are not limited to, a subroutine, a function, an executable application, source code, object code, a library and / or any other sequence of instructions designed for execution on a computer system.

[0033] For the purposes of the invention, the term “ processor» means at least one hardware circuit configured to execute instructions contained in the program code. The hardware circuit may be an integrated circuit. Examples of a processor include, but are not limited to, a central processing unit (CPU), an array processor, a vector processor, a digital signal processor (DSP), a field-programmable gate array (FPGA), a programmable logic array (PLA), an application-specific integrated circuit (ASIC), a programmable logic circuit, and a controller.

[0034] The expression " human-machine interface " within the meaning of the invention corresponds to any element allowing a human being to communicate with an electronic device.

[0035] By "we mean motorized " within the meaning of the invention, an apparatus or device equipped with any known suitable means (e.g. motor) making it possible to generate a movement of all or part of the device with which said means is associated.

[0036] In the remainder of the description, the same references are used to designate the same elements.

[0037] Electronic handles dedicated to analyzing the forces they undergo are generally equipped with force sensors, torque sensors, pressure sensors, strain gauges, piezoelectric technology or even simple button sensors.

[0038] In particular, these handles are integrated into walking assistance devices and can be used to control movement. However, such sensors are generally too expensive, fragile and / or imprecise.

[0039] The present invention proposes to overcome this by using handles capable of detecting forces as low as 15 N, or approximately 1.5 kg, using inexpensive and robust sensors. In addition, the sensitivity of the electronic handles according to the invention can be further improved depending on the materials and arrangements used to achieve a sensitivity of less than 10 N or even less than 1 N.

[0040] Furthermore, the electronic handles according to the invention do not exhibit measurement drift over time and do not require, unlike other sensors such as strain gauges, recurring recalibrations.

[0041] To measure these forces, a coupling between a photoelectric cell and a shutter element is used. A photoelectric cell can in particular correspond to a sensor consisting of an infrared emitter and a receiver placed opposite it. The emission zone is therefore a line of infrared light. When a shutter element such as a flag penetrates between the emitter and the receiver, the quantity of light received by the receiver is increasingly weak. The measurement of the current at the sensor output is proportional to the quantity of light measured and therefore to the penetration distance of the flag. This distance can then be related to the force, applied to the handle, which caused the movement.Thus, electronic handles according to the invention will comprise an element capable of undergoing elastic deformation proportional to the force applied to the handle; such an element could, for example, correspond to a part of a central part of the electronic handle or to at least a part of the outer casing of the handle.

[0042] The electronic handles according to the invention can then be used to control one or more motors, such as motors of a motorized device such as a walking assistance device.

[0043] Thus, according to a first aspect, the invention relates to an electronic handle 1 arranged so as to allow the measurement of at least one component of a force applied to it. As illustrated in the figure 1 and the figure 2 , a handle according to the invention comprises a central part 10 and an outer casing 20.

[0044] The central piece 10of an electronic handle 1 according to the invention may have a substantially cylindrical shape. However, as can be seen in the illustration of the figure 1 , preferably, the central part comprises at least one portion having a section comprising an edge. For example, it has a polygon-shaped section.

[0045] The central part 10 is made of a material preferably having a Young's modulus of at least 60 GPa, for example a Young's modulus of at least 175 GPa, preferably at least 200 GPa. This makes it possible to give the central part 10 a rigidity suitable for its use in the electronic handle according to the invention. The central part 10 may be made of metal, a metal alloy, a polymer or a composite assembly. Preferably, the central part 10 is made of stainless steel.

[0046] The central part 10 preferably has a minimum length of 300 mm and a maximum length of 500 mm.

[0047] The outer envelope 20 of an electronic handle 1 according to the invention may have a substantially tubular shape, preferably tubular. It may comprise at least one portion having a section comprising an edge. However, preferably, it has a section of substantially ellipsoidal shape and more preferably substantially circular. The outer casing 20 is made with a material preferably having a Young's modulus of less than 200 GPa, more preferably less than 150 GPa and even more preferably less than 100 GPa. Such a constitution and the existence of elasticity at the level of the outer casing 20 makes it possible to improve the performance of the electronic handle according to the invention.

[0048] The outer shell 20 may be made of metal, a metal alloy, a polymer, or a composite assembly. Preferably, the outer shell 20 is made of aluminum. More preferably, the outer shell 20 is made of polymer or a composite assembly.

[0049] The outer casing 20 preferably has a minimum length of 100 mm and a maximum length of 500 mm. Furthermore, the outer casing 20 may have an outer diameter of between 20 mm and 50 mm and a wall thickness of between 1 mm and 3 mm.

[0050] In one embodiment, the outer casing 20 is arranged so as to be able, under the effect of a force comprising a vertical component, to move at least one tenth of a millimeter in translation relative to an axis orthogonal to a longitudinal axis of the central part 10.

[0051] In another embodiment and preferably, the outer casing 20 is arranged so as not to move vertically relative to the central part 10 under the effect of a power force adapted to the control of a motorized device such as a walking assistance device. In particular, in this case, the central part may also be arranged so that at least a portion of the central part can, under the effect of a force comprising a vertical component, move at least one tenth of a millimeter in translation relative to an axis orthogonal to a longitudinal axis of the central part 10. Preferably, the central part will comprise zones capable of deforming under the effect of a power force adapted to the control of a motorized device causing the movement of a portion of the central part relative to another portion of the central part.

