ORTHOPEDIC DEVICE INCLUDING AT LEAST ONE STELLORGAN

Description

technical field

[0001] The invention relates to an orthopedic device comprising at least one actuator. The invention relates in particular to such an orthopedic device for a human lower limb.

[0002] An orthopedic device according to the invention is useful for individuals with mild motor impairments (temporary or permanent), such as those with certain neurological conditions, certain osteoarticular disorders, or temporary muscle atrophy. The invention may also be useful for individuals requiring muscle assistance to perform work, particularly what is sometimes referred to as field support.

[0003] Throughout the text, "orthopedic device" means any device intended to support a human limb, and / or to compensate for the functional deficiencies of a human limb, or, possibly, any device intended to at least partially replace a human limb. State of the art

[0004] We know of so-called active leg orthoses that allow for partial motorization of the flexion and / or extension of a leg.

[0005] WO 2016 / 171548 describes, for example, a prosthetic actuator comprising a hydraulic or pneumatic cylinder connected to an upper and a lower part of a leg, an automatic valve, an energy accumulator and a displacement detection sensor.

[0006] Known orthopedic devices are generally heavy and bulky, with the mass and volume of such devices often being poorly distributed over the user's body.

[0007] Such orthopedic devices do not feature custom-made orthoses and do not adapt to the disability and morphology of the user.

[0008] Such orthopedic devices are also expensive and remain accessible only to an elite few or certain specialized rehabilitation centers. Thus, the need for personalized, daily assistance, rehabilitation, and / or support through active orthopedic devices remains poorly addressed in humans today, despite growing demand.

[0009] The invention aims to overcome all of these drawbacks.

[0010] The invention aims to provide a minimally invasive and ergonomic (lightweight and compact) orthopedic device according to the invention for a user.

[0011] The invention also aims to provide a certain balance in the distribution of the mass and volume of the orthopedic device on the body in order to make it comfortable for the user.

[0012] The invention also aims to provide such an orthopedic device that is particularly discreet when worn by a user.

[0013] The invention also aims to provide such a tailor-made orthopedic device, adapted to the user's disability and morphology.

[0014] The invention also aims to provide such an orthopedic device at a limited cost in order to make it accessible to the greatest number of people and for daily use.

[0015] The invention also aims to provide such an orthopedic device useful for users of varying ages and with a wide variety of pathologies or needs for motor assistance and resistance.

[0016] An unclaimed aspect of the invention relates to a method of implementing such an orthopedic device.

[0017] US documents 2020 / 069441 A1, US 10 517 788 B2, US 2019 / 070061 A1, US 2015 / 226234 A1 and US 2014 / 358053 A1 illustrate the prior art for an orthopedic device according to claim 1. Description of the invention

[0018] The invention is defined in claim 1 and relates to an orthopedic device, in particular for a human lower limb, comprising: at least one portion, called the upper exoskeleton, adapted to form a support in contact with a first part of the human body, at least one portion, called the lower exoskeleton, adapted to form a support in contact with a second part of the human body, an actuator, called the receiver actuator, comprising: o a pivot connecting member having at least one pivot axis, said upper exoskeleton and said lower exoskeleton being articulated to each other by said pivot connecting member, o a receiver transmission device adapted to be able to transmit a movement to the pivot connecting member, and o at least one first hydraulic cylinder, called the first receiver cylinder, coupled to the receiver transmission device to be able to rotate the pivot connecting member, an actuator, called the transmitter actuator, comprising: o a motor device, and o two hydraulic cylinders,said respectively first transmitter cylinder and second transmitter cylinder, each comprising a piston and an associated cylinder, and two hydraulic conduits for guiding pressurized fluid respectively connected to the first transmitter cylinder and the second transmitter cylinder, and adapted to allow hydraulic transmission of motion from the transmitter actuator to the receiver actuator, , The motor device is coupled to the screw / nut type transmitter transmission device, a rotor of the motor device being coupled to the screw of the transmitter transmission device, this screw cooperating with the thread of a nut mechanically connected to the respective pistons of the first hydraulic transmitter cylinder and the second hydraulic transmitter cylinder; and the first transmitter cylinder and the second transmitter cylinder are installed in opposition by being mechanically connected to the nut of the transmitter transmission device such that when said nut moves in translation by the rotational action of the screw of the transmitter transmission device the piston of the first transmitter cylinder enters the associated cylinder and the piston of the second hydraulic transmitter cylinder exits the associated cylinder, and vice versa.

