Robotized walker and associated method for preventing falls

Abstract

The invention relates to a robotized walker (1) comprising a chassis (10) having a front part (10a), a rear part (10b), wheels (11a, 11b, 12) designed to support the rear part (10b) and the front part (10a) of the chassis (10), one of the wheels (11a, 11b, 12) being coupled to a movement motor (20), the robotized walker (1) comprising a control module (40) configured to control the movement motor (20) and to: - determine an indicator of an unintentional movement of a user of the robotized walker (1) liable to lead to a fall, on the basis of values generated by one or more sensors; - identify a position, previous to the given instant, of at least two wheels (11a, 11b, 12); - transmit a command to stop the robotized walker (1); - transmit a command to move the robotized walker (1) so that it regains the previous position.

Description

[0001] The invention relates to the field of walking assistance devices, and more particularly to robotic walkers. The invention relates to a robotic walker arranged and configured to prevent a user from falling, as well as a method for preventing a user from falling using said robotic walker. [Prior art]

[0002] Many humans suffer from gait and balance disorders. These disorders have varied origins and can affect people of all ages, but are common as part of physiological aging. However, the aging global population is increasing rapidly, and the percentage of older people 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). The care needs of older people will therefore increase, while they are already high, particularly in countries such as Japan, the United States, Canada, Australia, and Europe.

[0003] Care for people with walking and balance disorders is based on three components: rehabilitation, adaptation of the living space, and the use of technical aids. Technical walking aids include, for example, canes, walking frames, and rollators. Technical walking aids allow a person with walking and / or balance disorders to regain a certain degree of independence.

[0004] Walkers have been proposed that can passively block the movement of a wheel when the user's position is too far forward relative to the walking aid (CN107693316). In particular, when the user leans on a part of the walker, their weight overcomes the force of a spring, which in turn blocks the wheel or allows a braking element to gradually come into contact with the ground and brake. However, these attempts to improve the stability of walkers remain ineffective. Indeed, such arrangements do not meet the needs of users who face potentially very diverse situations, so that the system may be triggered at the wrong time or worse, not triggered at all. In addition, these walkers can be difficult to use, as they generally require part of the chassis to be lifted to unlock the wheels.

[0005] Motorized walkers have also been proposed capable of determining the speed or acceleration of the robotic walker and then initiating braking when a limit value is exceeded (WO2009026119). Similarly, robotic walkers have been proposed capable of measuring the pressure exerted on antebrachial supports and triggering braking of the walking assistance device when pressure values are determined to be too high or too low (CN107109187). Finally, EP 3 000 456 A1 has been proposed, which discloses the characteristics of the preamble of claim 1, an electric walking assistance device limiting the risks of falls for the elderly, disabled people, patients and other people with walking disabilities.

[0006] These devices can prevent certain falls by blocking the robotic walker following the identification of a risk of falling based on different sensors. However, stopping the walker is not an optimal way to prevent falls in the case of a user suffering from walking and balance disorders. Indeed, it is necessary to have a system which, in addition to reducing the immediate risk of falling, will be able to rebalance the user and strengthen their autonomy so that the user, having just avoided a fall, can resume their movement with a reduced risk of falling. [Technical problem]

[0007] The invention therefore aims to remedy the drawbacks of the prior art. In particular, the invention aims to propose a robotic walker arranged so as to prevent a user from falling and more generally to reduce the risk of falling, preferably while providing the user with control means configured to control the movement of the walker intuitively.

[0008] The invention further aims to propose a method for preventing a fall by a user of a robotic walker. [Brief description of the invention]

[0009] The invention is described in the appended claims. To this end, the invention relates to a robotic walker comprising a chassis having a front part and a rear part, a pair of wheels being arranged to support the rear part of the chassis, and at least one wheel being arranged to support the front part of the chassis, at least one of the wheels being coupled to a movement motor, said robotic walker comprising a control module configured so as to be able to control the movement motor(s), said robotic walker being characterized in that the control module is configured to: Determine, at a given instant, an indicator of an involuntary movement of a user of the robotic walker which may lead to a fall of said user preferably, the indicator of an involuntary movement of a user of the robotic walker being determined from values generated by one or more sensors selected from: a sensor integrated into an electronic handle, a sensor configured to measure the movement of a wheel, a distance sensor configured to measure the distance between the user and the robotic walker or a sensor positioned on the user of the robotic walker;Identifying a previous position at the given instant of at least one of the wheels, preferably at least two wheels; Transmitting to the movement motor a command to stop the robotic walker, preferably for a predetermined stopping time; and Transmitting to the movement motor a command to move the robotic walker so that it returns to the previous position at the identified given instant. ;

[0010] Thus, such a robotic walker helps prevent any risk of the user falling or losing their balance. By identifying an involuntary movement of the user, which may manifest itself in particular by difficulties in gripping, physical difficulties in moving or even physical impairments affecting the notion of balance in a person in rehabilitation or in elderly people, the robotic walker advantageously makes it possible to counterbalance and even help the user suffering from such physical difficulties.

[0011] Indeed, unlike known walkers, a walker according to the invention makes it possible, on the one hand, to reduce the risk of falling by transmitting a stop command to the movement motor, thus allowing the user to use the robotic walker to avoid falling without it moving in an inappropriate direction, and, on the other hand, to compensate for the loss of balance of the user by allowing the wheels of said robotic walker to return to their previous or initial position, that is to say before the detection of the involuntary movement. Advantageously, the decision to return to a previous position is made more quickly than the human reflex, that is to say preferably in less than 50 ms.

[0012] Thus, the robotic walker according to the invention is arranged and configured to compensate for a movement at risk of falling but also to reposition the user in his initial position before the imbalance is detected (i.e. involuntary movement) and this without destabilizing him.