[0052] A displacement of at least one tenth of a millimeter may preferably correspond to a displacement of at least 0.10 millimeters to 1 millimeter.

[0053] Furthermore, the outer casing 20 may be arranged so as to be able, under the effect of a force comprising a horizontal component, to move at least one tenth of a millimeter in translation relative to a longitudinal axis of the central part 10.

[0054] The central part 10 may also be arranged so that at least a portion of the central part can, under the effect of a force comprising a horizontal component, move at least one tenth of a millimeter in translation relative to a longitudinal axis of the central part 10.

[0055] This is possible in particular in the absence of direct fixing between the outer casing and the central part. In addition, the presence of joints capable of elastic deformations or even an arrangement of the central part also allow such translations. As will be detailed later, fixing elements passing through housings made in free ends 16-1, 16-2 of embedded beams 11-2, 11-3 of the central part 10 can also be used to couple the outer casing 20 and the central part 10.

[0056] An electronic handle 1 according to the invention comprises a first photoelectric cell 30 .

[0057] Photoelectric cells are electronic devices that generally include a light-emitting diode capable of emitting light pulses, usually in the near infrared (e.g., 850 nm to 950 nm). This light is received or not by a photodiode or phototransistor depending on the presence or absence of an object in the path of the light pulses. The photoelectric current created can be amplified and then analyzed.

[0058] Within the scope of the invention, a photoelectric cell may be selected from a through-beam, reflex, or proximity type photoelectric cell. In addition, optical fibers may be used to modify the arrangement of the photoelectric cells within the scope of the invention.

[0059] In the context of the invention, a photoelectric cell is preferably a barrier type photoelectric cell for which the barrier is constituted by the shutter element 40.

[0060] Such photoelectric cells can generally be inexpensive but robust compared to commonly used sensors.

[0061] The first photoelectric cell 30 comprises a first diode 31 capable of emitting a light beam. The diode of a photoelectric cell according to the invention may correspond to an infrared diode.

[0062] Furthermore, the first photoelectric cell 30 comprises a first receiver 32 arranged to receive the light beam emitted by the first diode. Preferably and as illustrated in figure 1 , the light beam emitted by the first diode is directed directly towards the first receiver 32.

[0063] The first photoelectric cell 30 is configured to generate a current of intensity or voltage proportional to a quantity of photons received by the first receiver 32. In particular, it is the first receiver 32 which, as a light transducer, will generate a modification of an electric current in response to the light beam incident on its surface. The first receiver 32 may, for example, be a photoconductor, a photodiode or a phototransistor.

[0064] Preferably, a photoelectric cell according to the invention is configured to generate an electric current whose intensity or voltage will be proportional to the quantity of photons received by the receiver.

[0065] In addition, the electronic handle 1 has a first sealing element 40which is capable of, or arranged so as to, modify the quantity of photons received by the first receiver 32. In particular, this modification of the quantity of photons received is a function of the position of the first shutter element 40 relative to the first photoelectric cell 30.

[0066] A closure element 40 within the meaning of the invention may be made of metal, a metal alloy, polymer or a composite assembly. Preferably, the closure element 40 is made of polymer, more preferably thermoplastic polymer.

[0067] The shutter element 40 may comprise a protuberance 41 arranged so as to be positioned between the diode 31 and the receiver 32 of the photoelectric cell 30. The protuberance 41 may be fixed in a removable or non-removable manner to the shutter element 40. Furthermore, in the absence of a protuberance 41, it is the shutter element which is housed between the diode 31 and the receiver 32.

[0068] It is important that the first photoelectric cell 30 and the first shutter element 40 can be movable at least in part relative to each other. Indeed, it is in particular the movement of one relative to the other, preferably of at least a part relative to each other, which will allow a measurement of a component of a force applied to the electronic handle 1 according to the present invention. Alternatively, the first shutter element 40 and the first photoelectric cell 30 are fixed directly or indirectly to parts of the central part and these parts can be movable relative to each other.

[0069] Thus, according to an unclaimed embodiment illustrated in figures 1 or 2, among the first photoelectric cell 30 and the first shutter element 40, one is fixed to the outer casing 20 and the other is fixed to the central part 10. In particular, if one is fixed to the outer casing, it will not be fixed to the central part and vice versa. The figure 2 has for example means 42 for fixing the closure element 40 to the outer casing 20. The fixing is preferably a removable fixing.

[0070] In particular, the positioning of the first photoelectric cell 30 and the first shutter element 40 on the central part or the fixing of the shutter element 40 to the outer casing 20 will be carried out in such a way that a force F1 applied to the electronic handle 1, if it is sufficient to at least partially move the outer casing 20 then it will cause a modification of the quantity of photons received by the first receiver 32. In addition, the position of the first shutter element 40 making it possible to influence the quantity of photons received by the first receiver 32 then, the modification of the quantity of photons received by the first receiver 32 will be correlated, preferably proportional, to a first component of the force having been applied to the electronic handle 1.