[0019] An orthopedic device according to the invention thus allows, notably through the use of such a hydraulic conduit for guiding pressurized fluid, the remote positioning of the transmitting actuator relative to the receiving actuator, that is, the power unit of the orthopedic device relative to a human joint such as the knee, ankle, or hip. This reduces the mass of the orthopedic device borne by the user at the lower limb itself, as well as its size (volume). Indeed, it is thus possible to position the assembly formed by the transmitting actuator not at the lower limb but, for example, on the belt or in a backpack worn by the user. The inventors observed that this improves the user's sense of balance and comfort, making their movements easier and more natural.

[0020] The electro-hydraulic mechanism comprising the assembly formed by said receiving actuator, said transmitting actuator and said at least one pressurized fluid guide conduit is adapted to be able to connect mechanically with different designs of said upper exoskeleton and lower exoskeleton.

[0021] In the case where the orthopedic device is a knee orthosis, the upper exoskeleton may be positioned at least partially around the thigh of said limb and the lower exoskeleton may be positioned at least partially around the calf of said limb.

[0022] According to certain embodiments, the orthopedic device according to the invention is an orthosis, in particular an orthosis intended for use in equipping a user's leg to assist the knee joint. The orthopedic device according to the invention can thus assist the flexion and extension movements of a leg.

[0023] In certain embodiments, the lower exoskeleton further comprises a portion, referred to as the plantar portion, adapted to receive at least part of the sole of the foot. Thus, the lower exoskeleton can be designed so as to make the orthopedic device completely or partially grounded, the mass of the orthopedic device then being completely or partially self-supporting.

[0024] According to certain embodiments, the orthopedic device according to the invention can be adapted to equip an existing orthosis, the existing orthosis then forming the upper exoskeleton and / or the lower exoskeleton. The orthopedic device according to the invention can therefore be adapted to such an orthosis, or even to a prosthesis.

[0025] In some embodiments, the first emitter cylinder of the emitter actuator is a single-acting cylinder. In some embodiments, the first emitter cylinder of the emitter actuator is a double-acting cylinder.

[0026] In some embodiments, the second actuator transmitter of the actuator transmitter is a single-acting actuator. In some embodiments, the second actuator transmitter of the actuator transmitter is a double-acting actuator.

[0027] Each transmitting actuator includes at least one mechanical energy generating motor device, which can be of different kinds: for example an electric motor and / or a hydraulic motor and / or a pneumatic motor, etc.

[0028] In some embodiments, the motor device of the actuator emitter is an electric motor. This may be, for example, an electric motor powered by an electrical energy storage device, such as an electric battery, in particular a rechargeable electric battery.

[0029] According to some embodiments, said receiving actuator includes a second hydraulic cylinder, called second receiving cylinder, the first receiving cylinder and said second receiving cylinder being respectively connected to each of the two hydraulic conduits for guiding pressurized fluid.

[0030] In some embodiments, the first receiving cylinder of the receiving actuator is a single-acting cylinder. In some embodiments, the first receiving cylinder of the receiving actuator is a double-acting cylinder.

[0031] In some embodiments, the second receiving cylinder of the receiving actuator is a single-acting cylinder. In some embodiments, the second receiving cylinder of the receiving actuator is a double-acting cylinder.

[0032] According to some embodiments, said receiving transmission device is chosen from the group of mechanical transmissions adapted to be able to transform a translational movement transmitted by the receiving actuator into a rotational movement of the pivot linking member.

[0033] According to certain embodiments, said receiving transmission device is chosen from the group consisting of mechanical cable and / or belt transmissions, connecting rod / crank type transmissions and rack and pinion type mechanical transmissions.

[0034] The pivot joint has at least one axis of rotation, referred to as the pivot axis. This pivot joint may have one or more axes of rotation (monocentric or polycentric axes). In certain embodiments, the pivot joint is polycentric. Such a polycentric pivot joint allows for a better reproduction of knee kinematics, for example, and thus contributes to improving the ergonomics of the orthopedic device according to the invention.

[0035] According to certain embodiments, said pivot linkage member comprises a toothed wheel fixed to a lever connected to said lower exoskeleton. Said lever may be in the form of a bar having several curved and / or straight portions juxtaposed with each other.