[0013] Depending on other optional features of the robotic walker, it may optionally include one or more of the following features, alone or in combination: the movement control of the robotic walker includes a predetermined duration of return to the previous position at the identified given instant (i.e. instant of measurement of the involuntary movement) allowing the control module to determine a speed of movement of the wheels. This makes it possible to apply a faster or slower speed to the return to position of the wheels and therefore to the rebalancing of the user. Depending on the users, this speed can be configured to be faster or slower so as to provide maximum comfort for each user. As will be detailed later, this predetermined duration of return to the previous position can be determined by supervised or unsupervised learning. the stop control of the robotic walker includes a predetermined immobilization duration allowing the control module to determine a speed of movement of the wheels before they stop. This makes it possible to apply a faster or slower speed to thewheel lock. Depending on the imbalance situation, it will be preferable to apply a sudden stop or a gradual stop. the previous position at the given time corresponds to the position of the wheel(s) at least ten milliseconds before the given time. This allows the restoration of the position of the wheels of the robotic walker to a position previous to the position of the walker at the time of the imbalance detection and thus helps the user to regain balance. the indicator of an involuntary movement of a user of the robotic walker is determined from values generated by one or more sensors selected from: a sensor integrated into an electronic handle, a sensor configured to measure the displacement of a wheel, a distance sensor configured to measure the distance between the user and the robotic walker or a sensor positioned on the user of the robotic walker. The use of one or moresensors make it possible to secure the user and to detect a plurality of imminent falls and in particular to multiply the cases of falls which can be taken into consideration by the robotic walker. the indicator of an involuntary movement of a user of the robotic walker is determined from values generated by a sensor integrated into an electronic handle and a distance sensor configured to measure the distance between the user and the robotic walker. the indicator of an involuntary movement of a user of the robotic walker is determined over a predetermined time interval. Indeed, it is possible to determine risks of falling from values measured instantly but the measurement of a change over several consecutive measurements allows greater sensitivity and better adaptation to different users. the indicator of an involuntary movement of a user of the robotic walker is determined over atime interval between 0.01 ms and 50 ms, preferably between 1 ms and 50 ms, more preferably between 5 ms and 40 ms and even more preferably between 8 ms and 20 ms. Such a duration advantageously makes it possible to quickly detect a risk of an imminent fall and to allow the stopping and correction of the trajectory of the robotic walker in order to compensate for and prevent the user from falling. the indicator of an involuntary movement of a user of the robotic walker is determined from a comparison between a calculated value of variation in the speed of at least one wheel and a threshold value of variation in the speed of at least one wheel. This advantageously makes it possible to define a speed variation limit adapted to the physical condition and needs of the user, beyond which a loss of control of the robotic walker by the user, in particular linked to an imminent fall, can be characterized. the robotic walkercomprises at least one electronic handle comprising a sensor operatively coupled to a control module, said sensor being configured to determine an interaction force between a hand of the user and the robotic walker and the indicator of an involuntary movement is determined from said interaction force. In particular, the indicator of an involuntary movement corresponds to a value calculated from the interaction force between a hand of the user and the robotic walker such as a calculated value of variation of the interaction force between the hands of the user and the robotic walker. This advantageously makes it possible to define an interval of applied force outside of which the user is considered to be in a position of loss of balance, a force applied too high, on one or other of the electronic handles, can thus make it possible to characterize a loss of balance of the user.robotic walker comprises at least one sensor integrated into an electronic handle configured to allow the determination of an interaction force value between a hand of the user and the robotic walker, and in that the control module is further configured to identify the indicator of an involuntary movement of a user of the robotic walker which may lead to a fall of said user from the determined value of the interaction force, preferably when the determined value of force is greater than a predetermined threshold value. The control module may also be configured to identify the indicator of an involuntary movement of a user of the robotic walker which may lead to a fall of said user when the determined value of the interaction force is not between predetermined limits. The determined value of the interaction force may advantageously be used in combinationwith other measured or calculated values. The use of a determined value of the interaction force makes it possible to determine more precisely whether a fall is likely. Preferably, the control module may also be configured to identify the indicator of an involuntary movement of a user of the robotic walker that may lead to a fall of said user from the determined value of the interaction force and another measured value such as, for example, a distance value between the user and the robotic walker. Such a combination is particularly advantageous and, for example, more effective than a measurement of the movement of a wheel. It comprises at least one distance sensor configured to measure a distance value between the user and the robotic walker and the control module is further configured to identify the indicator of an involuntary movement of a user of the robotic walker that may lead toa fall of said user from the distance value, preferably when the measured distance value is not between predetermined limits. This advantageously makes it possible to define a distance interval, a distance, or a variation in distance outside of which the user is considered to be in a position of loss of balance, a distance that is too great will not allow the user to lean on the robotic walker and may be considered as a fall forward or backward. it further comprises a data memory, coupled to the control module, configured to store a predetermined value of force multiplier coefficient and a predetermined value of walking assistance adjustment coefficient, two electronic handles each comprising at least one sensor operatively coupled to the control module, said sensor being configured to generate interaction force data betweena hand of the user and the robotic walker, at least one displacement sensor configured to measure displacement data of the robotic walker for assisting walking, the control module being further configured to: ∘ Determine a value of interaction force between a hand of the user and the robotic walker for each of the electronic handles from the data generated by each of the sensors of the electronic handles; ∘ Determine a value of movement speed of the robotic walker from measured movement data; ∘ Calculate, for each of the motorized wheels, an increment value from: -- the values of interaction force between a hand of the user and the robotic walker corrected with the predetermined value of force multiplier coefficient, and -- the value of movement speed of the robotic walker corrected by the predetermined value of adjustment coefficientwalking assistance. the electronic handle is arranged so as to allow the measurement of at least two components of a force applied to it, said electronic handle comprising: a first photoelectric cell, said first photoelectric cell comprising a first diode capable of emitting a light beam and a first receiver arranged to receive said light beam, said first photoelectric cell being configured to generate a current proportional to a quantity of photons received by the first receiver, and a first shutter element capable, depending on its position relative to the first photoelectric cell, of modifying the quantity of photons received by the first receiver, the first photoelectric cell and the first shutter element being arranged so that the force applied to the electronic handle is capable of causing a modification of the quantity of photons received by the first receiver,said modification being proportional to a first component of the force having been applied to the electronic handle. a second photoelectric cell comprising a second diode capable of emitting a light beam and a second receiver arranged to receive said light beam, said second photoelectric cell being configured to generate a current proportional to a quantity of photons received by the second receiver, a second shutter element capable, depending on its position relative to the second photoelectric cell, of modifying the quantity of photons received by the second receiver, the second photoelectric cell and the second shutter element being arranged so that the force applied to the electronic handle is capable of causing a modification of the quantity of photons received by the second receiver, said modification being proportional to a second component of the force having been applied to theelectronic handle, said electronic handle being configured to control said motor according to the values of the two calculated force components. the electronic handle comprises a central part and an outer casing, the electronic handle is arranged so that a force, suitable for controlling the walking assistance device, applied to the electronic handle is capable of moving at least in part the central part or the outer casing, preferably capable of moving at least in part the central part. Such an arrangement makes it possible to simply follow the application of a force on the electronic handle. the first photoelectric cell and / or the first shutter element and the second photoelectric cell and / or the second shutter element are fixed on the central part. Such an arrangement makes it possible to simply follow the application of a force on the electronic handle. the central part comprises at least one beamrecessed comprising a recessed end and a free end, said free end having a degree of mobility allowing movement of said free end in the direction of the second component of the applied force. Such an arrangement makes it possible to simply follow the application of a force on the electronic handle

[0014] The invention further relates to a system for controlling the movement of a walker comprising: a robotic walker according to the invention, said robotic walker further comprising a beacon associated with the walker, at least one independent beacon configured to reflect or emit a signal, the robotic walker being configured to activate the braking when the distance between the beacon associated with the walker and the independent beacon is less than a predetermined threshold value.

[0015] Such a system advantageously makes it possible to prevent the user of the walker from approaching an area containing a beacon (i.e. an independent beacon) and thus makes it possible to limit access to this area. The beacon associated with the walker may, for example, be a transmitting beacon and in this case the independent beacon is a receiving beacon capable of reflecting the signal emitted by the beacon associated with the walker, and vice versa.

[0016] The invention further relates to a method for preventing a fall of a user of a robotic walker, said prevention method comprising the following steps implemented by a control module: determining, at a given instant, an indicator of an involuntary movement of a user of the robotic walker which could lead to a fall of said user; identifying a previous position at the given instant of at least one of the wheels, preferably of at least two wheels; transmitting to the movement motor an instruction to immobilize the robotic walker, preferably for a predetermined stopping time; and transmitting to the movement motor an instruction to move the robotic walker so that it returns to the previous position at the identified given instant, of at least one of the wheels.

[0017] Such a method for preventing a user from falling makes it possible, based on the identification of a risk of falling, to reposition the robotic walker so that it returns to a previous position at the time of identification of a risk of falling. Thus, in a measurement and processing step, the method can identify a risk of falling and a safety position and prevent the fall while returning the walker to a position allowing the user to rebalance.

[0018] Other implementations of this aspect include computer systems, apparatuses, and corresponding computer programs stored on one or more computer storage devices, each configured to perform the actions of a method according to the invention. In particular, a system of one or more computers may be configured to perform particular operations or actions, including a method according to the invention, through the installation of software, firmware, hardware, or a combination of software, firmware, or hardware installed on the system. Furthermore, one or more computer programs may be configured to perform particular operations or actions through instructions that, when executed by a data processing apparatus, cause the apparatus to perform the actions.

[0019] 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 1 represents an illustration of a perspective view of a robotic walker according to one embodiment of the invention. The figure 2 represents an illustration of a perspective view of an electronic handle according to an embodiment of the invention. The outer casing has been made transparent so as to allow viewing of the interior of the handle. The figure 3 represents an illustration of a side view of a longitudinal section along a z axis of a handle according to an embodiment of the invention. The figure 4 represents an illustration of a top view of a longitudinal section along a y axis of a handle according to an embodiment of the invention. The Figure 5represents 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 6 represents an illustration of a perspective view of a handle according to one embodiment of the invention. The outer casing has been omitted. The figure 7 represents an illustration of a side view of a longitudinal section along a z axis of a handle according to an embodiment of the invention. The figure 8 represents an illustration of a front view of the central part of a handle according to the invention. The figure 9 represents a functional diagram of the motors and control members of a robotic walker according to one embodiment of the invention. The figure 10 represents an illustrative diagram of a method for preventing a fall of a user of a robotic walker according to the invention. The figure 11represents an illustrative diagram of steps of a method for controlling a robotic walker according to the invention. The steps outlined in dotted lines are optional.

[0020] Aspects of the present invention are described with reference to flowcharts and / or block diagrams of methods or apparatuses (systems) according to embodiments of the invention.

[0021] 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]

[0022] In the remainder of the description, the term " walker » corresponds to a walking aid device with at least three wheels and preferably four wheels. It can, for example, be called a rollator.

[0023] The expressions " front part " And " rear part » can be defined as the set of elements of the robotic walker located respectively on either side of a longitudinal section plane of a front view of the robotic walker, said longitudinal section plane passing through the center of gravity of said robotic walker. The rear part being the one intended to accommodate a user.