[0071] As illustrated in the figure 3, the fixing will be carried out in such a way that a force F2 applied to the electronic handle 1, if it is sufficient to at least partially move the outer casing 20 then it will cause a modification of the quantity of photons received by the first receiver 32. In addition, the position of the first shutter element 40 making it possible to influence the quantity of photons received by the first receiver 32 then, the modification of the quantity of photons received by the first receiver 32 will be correlated, preferably proportional, to a second component of the force having been applied to the electronic handle 1. As illustrated, the handle may comprise an element 70 capable of elastic deformation, for example made of polymer, so as to allow a translation of the outer casing 20 relative to the central part 10.

[0072] The handle may also comprise a central part 10 arranged so that a portion of the central part 10 moves under the action of a force F1 applied to the electronic handle 1, causing a modification of the quantity of photons received by the first receiver 32 and that a portion of the central part 10 moves under the action of a force F2 applied to the electronic handle 1, causing a modification of the quantity of photons received by the second receiver 52.

[0073] Thus, the electronic handle according to the present invention may comprise a sensor of a vertical or horizontal force component passing or not by a measurement of a displacement of the outer casing relative to the central part 10, the displacement being caused by a force comprising a vertical component and / or a horizontal component. Thus, the displacement may concern only a part of the outer casing and may be understood as a deformation of the outer casing. Preferably, the outer casing 20 deforms negligibly and only undergoes a displacement along the horizontal as a function of the force applied to it.

[0074] In a particular embodiment, the electronic handle 1 comprises a fixed horizontal axis, for example made of steel, capable of being connected to a walking assistance device (e.g., a walker) and which serves as a reference. It also comprises an outer casing 20 which can take the form of an outer tube which can move, under the effect of the horizontal component of the force, by a tenth of a millimeter in translation relative to the central axis and which, under the effect of the vertical component of the force, deforms in the sagittal plane like a fixed beam. The measurement of this force can be carried out by a processor, for example, placed in the electronic handle 1 or in the walking assistance device.

[0075] As illustrated in the figure 4, a photoelectric cell as used in the context of the present invention is preferably configured so as to be able to generate an electric current whose intensity or voltage is correlated, preferably proportional, to the position of a shutter element. Thus, the modification of the quantity of photons received by the receiver will be proportional to a component of the force having been applied to the electronic handle 1.

[0076] As illustrated in the figure 4 , the relationship between distance and intensity is preferably linear over at least 1 mm.

[0077] As illustrated in the Figure 5 , an electronic handle 1 according to the present invention may also comprise at least one second photoelectric cell 50.

[0078] This second photoelectric cell 50 may share the same characteristics as the first photoelectric cell 30 and in particular its preferred or advantageous characteristics.

[0079] Like the first photoelectric cell, the second photoelectric cell 50 comprises a second diode 51 capable of emitting a light beam. It also comprises a second receiver 52 arranged to receive said light beam. In addition, the shutter element 40 may comprise a second protuberance 61, an example of which will be presented in more detail in connection with the figure 6 .

[0080] Furthermore, the second photoelectric cell 50 is arranged so that a force applied to the electronic handle 1 is capable of causing a modification of the quantity of photons received by the second receiver 52. Generally, the force applied to the electronic handle 1 will be capable of causing a modification of the quantity of photons received by the second receiver 50 if it is capable of at least partially moving the outer casing 20. Advantageously, the modification of the quantity of photons received is proportional to a second component of the force having been applied to the electronic handle 1.

[0081] Thus, the presence of a second photoelectric cell 50 makes it possible to better characterize the force applied to the handle.

[0082] Beyond the ability to measure a second force component, this allows calibration of the electronic handle without manual intervention on the handle and its electronics. Indeed, a 'zero' is obtained when no force is applied to the system and the measured force can correspond to a percentage of displacement of the shutter element, for example, compared to a maximum displacement.

[0083] The photoelectric cells 30, 50 can be attached directly to the central part 10. As illustrated in the Figure 5 , the photoelectric cells 30, 50 can be indirectly attached to the central part 10. In particular, an intermediate element 11 can be used. The intermediate element 11 is attached to the central part while the photoelectric cells 30, 50 are attached to the intermediate element 11. This can make it possible to manufacture a handle according to the invention more quickly and facilitates possible maintenance thereof.

[0084] In addition, an electronic handle 1 may also include a electronic card 80 . Such an electronic card 80 may be configured to measure the output voltage of the photoelectric cell and then transform it into digital data. Advantageously, the electronic card 80 is configured to sample the current measurement on 10 bits, which corresponds to 1024 values. Such sampling allows a measurement resolution of the order of a thousandth of a millimeter.

[0085] In particular, the electronic card 80 is configured to measure an output voltage or current and sample it on at least 4 bits, preferably at least 10 bits.

[0086] Considering the correlation between the output voltage or intensity and the displacement in millimeters of a shutter element relative to a photoelectric cell on the one hand and the correlation between the displacement in millimeters of the outer casing 20 relative to the central part 10 and the force applied on the other hand, the electronic card 80, or an electronic card arranged outside the handle, may be configured to transform the information generated by a photoelectric cell into information on the intensity of the force applied to the electronic handle.