[0036] In some embodiments, the lever of said pivot joint is adapted to allow rotation of at least two portions of said metal bar relative to each other about an axis orthogonal to said pivot axis. Thus, said joint may also have one or more degrees of out-of-plane adjustment to better suit the user's gait.

[0037] As will be understood, the orthopedic device according to the invention comprises two hydraulic conduits for guiding pressurized fluid, in particular each conduit being connected to a cylinder of each actuator. Each hydraulic conduit for guiding pressurized fluid allows the transmission of motion from a transmitting cylinder to a receiving cylinder.

[0038] According to some embodiments, an orthopedic device according to the invention comprises at least one sensor selected from the group consisting of accelerometers, position sensors, pressure sensors, torque sensors, force sensors and deformation sensors.

[0039] According to certain embodiments, an orthopedic device according to the invention further comprises an electronic unit for defining a command to be applied to the pivot joint and a human-machine interface to allow a user to define operating parameters of the orthopedic device. The human-machine interface may include any type of display screen. The human-machine interface allows a user to define the operating parameters of the orthopedic device but also to display certain biomarkers characteristic of human biokinematics; for example, for the lower limbs: type and number of cycles performed (walking, climbing stairs, sitting / standing), mechanical power developed; for example, for walking in particular: stride length, contact time, double contact time, flight time, number of steps, distance covered, speed, etc.The electronic unit includes an electrical energy storage device, such as an electric battery, by which it is powered.

[0040] Each sensor is designed to transmit data representative of the orthopedic device's operation to the electronic unit. The orthopedic device's operation is controlled by feedback loops that take into account this data as well as the parameters selected by the user via the human-machine interface.

[0041] The human-machine interface may also include a connection unit to at least one digital data communication link with at least one remote server.

[0042] According to some embodiments, the pivot linkage member may include a toothed wheel and a lever which is connected to the lower exoskeleton and which is in the form of a bar having several curved and / or straight portions juxtaposed together, said pivot linkage member being adapted to allow a rotation of at least two portions of said metal bar relative to each other around an axis orthogonal to the pivot axis of the pivot linkage member so that said pivot linkage member may have one or more degrees of out-of-plane adjustment to adapt to the gait of a user.

[0043] According to some embodiments, the pivot connecting member can be a polycentric pivot connecting member.

[0044] According to some embodiments, the polycentric pivot connecting organ can be adapted to the kinematics of a joint between the first and second parts of the human body against which the upper and lower exoskeletons can rest.

[0045] According to some embodiments, the orthopedic device may further include a backpack in which the transmitting actuator is installed.

[0046] According to some embodiments, each exoskeleton of said orthopedic device is formed of at least one material chosen from the group consisting of polymer materials, composite materials, and mixtures thereof.

[0047] According to some embodiments, each exoskeleton of said orthopedic device is formed of at least one composite material comprising at least one reinforcement in the form of fibers and at least one polymer material within which the fibers extend.

[0048] An unclaimed aspect of the invention also relates to a method of implementing such an orthopedic device, in particular, a method of implementing such an orthopedic device in which: The upper exoskeleton and lower exoskeleton are assembled with the receiver actuator, the upper exoskeleton and lower exoskeleton are placed on a human lower limb so as to equip a user with the receiver actuator of the orthopedic device, the transmitter actuator is installed on the user, the transmitter actuator being connected to the receiver actuator, the electronic unit is started and the human-machine interface is used to select the desired operating parameters.

[0049] According to the invention, the transmitter actuator can be worn by the user of the orthopedic device according to the invention in various ways, allowing the transmitter actuator to be positioned away from the receiver actuator and the joint in question. In some embodiments, the transmitter actuator (as well as the electronic unit) can be installed in a pouch that can be worn around the waist, near the pelvis of the user of the orthopedic device, or in a backpack worn by the user of the orthopedic device, or attached to the user's belt.

[0050] An unclaimed aspect of the invention also relates to a method for manufacturing such an orthopedic device.