[0024] 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.

[0025] 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.

[0026] The expression " component of a force » corresponds to a projection of a force on a direction. A « first component » corresponds for example to a projection of a force along a Z axis represented by an ascending vertical 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.

[0027] 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.

[0028] 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.

[0029] A fixation " non-removable " Or " immovable» 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.

[0030] 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.

[0031] 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%.

[0032] 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.

[0033] 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).

[0034] 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, polyamides, polyurethanes or vinyl esters which can be epoxy or phenolic.

[0035] 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.

[0036] The term " learning" within the meaning of the invention corresponds to a method designed to define a function f allowing a value of Y to be calculated from a base of n labeled observations (X1... n, Y1... n) or unlabeled (X1... n). Such a function may correspond to a prediction model. Learning may be said to be supervised when it is based on labeled observations and unsupervised when it is based on unlabeled observations. In the context of the present invention, learning is advantageously used for the personalization of the operation of the walker and therefore its adaptation to a particular user. Preferably, learning may correspond to the learning of a model capable of predicting a time series.

[0037] By "we mean prediction model", any mathematical model that allows the analysis of a volume of data and the establishment of relationships between factors allowing the assessment of risks or opportunities associated with a specific set of conditions, in order to guide decision-making towards a specific action.

[0038] 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.

[0039] 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.

[0040] 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 electronic 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.

[0041] 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 or the robotic walker to inform the user.

[0042] 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.

[0043] By "we mean robotic " 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, said movement being controlled by an automatic control system. In particular, a robotic walker corresponds to a walker whose motor control adapts to the environment based on sensor data.

[0044] In the remainder of the description, the same references are used to designate the same elements.

[0045] Although walking assistance devices such as robotic walkers are designed for people with reduced mobility, their use can sometimes cause falls for the user. Indeed, people with reduced mobility can also have balance disorders. As previously discussed, there are robotic walkers configured to stop all movement when a risky situation is identified. However, such robotic walkers cause discomfort during use and may not be able to prevent some falls.

[0046] The inventor has determined that in addition to stopping the walker, fall prevention will be more effective if the user is rebalanced in his initial position before the occurrence of the event that could lead to a fall and this without destabilizing him.

[0047] The present invention therefore provides a robotic walker comprising a control module 40 configured to directly or indirectly control the wheels of the walker so as to enable fall prevention and configured to prevent a fall by locking the wheels and initiating a return to a previous position.

[0048] So, according to a first aspect, the invention relates to a 1 robotic walker. In particular, and as illustrated in the figure 1 , such a robotic walker 1 comprises a chassis 10 having a front part 10a and a rear part 10b.

[0049] The chassis 10 may be made of metal, a metal alloy, a polymer, a composite assembly, or a mixture of these materials. Preferably, the chassis 10 is made of stainless steel, aluminum, or both. In addition, the chassis 10 may be covered with a shell. Such a shell may be made of polymers, composites, or any other materials.

[0050] A robotic walker 1 according to the invention comprises a pair of wheels 11a, 11b arranged to support the rear part 10b of the chassis 10, and at least one wheel 12 which is arranged to support the front part 10a of the chassis. As illustrated in figure 1 , the chassis preferably has two wheels at the rear and two wheels at the front.

[0051] Preferably, the robotic walker 1 will comprise motorized wheels arranged to support the rear part 10b of the chassis 10. For example, the only motorized wheels may be those supporting the rear part 10b of the chassis 10.

[0052] Indeed, the walker 1 according to the invention is a robotic walker. Thus, at least one of these wheels is coupled to a movement motor 20, described in connection with the functional diagram presented in figure 8 . Such a displacement motor 20 is arranged at a wheel and is not directly visible on the figure 1. The displacement motor 20 is hidden by a shell positioned at one or more wheels. Thus, several wheels can each be connected to a displacement motor 20. Any type of electric motor can be used such as servomotors, stepper motors and direct current motors, preferably a brushless motor such as a brushless electronically commutated motor. A speed reducer can be integrated into the motors.

[0053] Furthermore, the one or more travel motors 20 may also serve as brakes. That is, in one embodiment, the travel motors 20 may serve as drive units for driving the rear wheels 11a, 11b and as brake units for braking the rear wheels 11a, 11b. In particular, the travel motors 20 may be used to brake the rear wheels 11a, 11b.

[0054] Alternatively, it is also possible that the travel motors 20 serve only as drive units for driving the rear wheels 11a, 11b and that braking units for braking the rear wheels 11a, 11b are provided separately from the travel motors 20. These braking units may, for example, be electromagnetic brakes or mechanical brakes.

[0055] Advantageously, each of the rear wheels 11a, 11b comprises a displacement motor 20 coupled thereto to assist the movement of each of the rear wheels 11a, 11b which corresponds to it.

[0056] In one embodiment, the displacement motors 20 may be installed in the rear wheels 11a, 11b, but it is also possible that only the front wheel(s) 12 have displacement motors 20 or alternatively that all the front wheels 12 and rear wheels 11a, 11b have displacement motors 20 installed therein.

[0057] A robotic walker 1 according to the invention further comprises a control module 40. In particular, the control module 40 may comprise one or more processors 41. The control module 40 may control the entire robotic walker 1, including the movement motors 20.

[0058] The control module 40 may advantageously be configured to cooperate with the sensors, collect the data measured by said sensors and calculate one or more values from said measured data. Such cooperation may in particular take the form of an internal communication bus.

[0059] The control module 40 may be provided adjacent to a battery 21. Control by the control module 40 will be described later.

[0060] Further, the control module 40 may comprise or be coupled to a data memory 42.The data memory 42 may advantageously comprise a non-erasable section, physically isolated or simply arranged so that write or erase access is prohibited. The data memory may further be arranged to record the data measured by the sensors present on a robotic walker and / or on the user of the robotic walker. The data memory 42 may further comprise one or more programs, or more generally one or more sets of program instructions, said program instructions being intelligible by the processor 41. The execution or interpretation of said instructions by said processor causes the implementation of a method for preventing a user of a robotic walker 1 from falling according to the invention.

[0061] The data memory 42 is advantageously configured to store threshold values that can be used when controlling the robotic walker 1 by a processor 41 or more generally by a control module 40.

[0062] For example, as will be detailed later, the data memory 42 is configured to store a predetermined stopping time and the positions of at least one of the wheels as a function of time. The stored values may correspond to predetermined values, for example in the factory or during the first configuration of the walker. Advantageously, these values are the result of a correction as the user uses the walker by learning.In addition, other values can be set during the first use and then their automated correction with learning such as the force for detecting a hand on the handle, a resistance to walking in a straight line, a resistance to walking in turns, a force for which the speed remains constant in translation, a minimum force in advance, a minimum distance between the user and the walker or a maximum distance between the user and the walker. In the context of the present invention, the distance between the user and the walker is used, in combination with a force value measured on a handle, and the threshold values for the minimum distance between the user and the walker or the maximum distance between the user and the walker are derived from learning.

[0063] In particular, the control module 40 is configured to determine an indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user.

[0064] In particular, the determination of an indicator of an involuntary movement of a user of the robotic walker 1 corresponds to the identification of an imbalance or preferably the beginnings of an imbalance of the user of the walker.

[0065] This determination is for example based on monitoring the values generated by one or more sensors. This monitoring is preferably carried out continuously. Continuous monitoring corresponds for example to measurements carried out at a frequency of less than 80 ms, preferably less than or equal to 50 ms, more preferably less than or equal to 30 ms, for example less than or equal to 10 ms.

[0066] This monitoring is preferably carried out in real time from the values generated by one or more sensors. In particular, starting from the measurement of sensor values, a method according to the invention is preferably configured to identify, where appropriate, an indicator of involuntary movement within a time period of less than 80 ms, preferably within a time period of less than or equal to 50 ms, more preferably less than or equal to 20 ms, even more preferably less than or equal to 10 ms. Thus, a method according to the invention is configured to predict a risk of falling before its occurrence and as close as possible to the occurrence of the triggering element. There is also advantageously an action which occurs before the natural reaction of the user.

[0067] Thus, the control module 40 is configured to carry out a continuous and real-time analysis of sensor values in order to identify an involuntary movement which could lead to a fall.

[0068] Preferably, the indicator of an involuntary movement of a user of the robotic walker 1 is determined for a given instant.