[0087] As presented at the figure 6 , an electronic handle 1 may also comprise a second closing element 60.

[0088] The horizontal and vertical displacement measurements can then be decoupled. A first sensor is used for the deformation of the handle due to a vertical component F1 and a second sensor is used for the horizontal displacement of the handle due to a horizontal component F2. In addition, the presence of the two sensors allows automatic calibration (i.e. without sensor manipulation).

[0089] This second shutter element 60 may share the same characteristics as the first shutter element 40 and in particular its preferred or advantageous characteristics. For example, the second shutter element 60 may comprise a protrusion 61 arranged to cut off the light beam generated by the second diode 51.

[0090] Thus, the second shutter element 60 is capable of modifying the quantity of photons received by the second receiver 52. This modification is in particular a function of its position relative to the second photoelectric cell 50.

[0091] Furthermore, the second closure element 60 may comprise a membrane 62, said membrane 62 being arranged to transmit a displacement of the outer casing 20, for example subjected to a horizontal force component, to a protuberance 61. In particular, the connection with the outer casing 20 may be a strip which deforms according to the force exerted horizontally by the user. On this strip is rigidly fixed a protuberance such as a flag which is used for measurement. The deformed part remaining in its elastic zone, the deformation is proportional to the force. Alternatively, the second closure element 60 and the second photoelectric cell 50 are fixed directly or indirectly on parts of the central part and these parts may be movable relative to each other.Preferably, the central part is arranged so that the second shutter element 60 and the second photoelectric cell 50 are fixed directly or indirectly to parts of the central part which can move independently and parts of the central part to which the first shutter element 40 and the second photoelectric cell 50 are fixed directly or indirectly. Advantageously, the second component of the force will be perpendicular to the first component of the force.

[0092] Thus, the electronic handle 1 may include a sensor for the deformation of the outer casing 20, and more broadly of the handle 1, due to a horizontal component.

[0093] For this, the second photoelectric cell 50 is preferably positioned substantially perpendicularly, preferably perpendicular to the first photoelectric cell 30. More particularly, the axis of a light beam formed by the first photoelectric cell 30 is perpendicular to the light axis formed by the second photoelectric cell 50.

[0094] In one embodiment, when the electronic handle 1 comprises a second photoelectric cell 50 and a second shutter element 60, one is fixed to the outer casing 20 and the other, not being fixed to the outer casing 20, is fixed to the central part 10.

[0095] However, when the electronic handle 1 comprises a second photoelectric cell 50 and a second closing element 60, advantageously one is fixed to the central part 10 and the other, not being fixed to the central part 10, is fixed to a part coupled to the electronic handle. This part may for example correspond to a junction element between the electronic handle and a chassis element.

[0096] Alternatively, as discussed and will be detailed further, the shutter elements and photocells can all be attached to the central part. This attachment can be direct or indirect.

[0097] Generally at least one closure element 40, 60 is attached directly or indirectly to the outer casing 20. This attachment may be a removable or non-removable attachment. Furthermore, in one embodiment, if a closure element is attached to the outer casing 20 then it will not be attached to the central part 10.

[0098] Similarly, at least one photoelectric cell 30, 50 is attached directly or indirectly to the outer casing 20. This attachment may be a removable or non-removable attachment. Furthermore, if a photoelectric cell is attached to the outer casing then it will not be attached to the central part 10.

[0099] Advantageously, the photoelectric cell(s) 30, 50 are fixed to the ends of the outer casing 20. Preferably, they are fixed to the opposite ends of the outer casing 20. In particular, as illustrated in figure 6, the photoelectric cell 30 arranged for a measurement of a vertical force component F1 is preferably positioned in a proximal quartile P of the electronic handle 1 while the photoelectric cell 50 arranged for a measurement of a horizontal force component F2 is preferably positioned in a distal quartile D of the electronic handle 1. This allows an improvement in the precision of the measurements and the sensitivity.

[0100] Advantageously, to facilitate the horizontal movement of the outer casing, linear ball bearings are used and a linear ball guide type part makes it possible to make the connection between the central axis and the outer tube.

[0101] The outer casing may further be covered with an ergonomic shape 21 to facilitate gripping of the electronic handle 1. The ergonomic shape 21 may be made of polymers or any other material.

[0102] Thus, the force applied by a hand to the handle is modeled by a force, F, in the sagittal plane, having a vertical component, F1, and a horizontal component, F2, in the direction of the user's walking. Such an electronic handle makes it possible to ignore the compressions made by the user when using the handle to focus on actions involving a force associated with a given direction.

[0103] Such an electronic handle finds in particular an integrated application in a motorized device. Indeed, an electronic handle 1 according to the invention can be configured to control at least one motor of a motorized device.

[0104] A motorized device may, for example, be a robotic arm, a lifting device, or a walking assistance device or ambulatory device.

[0105] In particular, the electronic handle 1 can be configured to control one or more motors of the motorized device alone or in cooperation with one or more processors that can be positioned outside the electronic handle 1. The motor commands can be calculated at the handle or outside depending in particular on the values ​​of the two force components calculated from the measurements made by the photoelectric cells positioned in the handle. In addition, the motor commands can take into account the values ​​of the force components calculated from the measurements made by the photoelectric cells positioned in a second handle and can also integrate values ​​from other sensors such as a proximity sensor.