[0051] The invention also relates to an orthopedic device characterized, in combination or not, by all or part of the features mentioned above or below. Regardless of the formal presentation given, unless explicitly stated otherwise, the various features mentioned above or below should not be considered as closely or inextricably linked to each other; the invention may relate to only one of these structural or functional features, or only part of these structural or functional features, or only part of one of these structural or functional features, or any grouping, combination or juxtaposition of all or part of these structural or functional features. Brief description of the figures

[0052] Other objects, features and advantages of the invention will become apparent from the following detailed description of certain possible embodiments, given by way of non-limiting example and which refers to the accompanying figures in which: [ Fig. 1 ] represents a schematic view of an orthopedic device according to the invention; [ Fig. 2 [ ] represents a schematic view of an orthopedic device according to the invention (without an exoskeleton). Fig. 3 ] represents a schematic view of an orthopedic device according to the invention (without an exoskeleton), [ Fig. 4 ] THE figures 4a and 4b represent schematic views of a receiver actuator of an orthopedic device according to the invention, [ Fig. 5 ] THE figures 5a and 5b represent schematic views of a receiver actuator of an orthopedic device according to the invention, [ Fig. 6 ] THE figures 6a and 6brepresent schematic views of an actuator emitting an orthopedic device according to an unclaimed embodiment, [ Fig. 7 ] THE figures 7a and 7b represent schematic views of an actuator emitting an orthopedic device according to an unclaimed embodiment, [ Fig. 8 ] represents a schematic view of the control architecture of an orthopedic device according to the invention, [ Fig. 9 ] represents a schematic profile view of a user equipped with an orthopedic device according to the invention. Description of some embodiments

[0053] In the illustrative figures of the invention, given only as a non-limiting example, the proportions are not necessarily respected, and this is solely for the purpose of clarity of the explanation.

[0054] The orthopedic device illustrated in Figures 1 , 2 And 3comprises an upper exoskeleton 2, 4 and a lower exoskeleton 6 articulated to each other by a pivot joint 10. Here, as can be seen on the figure 1 The upper exoskeleton comprises a portion 2 positioned on the upper thigh and a portion 4 surrounding the lower thigh, above the knee. The lower exoskeleton 6 comprises a portion resting on the calf of the lower limb equipped with the orthopedic device.

[0055] The pivot linkage includes a toothed wheel 9 fixed to a lever 8 connected to the lower exoskeleton 6. The lever 8 may be in the form of a bent metal rod or a bar having several curved and / or straight portions juxtaposed together.

[0056] The orthopedic device includes a receiver transmission device 30 adapted to transmit movement and force to the pivot joint 10. The receiver transmission device 30 is as illustrated in figure 1 is of the rack / pinion type.

[0057] The orthopedic device includes a receiver actuator coupled to the receiver transmission device 30 to rotate the pivot joint 10. The receiver actuator comprises a first hydraulic receiver cylinder 20 and a second hydraulic receiver cylinder 24.

[0058] The first hydraulic receiver cylinder 20 drives a first rack 31 in translation, which is meshed with a first gear 34. The second hydraulic receiver cylinder 24 drives a second rack 32 also in translation, which is meshed with the gear 34. The gear 9 of the pivot connecting member 10 is also meshed with the gear 34. The first rack 31 and the second rack 32 extend longitudinally parallel to each other. The receiver transmission device 30 therefore has a double-pinion, double-rack configuration in this case.

[0059] The first hydraulic receiver cylinder 20 and the second hydraulic receiver cylinder 24 are actuated respectively via two pressurized fluid guide lines 42 and 45. These two pressurized fluid guide lines 42 and 45 are supplied by a transmitter actuator 50, which is physically offset from the receiver actuator 30, thus allowing it to be offset from the user's leg and knee. Each hydraulic fluid guide line 42, 45 is connected respectively to the first hydraulic receiver cylinder 20 and the second hydraulic receiver cylinder 24 by a fluid communication port 43 and 46 of each hydraulic receiver cylinder 20, 24, as can be seen in the diagrams. figures 1 to 3 .

[0060] The actuator transmitter 50 comprises a first hydraulic transmitter cylinder 51 and a second hydraulic transmitter cylinder 55 connected to a transmitter transmission device 60 adapted to transmit movement and force to the transmitter cylinders 51 and 55. The transmitter transmission device 60, shown in Figures 1 , 2 And 3 , is of the screw / nut type.