[0069] In particular, the indicator of an involuntary movement of a user of the walker is determined from values generated by one or more sensors selected from: a sensor configured to measure the movement of at least one wheel 11a, 11b, 12, preferably at least two wheels, a sensor configured to measure the movement of the robotic walker, a sensor integrated into an electronic handle 200, a sensor configured to analyze the instantaneous position of the user relative to the robotic walker (camera) a distance sensor, and / or a sensor positioned on the user of the robotic walker.

[0070] Thus, the coupling between the control module 40 and the sensor(s) equipping a robotic walker 1 according to the invention or a user allows synchronized access and real-time analysis of the measurements taken by the sensor(s), by the control module 40. Thus, a robotic walker 1 according to the invention allows continuous and automated analysis of the measurements taken by the sensor(s) and makes it possible to prevent any risk of falling during its use by a user.

[0071] As we have just discussed, the indicator of a user's involuntary movement can be determined from a multitude of sensors. In addition, this indicator can be identified from several transformations of the data coming from these sensors. Indeed, it is possible to base the determination of the indicator of a user's involuntary movement on the comparison of a measured absolute value with a predetermined threshold value or on the comparison of a variation calculated over a predetermined time interval with a predetermined threshold value of variation.

[0072] Preferably, the indicator of an involuntary movement of a user of the walker is determined over a predetermined time interval. For example, the indicator of an involuntary movement of a user of the walker may be determined over a time interval of between 0.01 ms and 80 ms, preferably between 1 ms and 70 ms, more preferably between 5 ms and 40 ms.

[0073] Furthermore, an indicator of an involuntary movement can be determined on the basis of a calculation of an evolution over several consecutive measurements.

[0074] Comparison with thresholds may not allow optimal discrimination of commonly measured values and sensor values reflecting an imbalance. This is all the more true considering the high heterogeneity of the conditions of users of the robotic walkers according to the invention. Thus, the inventor proposes the use of learning to detect normal values, for example.

[0075] Preferably, the determination of an involuntary movement can then be adapted according to the users, for example on the basis of a learning model.The control module can therefore be configured to implement a learning model. This allows for greater sensitivity and better adaptation to different users. In particular, the robotic walker according to the invention can comprise a control module configured to carry out a learning step aimed at training a learning model for analyzing the sensor data. Preferably, the learning will be done from the sensor data so as to discriminate sensor data corresponding to a current profile of the user from sensor data that may correspond to an abnormal situation, in this case the occurrence of an involuntary movement. The learning may be supervised or unsupervised.

[0076] According to the invention, the control module will advantageously be configured to execute a step of determining an indicator of involuntary movement from a learning model.This step may involve the implementation of a mathematical method to generate binary results, percentages of probability of an indicator of involuntary movement or any other value to identify one or more indicators of involuntary movement.

[0077] The step of determining an indicator of involuntary movement from a learning model is preferably based on the prior construction of an unsupervised learning model that will be able to autonomously classify the value of a sensor data item as a commonly measured value or an abnormal value. More preferably, the control module will be configured to execute a learning model based on a neural network, k-means partitioning or hierarchical clustering.

[0078] Sensor configured to measure the displacement of a wheel 11a, 11b, 12, preferably at least two wheels.

[0079] The movement of a robotic walker is a good indicator that a fall is about to occur.

[0080] A robotic walker 1 according to the invention may therefore comprise an angular sensor or speed sensor configured to detect the movement of at least one wheel: the number of revolutions, the acceleration or the speed of at least one of the wheels and send signals representing the number of revolutions, the acceleration or the speed to the control module 40. The speed sensor may be arranged adjacent to the control module 40. It is also possible for the speed sensor to be installed at the level of the pair of rear wheels 11a, 11b of the robotic walker 1.

[0081] Alternatively, it may also be possible for the speed sensor to be provided only in the front wheel(s) 12.

[0082] The speed sensor configured to detect the movement of at least one wheel or angular position sensors can be selected from: incremental sensors, optical sensors, magnetic position sensors, mechanical sensors for example of the gear type or potentiometers.

[0083] If the travel motors 20 are brushless motors, the speed sensor can calculate the number of revolutions or the speed of the wheels or the speed of the robotic walker 1 using a hall effect sensor included in the travel motors 20.

[0084] Speed can be detected from multiple values depending on the technology used: counter-electromotive force values, angular velocity values, or even acceleration component values.

[0085] Thus, the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated value of displacement of at least one wheel and a predetermined threshold value of displacement of at least one wheel.

[0086] Furthermore, as mentioned, it is possible within the framework of the invention to rely on absolute values and / or on variations in values.

[0087] Thus, the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated absolute value of a speed of at least one wheel and a predetermined absolute threshold value of a speed of at least one wheel. The indicator then preferably being a calculated speed greater than a predetermined threshold speed. For example, the predetermined absolute threshold value of a wheel speed can be equal to 2 ms -1< (for meters per second).

[0088] However, the absolute values may not represent a user's interaction with the walker sufficiently finely and may not be sufficiently sensitive to the risk of a fall occurring. Thus, preferably, the indicator of an involuntary movement of a user of the walker is determined from a comparison between a calculated value of variation in the speed of at least one wheel and a threshold value of variation in the speed of at least one wheel. For example, the threshold value of variation in the speed of at least one wheel may be equal to 5 ms -2< .

[0089] In particular, the calculated value of variation in the speed of at least one wheel may correspond to an absolute value of the variation in the standard of the speed of the wheels for a duration of between 1 ms and 80 ms, preferably for a duration of between 5 ms and 70 ms and more preferably for a duration of between 10 ms and 60 ms.

[0090] Sensor configured to measure the movement of the robotic walker,

[0091] It was proposed above to measure the movement of the walker from the movement of at least one wheel. However, the movement of the walker can also be determined from physical measurement systems, video means (2-Dimensional "2D" or 3-Dimensional "3D" camera), ultrasound system, an inertial unit, laser rangefinder, geolocation (Global Navigation Satellite System in English terminology) or software measurement systems (Luenberger observers or Kalman filters).

[0092] Thus, a robotic walker 1 according to the invention can therefore comprise a 2D or 3D video means or an inertial unit configured to detect the movement of the robotic walker 1.

[0093] The indicator of an involuntary movement of a user of the walker can then be determined from a comparison between a calculated value of movement of the walker and a predetermined threshold value of movement of the walker.

[0094] As before, the indicator of an involuntary movement of a user of the walker can be determined from a comparison between a calculated absolute value of a speed and a predetermined absolute threshold value of a speed of the walker. The indicator then preferably being a calculated speed greater than a predetermined threshold speed. Sensor integrated into an electronic handle 200,

[0095] It has already been proposed in the literature to monitor whether or not a user is gripping a walker to stop the walker. Indeed, the use of an electronic handle 200 capable of determining whether or not the user is holding the walker can be a good way to identify a fall.

[0096] Thus, a robotic walker 1 according to the invention may comprise at least one electronic handle 200 comprising a sensor functionally coupled to a control module 40.

[0097] The sensor integrated into the electronic handle 200 is for example selected from: a force sensor, a pressure sensor, a photoelectric barrier cell, a displacement sensor, and electrodes.

[0098] Within the framework of the invention, it is proposed to go beyond detecting the presence of hands on the handles of the robotic walker.

[0099] Thus, the sensor integrated in the electronic handle 200 is advantageously configured to allow the determination of an interaction force between a hand of the user and the robotic walker. Thus, the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of the interaction force between the hands of the user and the robotic walker 1.

[0100] Preferably, the indicator of an involuntary movement of a user of the walker may correspond to a calculated value of variation of the interaction force between the hands of the user and the robotic walker 1. The value of variation of the interaction force between the hands of the user and the robotic walker 1 is preferably calculated over a time interval of between 0.1 ms and 80 ms, more preferably between 1 ms and 50 ms, even more preferably between 5 ms and 40 ms and for example between 5 ms and 20 ms.

[0101] For example, the indicator of an involuntary movement of a user of the walker may correspond to an absolute value of the variation of the norm of the force of interaction between the hands of the user and the robotic walker 1 for at least 10 ms is at least equal to 1000 ms -3< . However, as has already been discussed, the variation will preferably be measured over a duration of less than 80 ms.

[0102] Alternatively, the indicator of an involuntary movement of a user of the walker may correspond to a force value applied to the electronic handle 200.