[0106] Furthermore, as has been widely described, such an electronic handle 1 is advantageously instrumented with sensors measuring the forces along the length of the handle and perpendicular to the length of the handle in a decorrelated manner.

[0107] Tables 1 and 2 below show a record of the movement of the shutter elements 40,60 as a function of the force applied to the electronic handle 1. Table 1. Record of the displacement of the shutter elements 40,60 as a function of the force applied to the electronic handle 1 consisting of a vertical component. Force (N) Displacement of the first shutter element (mm) Voltage generated by the first photocell (mV) 30 0,05 594,5 60 0,1 642,8 90 0,13 691,5 120 0,17 738,4 150 0,24 786,3 180 0,3 834,3

[0108] Table 1 clearly shows a displacement of the first shutter element and an output voltage of the photoelectric cell having a substantially linear function with respect to the applied force according to a vertical component. On the contrary, the second shutter element is not significantly impacted by a vertical component. This displacement results in a linear modification of the voltage generated by the first photoelectric cell (R 2 < > 0.999 with a first degree equation) while the voltage generated by the second photoelectric cell has a standard deviation of less than 5%. Table 2. Record of the displacement of the shutter elements 40,60 as a function of the force applied to the electronic handle 1 consisting of a horizontal component. Force (N) Displacement of the second shutter element (mm) Voltage generated by the first photocell (mV) Voltage generated by the second photocell (mV) 5 0,01 557,4 760,1 10 0,03 557,8 752,2 15 0,04 557,0 743,6 20 0,05 556,3 735,0 30 0,08 559,5 632,8

[0109] Similarly, table 2 clearly shows a shift in the second shutter elementhaving a substantially linear function with respect to the force applied according to a horizontal component. On the contrary, the displacement of the second shutter element is not significantly impacted by a vertical component. On the contrary, the first shutter element is not significantly impacted by a horizontal component. This displacement results in a linear modification of the voltage generated by the second photoelectric cell (R 2 < > 0.999 with a first degree equation) while the voltage generated by the second photoelectric cell has a standard deviation of less than 1%.

[0110] The presence of two photoelectric cells and their arrangement so that they measure perpendicular direction components allows calibration without manual intervention on the electronic handle and its electronics. Thus constituted, the system, inexpensive, has two advantages over other systems: i) it allows to acquire independent measurements and ii) the measurements are self-calibrated, since a 'zero' can be obtained when no force is applied to the system and the measured applied force can then advantageously correspond to a percentage of displacement of the shutter element compared to a maximum displacement.

[0111] As presented in connection with the figure 7 , an electronic handle 1 according to the present invention is arranged so as to allow the measurement of at least two components of a force applied to it.

[0112] For this, each of the electronic handles 1 advantageously comprises a central part 10 comprising a first photoelectric cell 30, a first shutter element 40, a second photoelectric cell 50 and a second shutter element 60.

[0113] As already partly detailed in connection with the figures 1 to 6 , the shutter elements 40, 60 are arranged so as to be able, depending on their position relative to their respective photoelectric cell 30, 50, to modify the quantity of photons received by the receiver 32, 52.

[0114] In this embodiment, the first photoelectric cell 30 and the first shutter element 40 are arranged so that a force applied to the electronic handle 1 comprising a first component capable of at least partially moving the central part 10, is capable of causing a modification of the quantity of photons received by the first receiver, the modification being proportional to a first component of the force having been applied to the electronic handle 1.

[0115] Furthermore, the second photoelectric cell 50 comprises a second diode 51 capable of emitting a light beam and a second receiver 52 arranged to receive said light beam. The second photoelectric cell 50 is configured to generate a proportional current (voltage or intensity proportional) to a quantity of photons received by the second receiver 52.

[0116] The second shutter element 60 is capable, depending on its position relative to the second photoelectric cell 50, of modifying the quantity of photons received by the second receiver 52.

[0117] Furthermore, the second photoelectric cell 50 and the second shutter element 60 are arranged so that a force applied to the electronic handle 1 comprising a second component capable of at least partially moving the central part 10, is capable of causing a modification of the quantity of photons received by the second receiver 52, said modification being proportional to a second component of the force having been applied to the electronic handle 1.

[0118] It is thus possible to determine at least two components of a force applied to each of the two handles and directly causing a displacement (at least partial deformation) of the central part 10. The two electronic handles 1 can thus be configured to control a motor equipping the walking assistance device according to the values ​​of the two calculated force components.

[0119] By way of non-limiting example, the motor control may generate a movement of a motorized device such as a walking assistance device. Such a control may be subject to the determination of the values ​​of the two components of a force applied and calculated respectively for the two handles.

[0120] In order to allow independence of the measurements between the two components of an applied force F2 (for example horizontal) on each of the electronic handles 1, the latter (and in particular the position of the photoelectric cells and the shutter elements) can be arranged so that the first component of the applied force F2 to the electronic handle 1 is not capable of causing a modification of the quantity of photons received at the level of the second photovoltaic cell 50 but only at the level of the first photovoltaic cell 30.