[0061] The actuator transmitter 50 comprises a motor device 70 coupled to the transmission transmitter device 60 in order to drive the hydraulic transmitter cylinders 51, 55. The transmission transmitter device 60, shown in Figures 1 , 2 And 3The mechanism is of the screw / nut type. A rotor of the drive unit 70 is coupled to the screw of the transmitting unit 60. This screw engages with the threads of a nut mechanically connected to the respective pistons of the first hydraulic transmitting cylinder 51 and the second hydraulic transmitting cylinder 55. The first hydraulic transmitting cylinder 51 and the second hydraulic transmitting cylinder 55 are installed in opposition so that when the nut of the transmitting unit 60 moves translationally due to the rotation of the screw of the transmitting unit 60, the piston of the first hydraulic transmitting cylinder 51 retracts into its cylinder and the piston of the second hydraulic transmitting cylinder 55 extends out of its cylinder, and vice versa. Thus, depending on the direction of translation of the nut of the transmitting unit 60, a pressure difference is induced in either the first or second hydraulic transmitting cylinder 55.The first hydraulic actuator 51 and the second hydraulic actuator 55 in turn supply pressurized fluid to the hydraulic fluid guide lines 42 and 45. Each fluid guide line 42, 45 is connected respectively to the first hydraulic actuator 51 and the second hydraulic actuator 55 by a fluid communication port 44, 47 of each actuator 51, 55, as can be seen in the figures. figures 1 to 3 . THE figures 2 And 3 respectively illustrate a flexion and an extension of the leg to which the orthopedic device would be attached.

[0062] In another embodiment of an orthopedic device according to the invention, the receiver actuator, as illustrated in figures 4a and 4bmay include a first hydraulic receiver cylinder 22 and a spring 23. In this case, the orthopedic device comprises only a single fluid guide conduit 48. The transmission device of such a receiver actuator is illustrated in figures 4a and 4b is of the rack and pinion type. The first hydraulic receiver cylinder 22 drives a rack 35, and the spring 23 drives a rack 36. figures 4a and 4b illustrate respectively a flexion and an extension of the leg to which the orthopedic device would be attached. The bold bar in the shape of an inverted T on the figures 4a, 4b connecting the hydraulic receiver cylinder 22, the spring 23 and the connecting member 10 schematically represents a fixed stator-type part connecting these elements of the orthopedic device (in practice, for example, this is a plate to which the upper exoskeleton is also attached).

[0063] In another embodiment of an orthopedic device according to the invention, the receiver actuator, as illustrated in figures 5a and 5b may include a first double-acting hydraulic receiver cylinder 26 and a second double-acting hydraulic receiver cylinder 27. The first hydraulic receiver cylinder 26 and the second hydraulic receiver cylinder 27 are connected to each other by a fluid communication tube 28. The transmission device of such a receiver actuator is illustrated in figures 5a and 5b is of the type comprising a cable 80 connected at one end to the piston of the first hydraulic receiver cylinder 26 and at the other end to the second hydraulic receiver cylinder 27. The figures 5a and 5b respectively illustrate a flexion and an extension of the leg to which the orthopedic device would be attached.

[0064] In an embodiment of an unclaimed orthopedic device, the emitting actuator, as illustrated in figures 6a and 6b(configurations corresponding to flexion and extension), includes a first hydraulic actuator 85, a second hydraulic actuator 86, and a rack and pinion mechanical transmission device 84 comprising two racks 81, 82 driven by a toothed wheel 83 including a motor device driving it in rotation. Each hydraulic actuator 85, 86 is respectively connected to a hydraulic fluid guide 87, 88.

[0065] In another embodiment of an unclaimed orthopedic device, the emitting actuator as illustrated in figures 7a and 7b (configurations corresponding to bending and extension) includes a double-acting cylinder 90 connected to hydraulic fluid guide lines 97, 98, and a screw / nut type transmitter transmission device 92 coupled to a motor device 95.

[0066] According to the invention, the orthopedic device may include sensors 106 such as accelerometers, position sensors, pressure sensors, torque sensors, force sensors or deformation sensors.

[0067] The orthopedic device comprises an electronic unit 100 and a human-machine interface 105. The human-machine interface 105 can include any type of display screen (computer, mobile phone, tablet, etc.) and allows a user to define the operating parameters of the orthopedic device. Sensors and the data transmitted to the electronic unit 100 enable the detection of an intended movement by the user wearing the orthopedic device.