[0103] For example, the indicator of an involuntary movement of a user of the walker may correspond to the exceeding by a measured absolute value of the interaction force between the hands of the user and the robotic walker 1 of a predetermined absolute threshold value of the interaction force, for example equal to 100 N. Thus, if the absolute value of at least one hand-walker interaction force is greater than 100 N then there is identification of an indicator of an involuntary movement.

[0104] Thus, the control module 40 is preferably configured to further calculate a value of variation in force applied to the electronic handle 200 over a time interval and determine an indicator of an involuntary movement when the calculated value of variation in force applied is greater than a predetermined threshold value of variation in force.

[0105] Indeed, when there is an imbalance, the user will tend to hold on to the electronic handles 200. The hand-handle interaction force will then increase rapidly in the direction of the imbalance.

[0106] Thus, when a threshold value has been predetermined and stored in the data memory 42 of the robotic walker 1, the control module 40 can be configured to activate the braking, in particular by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to carry out the braking or the release of the braking of said robotic walker 1.

[0107] Advantageously, braking can be activated when: the absolute value of the variation of the interaction force between the hands of the user and the robotic walker 1 for at least one predetermined duration is at least equal to the predetermined threshold absolute value of the interaction force; and / or the absolute value of at least one hand-handle interaction force is at least equal to the predetermined threshold absolute value of the interaction force; and / or The absolute value of the variation of the measured distance between the user and the robotic walker 1 for at least one predetermined duration, for example 0.5 s, is at least equal to an absolute value of the variation of the threshold distance, for example 700 mm / s.

[0108] Braking can advantageously include several stages in order to avoid accentuating the user's imbalance and also to help them regain a balanced position: Braking may cause the wheels to stop moving for a predetermined period of time. The wheels return to their previous position, i.e. before the detection of an inappropriate distance (outside the predetermined limits) between the user's trunk and the robotic walker 1. Distance sensor

[0109] A robotic walker 1 according to the invention may include a distance sensor.

[0110] The distance sensor can for example be selected from laser sensors, such as time-of-flight lasers, or ultrasonic sensors or a camera, preferably a 3D camera.

[0111] The distance sensor is advantageously configured to measure a distance value between the trunk of a user of the walker and the frame of the walker.

[0112] The distance sensor being generally fixed on the chassis 10 or to an element of the chassis, this makes it possible to measure a distance value between a part of the body, preferably the trunk, of a user of the robotic walker 1 and the chassis 10. This makes it possible to detect the relative position of the user with respect to the walker.

[0113] Thus, alternatively, or in addition, the control module 40 can further be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user when the measured distance value is not between predetermined limits.

[0114] The predetermined terminals may for example be stored in a data memory 42 of the control module 40. They may for example correspond to a distance between 250 mm and 850 mm. Advantageously, these terminals are determined according to the size of the user of the robotic walker. Furthermore, preferably, they may be modified during use of the walker by a learning mechanism.

[0115] When using a camera, in addition to distance, the sensor can be configured to analyze the instantaneous position of the user in relation to the robotic walker.

[0116] Furthermore, when terminals have been predetermined and stored in the data memory 42 of the robotic walker 1, the control module 40 can be configured to actuate the braking, in particular by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to carry out the braking or the release of the braking of said robotic walker 1.

[0117] Advantageously, braking can be activated when the distance between the user's trunk and the robotic walker 1 is less than or greater than the minimum values, for example 250 mm, and the maximum values, for example 850 mm, of the predetermined terminals.

[0118] Braking can advantageously include several stages in order to avoid accentuating the user's imbalance and also to help them regain a balanced position: Braking may cause the wheels to stop moving for a predetermined period of time. The wheels return to their previous position, i.e. before the detection of an inappropriate distance (outside the predetermined limits) between the user's trunk and the robotic walker 1.

[0119] Finally, when the user wishes to sit or lean on the robotic walker 1, the user will necessarily release at least one electronic handle 200. From the moment the user releases one or both electronic handles 200, the sensor integrated in the corresponding electronic handle can indicate that no interaction force between the user's hand and the electronic handle 200 is detected. This can cause the wheels to become immobilized, in particular the wheels can be controlled in position, that is to say they keep the same position as that measured when at least one electronic handle 200 is released.

[0120] Furthermore, when the measurement of the distance between the user and the robotic walker 1 is less than or equal to a predetermined value, for example 250 mm, the wheels remain stationary. Then, when the distance between the user and the robotic walker 1 is again greater than the predetermined value, for example 250 mm, and an interaction force between the two hands of the user and the corresponding electronic handles 200 is detected, the immobilization of the wheels ceases. Sensor positioned on the user of the robotic walker 1.

[0121] A robotic walker 1 according to the invention can be coupled to a remote sensor positioned on a user of the robotic walker 1.

[0122] A remote sensor within the meaning of the present invention may, for example, correspond to an electronic device comprising an inertial unit, a heart rate measuring device or a device comprising pressure sensors.

[0123] Such an inertial unit advantageously allows the user's gait to be reliably monitored. Indeed, the presence of an inertial unit, integrated for example in an object carried by the user, makes it possible to monitor the user's gait independently of the use of the robotic walker. The inertial unit will analyze the user's gait in at least three dimensions. From the data from the inertial unit, the processing module will be able to determine an indicator of an involuntary movement, in particular from occasional anomalies appearing in the user's gait.

[0124] The remote sensor positioned on the user of the walker may also correspond to one or more pressure sensors positioned in the user's soles. Such a pressure sensor advantageously makes it possible to reliably monitor a user's gait. Indeed, the presence of a pressure sensor in the soles makes it possible to monitor the user's support forces and, more generally, their gait independently of the use of the robotic walker. The pressure sensor(s) may be configured to continuously analyze the user's gait in real time. From the data from the pressure sensor, the processing module may determine an indicator of involuntary movement, in particular from occasional anomalies appearing in the distribution of forces exerted by the user's feet.

[0125] Thus, the remote sensor is advantageously configured to communicate with the control module 40 and transmit measured values to it.

[0126] Thus, alternatively, or in addition, the control module 40 can further be configured to determine the indicator of an involuntary movement of a user of the robotic walker 1 which could lead to a fall of said user from values measured by a remote sensor. Tilt sensor

[0127] A robotic walker 1 according to the invention may also include a tilt sensor, for example located on the frame or in the control module 40. This tilt sensor may generate values taken into account by the control module when identifying an indicator of involuntary movement. Indeed, the environment may influence the behavior of the user and their interaction with the robotic walker 1. For example, an involuntary movement on a flat surface could be a voluntary movement when starting a slope.

[0128] Thus, the control module 40 is preferably configured to take into account values generated by the tilt sensor when determining an involuntary movement of the user.

[0129] The tilt sensor can be a two- or more-axis acceleration sensor, a gyroscopic sensor, or any other sensor that can directly or indirectly measure a tilt value.

[0130] Thus, in addition to measuring an angular position of the robotic walker 1 relative to a vertical axis of said robotic walker 1 or even measuring the distance to a beacon indicating a prohibited area, the control module 40 can be configured to activate the braking when the angular position or the distance to a beacon exceeds a predetermined threshold. This braking can for example be controlled by means of one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to perform the braking or the release of the braking of said robotic walker 1 in stages as described above.

[0131] Advantageously, in order to further improve the safety of the user, the robotic walker 1 may include a transmitting and / or receiving beacon. Such beacons may in particular be implemented as a sensor for measuring distances by calculating the time of flight of a wave. The receiving beacon may be configured to detect a signal reflected or emitted by a transmitting beacon placed in the environment in which the user is moving. Indeed, such beacons may be positioned at different locations in the user's living space and are configured to communicate with the receiving beacon. Thus, the receiving beacon may be configured to detect the signal emitted by the transmitting beacon and the control module 40 is then advantageously configured to activate braking of the walker.This braking can in particular occur when the robotic walker 1 is at a distance less than a threshold value from the transmitting beacon. By way of non-limiting example, the transmitting and / or receiving beacon of the robotic walker 1 can correspond to any exteroceptive sensor and in particular to sensors comprising hardware and software components adapted to allow communication according to the Bluetooth ® standard, of the NFC type (for “near field communication” according to English terminology) or of the radio-identification type.

[0132] Preferably, the transmitting and / or receiving tag corresponds to an RFID reader (for “Radio Frequency IDentification” in Anglo-Saxon terminology).

[0133] Like the receiving beacon, the transmitting beacon can correspond to any beacon capable of reflecting or transmitting a signal, and includes hardware and software components adapted for communication according to the Bluetooth ® standard, NFC type (for "near field communication" according to Anglo-Saxon terminology) or even radio-identification type.