[0121] Likewise, each of the electronic handles 1 can also be configured so that the force applied F1 to the electronic handle 1, comprising a second component perpendicular to the first component, is not capable of causing a modification of the quantity of photons received at the level of the first photovoltaic cell 30 but only at the level of the second photovoltaic cell 50.

[0122] Furthermore, the central part 10 may comprise an attachment region 10-1 to a motorized device such as a walking assistance device according to the present invention as well as a support region 10-2.

[0123] The attachment region 10-1 may consist of a longitudinal extension of the support region 10-2 and may comprise a plurality of housings, such as for example a plurality of screw threads, adapted to receive fixing elements, such as by way of non-limiting example a plurality of screws, making it possible to connect the electronic handle 10 to the walking assistance device.

[0124] The support region 10-2 is adapted to allow a user to lean on it when the user interacts with the motorized device or the walking assistance device. Thus, in this embodiment, it is the central portion 10 which directly undergoes deformation when a force exerted by the user is applied.

[0125] In order to provide independent measurements in at least two dimensions, i.e. in order to measure at least two components of a force applied to the electronic handle 1 independently, the support region 10-2 of the central part 10 may advantageously comprise at least one embedded beam and a deformation bridge.

[0126] The embedded beam advantageously comprises a embedded end 11-2, 11-3 and a free end 11-1, 11-4. The embedded end 11-2, 11-3 is connected to the central part while the free end 11-1, 11-4 has a degree of freedom allowing a displacement of said free end when a force is applied to the electronic handle 1. Advantageously, the embedded beams are arranged so as to have a degree of freedom when a force F2 is applied according to a first component but not to have a degree of freedom when a force F2 is applied according to a second component perpendicular to the first component.

[0127] As an illustrative example, the free end 11-1, 11-4 may have a degree of freedom along a specific axis such as the axis of one of the components of the applied force. This thus makes it possible to generate a displacement of the free end 11-1, 11-4 only if the applied force has a given non-zero component. For example, the free end 11-1, 11-4 may have a degree of freedom allowing a displacement of said free end along the axis of the second component of the applied force, said second component of the applied force possibly corresponding to a horizontal component F2.

[0128] Preferably, the support region 10-2 of the central part 10 can advantageously comprise at least two embedded beams, preferably arranged at the ends, along a longitudinal axis, of the central part 10.

[0129] Furthermore, a deformation bridge of the central part 10 may comprise a through opening 12 opening onto a recess 13. The through opening 12 is arranged to be able to undergo elastic deformation when a force is applied to the electronic handle 1. More particularly, the volume of the through opening 12 may increase or decrease depending on the application of the force to the electronic handle 1.

[0130] As an illustrative example, the through opening 12 can be arranged so that its volume varies only when a force comprising a particular component is applied. This makes it possible to generate an increase or a decrease in the volume of the through opening 12, by a displacement of the central part 10 and more particularly of the support region 10-2, only if the applied force has a given non-zero component (e.g. vertical component).

[0131] Thus, the increase or decrease in the volume of the through opening 12 can be generated along a specific axis of an applied force, such as the axis of one of the components of the applied force. For example, the through opening 12 can be arranged so as to allow a displacement of the support region 10-2, and therefore an increase or decrease in the volume of the through opening 12 along the axis of the first component of the applied force, said first component of the applied force possibly corresponding to a vertical component F1.

[0132] Advantageously, the second photoelectric cell 50 can be fixed to the central part 10, within a suitable cavity. The second shutter element 60 will in this case be fixed directly to a free end 11-1, 11-4 of a recessed beam. Indeed, the application of a force on the support region 10-2, if it is sufficient, will induce an elastic deformation of the central part 10. Such a deformation can be measured if the second component of the applied force is non-zero, leading to a modification of the quantity of photons received by the second receiver 52. Indeed, the elastic deformation will cause a displacement of the second shutter element 60 fixed to the free end 11-1, 11-4 along the axis of the second component of the applied force, thus blocking all or part of the light beam received by the receiver 52 and generated by the diode 51.

[0133] In order to measure the first component of the force applied to the support region 10-2, the first photoelectric cell 30 and the first shutter element 40 can respectively be positioned on either side of the through opening 12 of the deformation bridge. Indeed, the application of a force to the support region 10-2, if it is sufficient, will induce an elastic deformation of the central part 10. Such a deformation can be measured if the first component of the applied force is non-zero, resulting in a modification of the quantity of photons received by the first receiver 32. Indeed, the elastic deformation will cause a displacement of the first shutter element 40 fixed on the central part 10, more particularly in a suitable housing 14, along the axis of the first component of the applied force, thus blocking all or part of the light beam received by the receiver 32 and generated by the diode 31.

[0134] In order to reduce the weight of the central part 10 and to reduce the occurrence of prestresses at the deformation bridge, the central part 10 may comprise at least two central openings 16-1, 16-2 traversed by a part 15 of the central part, said central openings being positioned between the at least one embedded beam 11-2, 11-3 and the deformation bridge.

[0135] When the central part 10 comprises two embedded beams 11-2, 11-3, the two central openings 16-1, 16-2 are positioned between said embedded beams.

[0136] Such prestresses can generate an elastic deformation of the deformation bridge and potentially a modification of the quantity of photons received by the first receiver 32.