[0068] There figure 8This illustrates the control architecture of an orthopedic device according to the invention. The electronic unit 100 comprises an exoskeleton control unit 101 (i.e., the upper and lower exoskeletons) and a power supply unit 102. The power supply unit 102 provides the electrical energy required by the sensors 106 and the transmitter actuator, schematically represented by box 110. figure 8 , as illustrated by arrow 103. As illustrated by the double arrow in figure 8Between the human / machine interface 105 and the electronic unit 100, the choice of an operating mode, for example, is communicated to the exoskeleton control unit 101 by the human / machine interface 105, and representative data of the operation of the orthopedic device (in particular the measurements taken by the sensors) are transmitted to the human / machine interface 105. The arrow 108 symbolizes the commands given by the exoskeleton control unit 101 to the transmitter actuator schematized by the box 110. And the arrow 107 symbolizes the data sent back by the sensors 106 (or other instruments) to the exoskeleton control unit 101.

[0069] The orthopedic device is controlled by a feedback loop between the actuator's motor and the signals transmitted by the sensors. When the orthopedic device detects an intention to move the leg by the user, a high-level control law in the electronic unit defines a command (a predetermined torque or rotation) to be applied to the pivot joint. A low-level control law in the electronic unit then controls the electrohydraulic mechanism to apply the predefined command to the pivot joint of the orthopedic device.

[0070] In the embodiment of an orthopedic device represented in figures 1 to 3 , for a leg extension movement ( figure 3The motor device 70 rotates counterclockwise, which moves the nut of the transmitter transmission device 60 from the transmitter actuator to the motor device 70. This results in a dual effect on the transmitter cylinders 51 and 55 of the transmitter actuator: a negative relative pressure delta is induced in one while a positive relative pressure delta is induced in the other. The hydraulic fluid guide conduits 42 and 45 transmit the pressure variation to the receiver cylinders 20 and 24, which allow the transmission of a force to the racks 31 and 32 and thus the transmission of a torque to the gears 9 and 34. The lower exoskeleton 6 is driven in rotation around the pivot axis of the pivot linkage in a clockwise direction and thus contributes to the extension of the user's leg.

[0071] In the embodiment of an orthopedic device represented in figures 1 to 3, for a leg flexion movement ( figure 2 The motor device 70 rotates clockwise, which displaces the nut of the transmitter transmission device 60 of the transmitter actuator relative to the motor device 70. This results in a dual effect on the transmitter cylinders 51 and 55 of the transmitter actuator: a positive relative pressure delta is induced in one while a negative relative pressure delta is induced in the other. The hydraulic fluid guide conduits 42 and 45 transmit the pressure variation to the receiver cylinders 20 and 24, which enable the transmission of a force to the racks 31 and 32 and thus the transmission of a torque to the gears 9 and 34. The lower exoskeleton 6 is driven in rotation around the pivot axis of the pivot linkage member 10 in a counterclockwise direction and thus contributes to the flexion of the user's leg.

[0072] There figure 9illustrates an orthopedic device according to the invention fitted to a user. In the illustrated embodiment, the orthopedic device corresponding to the illustrated embodiment in figures 1 to 3 The system equips a user wearing a backpack in which the actuator transmitter is placed. It should be noted that each actuator can be housed in a casing (not shown) to facilitate handling and protect it.

[0073] The portions of the upper exoskeleton 2, 4 and the lower exoskeleton 6 as shown in figure 1They can take many other forms or be positioned to support other parts (alternatively or in combination) of the lower limb. They may include adjustment bands or any other adjustment and / or fastening device to adapt to any body shape. It is also possible to custom-make each portion of the upper exoskeleton 2, 4 and the lower exoskeleton 6 for each user, depending on their specific pathologies or body shape.

[0074] The invention is capable of numerous variations and applications other than those described above. In particular, it is understood that, unless otherwise indicated, the various structural and functional features of each of the embodiments described above should not be considered as combined and / or closely and / or inextricably linked to one another, but rather as mere juxtapositions. Furthermore, the structural and / or functional features of the various embodiments described above may be juxtaposed or combined, in whole or in part, in any different manner.

[0075] In particular, this description is given by way of illustration only. A person skilled in the art may make numerous modifications to it, in addition to the variations mentioned in the description above, without departing from the scope of the invention. An orthopedic device according to the invention may, for example, also be in the form of a hip orthosis or a leg-foot orthosis.