[0134] In a preferred embodiment, the transmitter tag corresponds to a passive radio tag encoding digital data and comprising an antenna and a chip. When the RFID reader passes near the passive radio tag, it sends requests to the passive radio tag to retrieve the data stored in memory. The passive radio tag, remotely powered by the signal from the RFID reader, first generates a code making it possible to identify the area in which the robotic walker 1 is located or more generally is heading. Upon receipt of this code, the control module 40 can determine, by comparing the received code with a correspondence database recorded in the data memory 42, whether the code corresponds to a prohibited area. If this is indeed the case, the control module 40 can be configured to control the braking of the robotic walker 1.The environment in which the user moves can thus comprise a plurality of beacons, this thus allows the user of the robotic walker 1 to avoid finding himself in an area considered to be at risk, such as an area comprising a staircase, or an area near a road. It is also possible to grid an exterior or interior area of a residence in order to prevent users of the robotic walker 1, in particular those suffering from neurodegenerative diseases, from getting lost or leaving the place of residence. Thus, preferably, the transmitting and / or receiving beacon is configured to detect and identify a plurality of radio tags.

[0135] As presented, the indicator of involuntary movement can be determined from many sources. Preferably, it is determined from at least two sensors, preferably at least three sensors. Indeed, the indicator of involuntary movement will be more reliable when it is determined from at least three sensors such as electronic handle sensors and at least one displacement sensor.

[0136] In addition, the data from which the indicator of an involuntary movement will be determined may require processing. Thus, the control module 40 may be configured to process measured values so as to generate calculated values used for determining an indicator of an involuntary movement. The processing may vary depending on the sensors concerned and may, for example, include frequency filtering, normalizations, or even resampling.

[0137] Furthermore, as mentioned, the indicator of an involuntary movement can be determined from a comparison between a calculated or measured value and a predetermined threshold value.

[0138] Another problem with walkers can be their inability to meet different and changing needs. However, the needs of walker users can change as their conditions improve or deteriorate. As a result, a walker that initially suits a person may gradually become unusable over time.

[0139] The predetermined values implemented by the robotic walker 1 according to the invention can be entered and updated via a human-machine interface (HMI). Such an HMI can be an integral part of the robotic walker 1 and be fixed thereto. However, preferably, the HMI is occasionally coupled, wired or wirelessly, to the robotic walker 1.

[0140] Furthermore, the predetermined values implemented by the robotic walker 1 according to the invention can be calculated automatically from data relating to the user and their morphology entered for example via the HMI. Thus, these threshold values can change depending on the information entered about the user.

[0141] Advantageously, the predetermined values implemented by the robotic walker 1 according to the invention can be modified over time on the basis of learning implemented by the control module 40. Indeed, the control module or any computing unit coupled to the walker can advantageously implement a personalization procedure comprising supervised and / or unsupervised learning steps based on values generated from the sensors coupled to the walker. Thus, the threshold values can be particularly adapted to the person using the walker according to the invention.

[0142] In particular, the processing unit may determine a personal normality profile. This “normal” profile may, for example, correspond to a model of the characteristics of use of the walker making it possible to determine usual values such as usual values of force, force variation, speed, speed variation, distance or distance variation. The use of the “normal” profile then makes it possible to set threshold values and / or to detect anomalies, anomalies being in particular observations whose characteristics differ significantly from the “normal” profile and which could lead to a fall.

[0143] In particular, the processing unit may determine predetermined reference values or threshold values by implementing a supervised or unsupervised learning method. Among the supervised learning methods, neural networks, classification trees, nearest neighbor searches or regression trees may be among the most robust and effective machine learning techniques in the context of a method according to the invention.

[0144] Furthermore, the walking profile of the user of the robotic walker 1 according to the invention can be determined automatically from calibration data measured for example by the sensors of the robotic walker 1. Such calibration data are for example measured during a calibration step of the robotic walker 1. Thus, the calibration step may consist of a plurality of measurements by all of the sensors of the robotic walker 1 during use by the user. Threshold values used by the walker or the method according to the invention may change depending on the information acquired specific to the user.

[0145] Advantageously, the calibration data can be labeled and serve as reference values, the data or measurements being for example associated with a reference gait, that is to say with a voluntary movement of the user. Indeed, the control module or any computing unit coupled to the walker can advantageously implement a personalized calibration procedure comprising supervised and / or unsupervised learning steps based on the values generated from the sensors coupled to the walker.

[0146] In particular, the processing unit may determine a calibrated profile. This “calibrated” profile may, for example, correspond to a prediction model trained on the usage characteristics of the walker. This prediction model may have been trained on the basis of usual movement values such as usual values of force, force variation, speed, speed variation, distance or distance variation. The use of the “calibrated” profile then allows more sensitive and specific detection of an involuntary movement of the user. For example, if the prediction model corresponds to a model capable of predicting a time series, then a measured value deviating significantly from a predicted value may be considered as an indicator of involuntary movement.

[0147] Furthermore, the control module 40 is configured to identify a previous position at the given instant of at least one of the wheels 11a, 11b, 12, and therefore more generally of the walker.

[0148] In particular, it is configured to identify a previous position prior to the given instant of the wheel(s), preferably of at least two wheels, 11a, 11b, 12 being coupled to a displacement motor 20.

[0149] Preferably, the previous position at the given time corresponds to a position of the wheel(s) 11a, 11b, 12 at least ten milliseconds before the given time, more preferably at least 50 milliseconds before the given time, even more preferably at least 100 milliseconds before the given time. For example, the previous position at the given time may correspond to a position of the wheel(s) 11a, 11b, 12 at a time corresponding to the given time minus a predetermined duration.

[0150] Thus, the robotic walker 1, for example the data memory 42, is configured to memorize the position of the wheel(s) 11a, 11b, 12, preferably those coupled to a movement motor 20 as a function of time. In addition, it can memorize a predetermined duration which will be subtracted from the given instant so as to determine the previous position of the wheel(s) 11a, 11b, 12.

[0151] Furthermore, the control module 40 is configured to transmit to at least one of the wheels 11a, 11b, 12, preferably to at least two wheels, a command to stop the robotic walker 1.

[0152] As mentioned, the walker comprises one or more movement motors 20 serving as brakes or one or more braking unit(s) configured to perform the braking or the release of the robotic walker 1 braking.

[0153] There are different types of braking unit. For example, the brake unit may be friction and have a structure of pads, shoes or discs which is moved so as to mechanically prevent rotation of the wheel or wheels of the walker or, preferably, by motor braking provided by one or more movement motors 20 serving as brakes.

[0154] The stop command can be defined in time and therefore be associated with a predetermined stop duration. For example, the predetermined stop duration is between 1 ms and 1 second. The stop is preferably immediate and then followed by a movement to return to a previous position. However, to avoid a possible shock to the user, the stop is gradual and involves slowing down the walker before stopping and returning to a previous position.

[0155] In addition, the stop command may include a predetermined immobilization duration making it possible to set a speed of movement of the wheels before they stop. Thus, in the case of detection of a risk of falling, the stopping of the walker will not be abrupt but may be softened by defining a predetermined stopping duration of between 10 ms and 1 second. This makes it possible to further reduce the discomfort of the user of the robotic walker 1. A predetermined immobilization duration may, for example, be between 100 ms and 1 second.

[0156] Furthermore, the control module 40 is configured to transmit to at least one of the wheels 11a, 11b, 12, preferably to at least two wheels, a command to move the robotic walker 1. This can allow the robotic walker 1 to return to a position that it had previously than the one it had identified at the given time.

[0157] Thus, for example, in the case where the robotic walker 1 moves too quickly forward, the robotic walker 1 would be stopped for example for a predetermined duration and then it would move backwards so as to return to a position previous to the detection of the risk of falling.

[0158] The balance of a standing human is achieved by the central nervous system by maintaining the projection of the center of mass in the base of support, this defines static balance. When a human is in motion, as when walking, he does not fall, but his balance is said to be dynamic. The projection of the center of mass is no longer in the base of support, which should lead to the fall, but which is in fact a state of recoverable balance, because the next step brings the center of mass of the back of the body back to the base of support (the sole of the foot on the ground) to exceed it again, until the next step. Similarly, when balance is disturbed by an unpredictable event, to regain his balance, the human will react. This is a reactive balance process, such as moving the arms to bring the trunk into static balance or taking a step forward to be in dynamic balance.The present invention enables reactive balance assistance where the robotic walker will put the user into a recoverable state, then into static balance.