[0137] As described above, each of the electronic handles 1 may comprise an outer casing 20, said outer casing 20 being coupled and / or fixed to the central part 10. Preferably, the outer casing 20 is not fixed to the central part 10 but is only coupled for example by one or more force transmission elements.

[0138] For this, one or more force transmission elements of the outer casing 20 are arranged so as to pass through a housing made in the free end 11-1, 11-4 of the embedded beam 11-2, 11-3. A force transmission element may for example correspond to a screw, a tube, a cylinder, such as a pin connecting the two parts of the outer casing 20 and passing through the central part 10 in housings made in the free end 11-1, 11-4 of the embedded beam 11-2, 11-3.

[0139] Preferably, in the absence of force applied to the electronic handle, the force transmission element is not in direct or indirect contact with the central part. Preferably, the housing made in the free end 11-1, 11-4 of the embedded beam 11-2, 11-3 comprises an element, such as a pin, having a clearance fit. The outer casing 20 preferably transmits the external forces to the central part 10 by the pins passing through the central part in its parts 11-1 and 11-4, having a clearance fit. In particular, the pins may correspond to metal cylinders passing through the central part 10 at the free end 11-1 and 11-4 and being housed in the outer part 20. These pins are advantageously mounted with a clearance so as to rotate freely, they therefore only transmit forces from the outer part to the central part.

[0140] Such a force transmission element makes it possible to avoid torsional forces which can interfere with measurements when a user applies force. Thus, such an arrangement makes it possible to improve the accuracy of the measurement and in particular its linearity.

[0141] The handle may also include a fastening element such as a screw passing through the central part 10 in the cavities 16-1 and 16-2.

[0142] The present invention relates to a motorized device such as 'a walking assistance device, equipped with at least one, preferably at least two, electronic handles 1 according to the invention. Preferably, the walking assistance device can be selected from: a cane, a crutch, a walker, a motorized walker and a motorized chair.

[0143] Furthermore, a walking assistance device according to the invention will be equipped with at least one motor and said motor will be configured so as to be able to be controlled at least in part as a function of a value of a force component calculated by a handle according to the invention. Thus, according to another preferred aspect, the present invention relates to a 100 process control of a walking assistance device.

[0144] A method comprises in particular a calculation of a value of at least one component of a force applied to an electronic handle 1 according to the invention.

[0145] As illustrated in the figure 8 , the method can begin with the emission 110 of a light beam by the first diode 31.

[0146] This light beam, if it is received by the first receiver 32, that is to say that the shutter element 40 has not completely blocked the beam then there will be generation 120 of a first current proportional to a quantity of photons received by the first receiver 32. The method can then comprise a measurement 130 of an intensity or voltage value of the first current. This measurement can for example be carried out by an electronic card 80 then translated into digital information.

[0147] When the first shutter element 40 moves 140 under the effect of a force applied to said electronic handle 1 then it will be able to reduce the quantity of photons received by the first receiver 32.

[0148] Thus, there will be generation 150 of a second proportional current (e.g. of proportional intensity or voltage) to a quantity of photons received by the first receiver 32 then a measurement 160 of an intensity or voltage value of the second current for example by an electronic card.

[0149] The method may then comprise a step 170 of calculating a value of at least one component of an applied force from the intensity or voltage values ​​of the first current and the second current. This calculation may for example be carried out by a processor, preferably coupled to a memory. Step 170 may in particular correspond to the calculation of a difference value between the intensity or voltage values ​​of the first current and the second current, said difference between the intensity or voltage values ​​of the first current and the second current being proportional to a first component of the force having been applied to the electronic handle 1.

[0150] Thus, the method makes it possible to determine a value of two components of a force.

[0151] This value can then be used to control at least one of the motors of the walking assistance device. This control can, for example, be carried out by a control module comprising means arranged and configured to perform this function.

[0152] The command could, for example, include the transmission of a control instruction to a servomotor or a modification of the current value transmitted to a motor.

[0153] The implementation of the invention therefore makes it possible to control a robotic device using simple, robust and inexpensive components.

[0154] Due to these advantages, it is, for example, possible to produce walking assistance devices capable of measuring a user's interaction with the device and deducing movement instructions therefrom. This is possible in particular thanks to the electronic handles according to the invention acting as a human-machine interface between the user and the walking assistance device.