Claims

1. An orthopaedic device comprising: - at least one portion, referred to as upper exoskeleton (2, 4), suitable for forming an abutment in contact with a first part of the human body, - at least one portion, referred to as lower exoskeleton (6), suitable for forming an abutment in contact with a second part of the human body, - an actuator, referred to as receiving actuator, comprising: ∘ a pivot-connection member (10) having at least one pivot axis, said upper exoskeleton and said lower exoskeleton being hinged with respect to one another via said pivot-connection member, ∘ a receiving transmission device (30) designed to be able to transmit a movement to the pivot-connection member, and ∘ at least a first hydraulic cylinder (20), referred to as first receiving cylinder, coupled to the receiving transmission device so as to be able to rotate the pivot-connection member, - an actuator, referred to as emitting actuator (50), comprising: ∘ a motor device (70), ∘ an emitting transmission device (60) of the screw / nut type coupled to the motor device, and ∘ two hydraulic cylinders, referred to respectively as first emitting cylinder (51) and second emitting cylinder (55), each comprising a piston and an associated cylinder, and - two pressurized-fluid-guiding hydraulic lines (42, 45) connected respectively to the first emitting cylinder (51) and to the second emitting cylinder (55), and adapted to allow a hydraulic transmission of movement from the emitting actuator (50) to the receiving actuator, characterized in that: a rotor of the motor device (70) being coupled to the screw of the emitting transmission device (60), this screw cooperating with the tapping of a nut mechanically connected to respective pistons of the first hydraulic emitting cylinder (51) and of the second hydraulic emitting cylinder (55) ; and the first emitting cylinder (51) and the second emitting cylinder (55) are installed in opposition by being mechanically connected to the nut of the emitting transmission device (60) such that when said nut is moved in translation by the rotational action of the screw of the emitting transmission device (60), the piston of the first emitting cylinder (51) enters the associated cylinder and the piston of the second hydraulic emitting cylinder (55) leaves the associated cylinder, and vice versa.

2. The device according to claim 1, wherein the first and second emitting cylinders (51, 55) of the emitting actuator are selected from among single-acting cylinders and double-acting cylinders.

3. The device according to any one of claims 1 and 2, wherein the motor device (70) of the emitting actuator is an electric motor, a hydraulic motor or a pneumatic motor.

4. The device according to any one of claims 1 to 3, wherein the receiving actuator comprises a second cylinder, referred to as second receiving cylinder (24), the first receiving cylinder and said second receiving cylinder being connected respectively to each of the two pressurized-fluid-guiding hydraulic lines (42 ,45).

5. The device according to claim 4, wherein the first and second receiving cylinders (20, 24) of the receiving actuator are single-acting cylinders or double-acting cylinders.

6. The device according to any one of claims 1 to 5, wherein the receiving transmission device (30) is selected from the group formed by mechanical transmissions adapted to be able to transform a translational movement transmitted by the receiving actuator into a rotational movement of the pivot-connection member.

7. The device according to any one of claims 1 to 6, wherein the receiving transmission device (30) is selected from the group formed by cable and / or belt mechanical transmissions, transmissions of the rod-crank type, and mechanical transmissions of the pinion-rack type.

8. The device according to any one of claims 1 to 7, further comprising an electronic unit (100) for defining a command to be applied to the pivot-connection member and a human / machine interface (105) for allowing a user to define operating parameters of the orthopaedic device.

9. The device according to any one of claims 1 to 8, further comprising at least one sensor (106) selected from the group formed by accelerometers, position sensors, pressure sensors, twisting-torque sensors, force sensors and deformation sensors.

10. The device according to any one of claims 1 to 10, wherein the pivot-connection member comprises a toothed wheel and a lever which is connected to the lower exoskeleton and is in the form of a bar having multiple curved and / or straight portions juxtaposed with one another, said pivot-connection member being adapted to allow at least two portions of said metal bar to rotate with respect to one another about an axis orthogonal to the pivot axis of the pivot-connection member (10) such that said pivot-connection member may exhibit one or more degrees of adjustment out of the plane, in order to be able to better adapt to the user's gait.

11. The device according to any one of claims 1 to 10, wherein the pivot-connection member (10) is a polycentric pivot-connection member.

12. The device according to claim 11, wherein the polycentric pivot-connection member is adapted to the kinematics of a joint between the first part and the second part of the human body in contact with which the upper exoskeleton (2, 4) and the lower exoskeleton (6) can rest.

13. The device according to any one of claims 1 to 12, further comprising a backpack in which the emitting actuator is installed.