[0159] This way, a user of the walker can find themselves in a position that would not pose a risk of falling.

[0160] Preferably, the movement instruction of the robotic walker 1 includes a predetermined duration of return to the previous position allowing the control module 40 to determine a speed of movement of the wheels. Furthermore, this duration may be a function of the distance to be traveled. Preferably, the walker will be configured so that this return to the previous position is at a 'slow' speed, preferably at a speed lower than the speed of movement of the walker at the time of determining the indicator of an involuntary movement of the user.

[0161] In addition, the robotic walker 1 may be configured to memorize a predetermined duration of holding in the previous position. This duration corresponds to a duration during which the robotic walker 1 remains in the previous position. Preferably, this duration is less than one second.

[0162] As mentioned, a walker according to the invention may comprise at least one electronic handle 200, preferably two electronic handles 200.

[0163] As mentioned, the electronic handles 200 are arranged to be able to measure a force applied to them by a user.

[0164] The electronic handles 200 configured to measure a force applied to them can be equipped with force sensors, torque sensors, pressure sensors, strain gauges, piezoelectric technology or even simple button sensors.

[0165] Advantageously, the electronic handles 200 used in the context of the invention comprise a coupling between a photoelectric cell and a shutter element. A photoelectric cell may in particular correspond to a sensor consisting of an infrared emitter and a receiver placed opposite. 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.

[0166] Thus, such an electronic handle allows the control of the robotic walker 1 without the user having to wear sensors or operate buttons (or other interfaces). Such an arrangement makes it possible to detect a force, applied to the handle, greater than or equal to two kilograms but also much lower. In addition, such an arrangement makes it possible to determine a value of the applied force and does not simply detect the exceeding of a threshold. Thus, it may be possible for a processor to process information differently depending on the level of force that has been applied to the electronic handle.

[0167] Advantageously, an electronic handle 200 according to the invention is arranged so as to allow the measurement of at least one component of a force applied to it.

[0168] As illustrated in the figure 2 , à la figure 3 and to the figure 4 ,an electronic handle 200 according to the invention comprises a central part 210 and an outer casing 220.

[0169] The central room 210 of an electronic handle 200 according to the invention may have a substantially cylindrical shape. However, as can be seen in the illustration of the figure 2 , preferably, the central part 210 comprises at least one portion having a section comprising an edge. It has, for example, a polygon-shaped section.

[0170] The central part 210 is made of a material preferably having a Young's modulus of at least 175 GPa (for gigapascals), preferably greater than 200 GPa. This makes it possible to give the central part 210 a rigidity suitable for its use in the electronic handle according to the invention. The central part 210 may be made of metal, a metal alloy, a polymer or a composite assembly. Preferably, the central part 210 is made of stainless steel.

[0171] The central part 210 preferably has a minimum length of 300 mm (per millimeter) and a maximum of 500 mm.

[0172] The outer envelope 220of an electronic handle 200 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 ellipsoidal shape and more preferably circular. The outer casing 220 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 220 makes it possible to improve the performance of the electronic handle according to the invention.

[0173] The outer shell 220 may be made of metal, a metal alloy, a polymer, or a composite assembly. Preferably, the outer shell 220 is made of aluminum.

[0174] The outer casing 220 preferably has a minimum length of 300 mm and a maximum length of 500 mm. In addition, the outer casing 220 may have an outer diameter of between 20 mm and 40 mm and a wall thickness of between 1 mm and 3 mm.

[0175] Advantageously, the outer casing 220 is arranged so as to be able, under the effect of a force comprising a vertical component, to move by at least one tenth, preferably one thousandth of a millimeter in translation relative to an axis orthogonal to a longitudinal axis of the central part 210. A force component value can be quantified from one tenth, preferably one thousandth of a millimeter of displacement.

[0176] A displacement of at least one tenth, preferably one thousandth of a millimeter may preferably correspond to a displacement of at least 0.001 millimeter to 1 millimeter.

[0177] Furthermore, the outer casing 220 may be arranged so as to be able, under the effect of a force comprising a horizontal component, to move by at least one tenth, preferably at least one thousandth of a millimeter in translation relative to a longitudinal axis of the central part 210. A force component value may be quantified from one tenth, preferably one thousandth of a millimeter of displacement.

[0178] This is possible in particular in the absence of direct fixation between the outer casing and the central part. In addition, the presence of joints capable of elastic deformation or even an arrangement of the central part also allow such translations.

[0179] An electronic handle 200 according to the invention comprises a first photoelectric cell 230.

[0180] 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 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.

[0181] 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.

[0182] In the context of the invention, a photoelectric cell is preferably a barrier-type photoelectric cell for which the barrier is constituted by a first closing element 240.

[0183] Such photoelectric cells can generally be inexpensive but robust compared to commonly used sensors.

[0184] The first photoelectric cell 230 comprises a first diode 231 capable of emitting a light beam. The diode of a photoelectric cell according to the invention may correspond to an infrared diode.

[0185] Furthermore, the first photoelectric cell 230 comprises a first receiver 232 arranged to receive the light beam emitted by the first diode. Preferably and as illustrated in figure 2 , the light beam emitted by the first diode is directed directly towards the first receiver 232.

[0186] The first photoelectric cell 230 is configured to generate a current of intensity proportional to a quantity of photons received by the first receiver 232. In particular, it is the first receiver 232 which, as a light transducer, will generate a modification of an electrical signal in response to the light beam incident on its surface. The first receiver 232 may, for example, be a photoconductor, a photodiode or a phototransistor.

[0187] Preferably, a photoelectric cell according to the invention is configured to generate an electric current whose intensity will be proportional to the quantity of photons received by the receiver.

[0188] In addition, the electronic handle 1 has a first sealing element 240which is capable of, or arranged so as to, modify the quantity of photons received by the first receiver 232. In particular, this modification of the quantity of photons received is a function of the position of the first shutter element 240 relative to the first photoelectric cell 230.

[0189] A sealing element within the meaning of the invention may be made of metal, a metal alloy, a polymer or a composite assembly. Preferably, the sealing element is made of polymer, more preferably of thermoplastic polymer.

[0190] The first shutter element 240 may comprise a protrusion 241 arranged so as to be positioned between the diode 231 and the receiver 232 of the photoelectric cell 230. The protrusion 241 may be fixed in a removable or non-removable manner to the first shutter element 240. Furthermore, in the absence of a protrusion 241, it is the shutter element which is housed between the diode 231 and the receiver 232.

[0191] It is important that the first photoelectric cell 230 and the first shutter element 240 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 200 according to the present invention. Alternatively, the first shutter element 240 and the first photoelectric cell 230 are fixed directly or indirectly to parts of the central part and these parts can be movable relative to each other.

[0192] Thus, according to an embodiment illustrated in figures 4 or 5, among the first photoelectric cell 230 and the first shutter element 240, one is fixed to the outer casing 220 and the other is fixed to the central part 210. In particular, if one is fixed to the outer casing, it will not be fixed to the central part and vice versa. The figure 3 for example has means 242 for fixing the first closure element 240 to the outer casing 220. The fixing is preferably a removable fixing.

[0193] In particular, the positioning of the first photoelectric cell 230 and the first shutter element 240 or the fixing of the shutter element 240 to the outer casing 220 will be carried out in such a way that a force F1 applied to the electronic handle 200, if it is sufficient to at least partially move the outer casing 220 then it will cause a modification of the quantity of photons received by the first receiver 232. In addition, the position of the first shutter element 240 making it possible to influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a first component of the force having been applied to the electronic handle 200.

[0194] As illustrated in the figure 4 ,the fixing will be carried out in such a way that a force F2 applied to the electronic handle 200, if it is sufficient to at least partially move the outer casing 220, causes a modification of the quantity of photons received by the first receiver 232. In addition, the position of the first shutter element 240 making it possible to influence the quantity of photons received by the first receiver 232 then, the modification of the quantity of photons received by the first receiver 232 will be correlated, preferably proportional, to a second component of the force having been applied to the electronic handle 200. As illustrated, the handle may comprise an element 270 capable of elastic deformation, for example made of polymer, so as to allow a translation of the outer casing 220 relative to the central part 210.

[0195] 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 210, 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.

[0196] In a particular embodiment, the electronic handle 200 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 220 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 200 or in the walking assistance device.

[0197] As illustrated in the Figure 5 ,a photoelectric cell as used in the context of the present invention is preferably configured so as to be able to generate an electrical signal whose intensity 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 200.