Claims

1. Apparatus for assisting with walking comprising at least one motor, at least one electronic handle (1), the at least one electronic handle (1) being arranged so as to permit the measurement of at least two components of a force being applied thereto, said electronic handle (1) being characterised in that it comprises: - a first photoelectric cell (30), said first photoelectric cell (30) comprising a first diode (31) able to transmit a light beam and a first receiver (32) arranged to receive said light beam, said first photoelectric cell (30) being configured to generate a current proportional to a quantity of photons received by the first receiver (32), and - a first closing element (40) able, in dependence upon its position with respect to the first photoelectric cell (30), to modify the quantity of photons received by the first receiver (32), - the first photoelectric cell (30) and the first closing element (40) being arranged such that the force applied to the electronic handle (1) is able to cause a modification in the quantity of photons received by the first receiver (32), said modification being proportional to a first component (F1) of the force having been applied to the electronic handle (1), - a second photoelectric cell (50) comprising a second diode (51) able to transmit a light beam and a second receiver (52) arranged to receive said light beam, said second photoelectric cell (50) being configured to generate a current proportional to a quantity of photons received by the second receiver (52), - a second closing element (60) able, in dependence upon its position with respect to the second photoelectric cell (50), to modify the quantity of photons received by the second receiver (52), - the second photoelectric cell (50) and the second closing element (60) being arranged such that the force applied to the electronic handle (1) is able to cause a modification in the quantity of photons received by the second receiver (52), said modification being proportional to a second component (F2) of the force having been applied to the electronic handle (1), - a central piece (10) on which the first photoelectric cell (30), the first closing element (40), the second photoelectric cell (50) and the second closing element (60) are fixed, said electronic handle (1) being configured to control said motor in dependence upon the values of the two calculated force components, and arranged such that a force, adapted to the control of the apparatus for assisting with walking, applied to the electronic handle (1) is able to deform, at least in part, the central piece (10).

2. Apparatus for assisting with walking as claimed in claim 1, characterised in that it has two electronic handles (1).

3. Apparatus for assisting with walking as claimed in any one of claims 1 or 2, characterised in that the two components (F1, F2), upon which the modifications in the quantities of photons received by the receivers are dependent, are components having respectively perpendicular directions.

4. Apparatus for assisting with walking as claimed in any one of claims 1 to 3, characterised in that the electronic handle (1) is configured such that the first component (F1) and the second component (F2) of the force applied to the electronic handle (1) are not able to cause a significant modification in the quantity of photons received by the second receiver (52) and by the first receiver (32) respectively.

5. Apparatus for assisting with walking as claimed in any one of claims 1 to 4, characterised in that the central piece (10) comprises at least one fixed bar (11-2, 11-3) comprising a fixed end and a free end (11-1, 11-4), said free end (11-1, 11-4) having a degree of freedom in the direction of the second component (F2) of the applied force.

6. Apparatus for assisting with walking as claimed in claim 5, characterised in that the free end (11-1, 11-4) does not have a degree of freedom in the direction of the first component (F1) of the applied force.

7. Apparatus for assisting with walking as claimed in any one of claims 5 or 6, characterised in that the second photoelectric cell (50) is fixed to the central piece (10), within a suitable cavity and the second closing element (60) is fixed to the free end (11-1, 11-4) of the fixed bar.

8. Apparatus for assisting with walking as claimed in any one of claims 5 to 7, characterised in that the electronic handle (1) comprises an outer sleeve (20) coupled to the central piece (10) via at least one force-transmitting element arranged to pass through a hole formed in the free end (11-1, 11-4) of the at least one fixed bar (11-2, 11-3).

9. Apparatus for assisting with walking as claimed in claim 8, characterised in that the force-transmitting element is arranged not to be in direct or indirect contact with the central piece in the absence of a force applied to the electronic handle (1), preferably the force-transmitting element has a clearance fit with the hole formed in the free end (11-1, 11-4).

10. Apparatus for assisting with walking as claimed in any one of claims 1 to 9, characterised in that the central piece (10) comprises a deformation bridge comprising a through-opening (12) issuing into a recess (13), said through-opening (12) being arranged to be subjected to an elastic deformation in dependence upon the first component (F1) of the applied force.

11. Apparatus for assisting with walking as claimed in claim 10, characterised in that the first photoelectric cell (30) and the first closing element (40) are respectively positioned on either side of the through-opening (12) of the deformation bridge.

12. Apparatus for assisting with walking as claimed in any one of claims 1 to 11, characterised in that the central piece (10) is formed of a material having a Young's modulus greater than or equal to 60 GPa.

13. Apparatus for assisting with walking as claimed in any one of claims 1 to 12, characterised in that said apparatus for assisting with walking is selected from: a motorised walking stick, a motorised crutch, a motorised walker, a walker with a raising function and a motorised wheelchair.

14. Method (100b) for controlling an apparatus for assisting with walking as claimed in any one of claims 1 to 13, said method (100) comprising measuring the values of at least two components of a force applied to an electronic handle (1), said electronic handle (1) comprising a first photoelectric cell (30) comprising a first diode (31) and a first receiver (32), and a first closing element (40) and a second photoelectric cell (50) comprising a second diode (51) and a second receiver (52), and a second closing element (60), said measuring of a value of at least two components of a force applied to said electronic handle comprising the following steps: - transmitting (110b) a light beam by the first diode (31) and the second diode (51), - generating first currents (120b) respectively proportional to a quantity of photons received by the first receiver (32) and second receiver (52) respectively, - measuring (130b) the values of the first currents, - moving (140b) the first closing element (40) and or the second closing element (60) under the effect of a force applied to said electronic handle (1), - generating second currents (150b) proportional to a quantity of photons received by the first receiver (32) and second receiver (52) respectively, - measuring the values of the second currents (160b), and - calculating the values of at least two components (170b) of the force applied to the electronic handle (1) from values of the first currents and second currents; said method (100b) also comprising a step of controlling (180) the at least one motor in dependence upon the calculated values of the at least two components of the force applied to the electronic handle (1).