[0198] As illustrated in the Figure 5 , the relationship between distance and intensity is preferably linear over at least 1 mm.

[0199] As illustrated in the figure 6 , an electronic handle 200 according to the present invention may also comprise at least one second photoelectric cell 250.

[0200] This second photoelectric cell 250 may share the same characteristics as the first photoelectric cell 230 and in particular its preferred or advantageous characteristics.

[0201] Like the first photoelectric cell, the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam. It also comprises a second receiver 252 arranged to receive said light beam.

[0202] Furthermore, the second photoelectric cell 250 is arranged so that a force applied to the electronic handle 200 is capable of causing a modification of the quantity of photons received by the second receiver 252. Generally, the force applied to the electronic handle 200 will be capable of causing a modification of the quantity of photons received by the second receiver 250 if it is capable of at least partially moving the outer casing 220.

[0203] The electronic handle 200 may also comprise a central part 210 arranged so that a portion of the central part 210 moves under the action of a force F1 applied to said electronic handle 200, causing a modification of the quantity of photons received by the first receiver 232 and that a portion of the central part 210 moves under the action of a force F2 applied to the electronic handle 200, causing a modification of the quantity of photons received by the second receiver 252.

[0204] 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 200.

[0205] Thus, the presence of a second photoelectric cell 250 makes it possible to better characterize the force applied to the electronic handle 200.

[0206] 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.

[0207] The photoelectric cells 230, 250 can be attached directly to the central part 210.

[0208] As illustrated in the figure 6, the photoelectric cells 230, 250 can be indirectly attached to the central part 210. In particular, an intermediate element 211 can be used. The intermediate element 211 is attached to the central part 210 while the photoelectric cells 230, 250 are attached to the intermediate element 211. This can make it possible to manufacture a handle according to the invention more quickly and facilitates possible maintenance thereof.

[0209] Furthermore, an electronic handle 200 according to the present invention may also comprise a electronic card 280. Such an electronic card 280 can be configured to measure the output voltage of the photoelectric cell and then transform it into digital data.

[0210] Advantageously, the electronic card 280 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.

[0211] In particular, the electronic card 280 is configured to measure an output voltage or current and sample it on at least 4 bits, preferably at least 10 bits.

[0212] Considering the correlation between the output voltage or intensity and the displacement in millimeters of a closure element or of the outer casing 220 relative to the central part 210 or to a photoelectric cell on the one hand and the correlation between the displacement in millimeters of the outer casing 220 relative to the central part 210 and the force applied on the other hand, the electronic card 280, 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.

[0213] As presented in connection with the figure 6 and the figure 7 , an electronic handle 200 according to the present invention may also comprise a second closing element 260.

[0214] The horizontal and vertical displacement measurements can then be decoupled. A first sensor is used to measure the deformation of the electronic handle 200 due to a vertical component F1 and a second sensor is used to measure 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 manipulation of the sensor).

[0215] This second shutter element 260 may share the same characteristics as the first shutter element 240 and in particular its preferred or advantageous characteristics. For example, the second shutter element 260 may comprise a protrusion 261 arranged to cut the light beam generated by the second diode 251.

[0216] Thus, the second shutter element 260 is capable of modifying the quantity of photons received by the second receiver 252 (not shown in the figure 7). This modification is in particular a function of its position relative to the second photoelectric cell 250.

[0217] Furthermore, the second closure element 260 may comprise a membrane 262, said membrane 262 being arranged to transmit a displacement of the outer casing 220, for example subjected to a horizontal force component, to a protuberance 261. In particular, the connection with the outer casing 220 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 260 and the second photoelectric cell 250 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 260 and the second photoelectric cell 250 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 240 and the second photoelectric cell 250 are fixed directly or indirectly.

[0218] Advantageously, the second component of the force will be perpendicular to the first component of the force.

[0219] Thus, the electronic handle 200 may include a sensor for the deformation of the outer casing 220, and more broadly of the electronic handle 200, due to a horizontal component.

[0220] For this, the second photoelectric cell 250 is preferably positioned substantially perpendicularly, preferably perpendicular to the first photoelectric cell 230. More particularly, the axis of a light beam formed by the first photoelectric cell 230 is perpendicular to the light axis formed by the second photoelectric cell 250.

[0221] In one embodiment, when the electronic handle 200 comprises a second photoelectric cell 250 and a second shutter element 260, one is fixed to the outer casing 220 and the other, not being fixed to the outer casing 220, is fixed to the central part 210.

[0222] However, when the electronic handle 200 comprises a second photoelectric cell 250 and a second closing element 260, advantageously one is fixed to the central part 210 and the other, not being fixed to the central part 210, 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 of the robotic walker 1.

[0223] 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.

[0224] Generally at least one closure element 240, 260 is attached directly or indirectly to the outer casing 220. This attachment may be a removable or non-removable attachment. Furthermore, in one embodiment, if a closure element is attached to the outer casing 220 then it will not be attached to the central part 210.

[0225] Similarly, at least one photoelectric cell 230,250 is attached directly or indirectly to the outer casing 220. 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 210.

[0226] Advantageously, the photoelectric cell(s) 230, 250 are fixed to the ends of the outer casing 220. Preferably, they are fixed to the opposite ends of the outer casing 220. In particular, as illustrated in figure 7, the photoelectric cell 230 (not shown on the figure 7 ) arranged for a measurement of a vertical force component F1, is preferably positioned in a proximal quartile P of the electronic handle 200 while the photoelectric cell 250 arranged for a measurement of a horizontal force component F2 is preferably positioned in a distal quartile D of the electronic handle 200. This allows an improvement in the precision of the measurements and the sensitivity.

[0227] 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.

[0228] The outer casing may further be covered with an ergonomic shape 221 to facilitate gripping of the electronic handle 200. The ergonomic shape 221 may be made of polymers or any other material.

[0229] Thus, the force applied by a hand to the handle can be modeled by a force, 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.

[0230] As mentioned, a robotic walker 1 according to the invention is configured so that it can be intuitively controlled by a user. In particular, a robotic walker 1 according to the invention is configured so that at least one movement motor 20 can be controlled by a user from a manipulation of the electronic handles.

[0231] As presented in connection with the figure 8 , an electronic handle 200 according to the present invention may also be arranged so as to allow the measurement of at least two components of a force applied to it.

[0232] For this, each of the electronic handles 200 can advantageously comprise a central part 210 comprising a first photoelectric cell 230, a first shutter element 240, a second photoelectric cell 250 and a second shutter element 260.

[0233] As already partly detailed in connection with the figures 1 to 7 , the shutter elements 240, 260 are arranged so as to be able, depending on their position relative to their respective photoelectric cell 230, 250, to modify the quantity of photons received by the receiver 232, 252.

[0234] In this embodiment, the first photoelectric cell 230 and the first shutter element 240 are arranged so that a force applied to the electronic handle 200 comprising a first component and capable of at least partially moving the central part 210, 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 200.

[0235] Furthermore, the second photoelectric cell 250 comprises a second diode 251 capable of emitting a light beam and a second receiver 252 arranged to receive said light beam. The second photoelectric cell 250 is configured to generate a current of intensity proportional to a quantity of photons received by the second receiver 252.

[0236] The second shutter element 260 is capable, depending on its position relative to the second photoelectric cell 250, of modifying the quantity of photons received by the second receiver 252.

[0237] Furthermore, the second photoelectric cell 250 and the second shutter element 260 are arranged so that a force applied to the electronic handle 200 comprising a second component and capable of moving at least partly the central part 210, is capable of causing a modification of the quantity of photons received by the second receiver 252, said modification being proportional to a second component of the force having been applied to the electronic handle 200.

[0238] 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 210. The two electronic handles 200 can thus be configured to control at least part of a motor equipping a robotic walker 1 as a function of the values of the two calculated force components.

[0239] By way of non-limiting example, the motor control can generate a movement of a motorized device such as a robotic walker 1. Such a control can be subject to the determination of the values of the two components of a force applied and calculated respectively for the two handles.

[0240] 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 200, 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 200 is not capable of causing a modification of the quantity of photons received at the level of the second photovoltaic cell 250 but only at the level of the first photovoltaic cell 230.

[0241] Likewise, each of the electronic handles 200 can also be configured so that the force applied to the electronic handle 200, 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 230 but only at the level of the second photovoltaic cell 250.

[0242] Furthermore, the central part 210 may comprise an attachment region 210-1 to a motorized device such as a robotic walker 1 according to the present invention as well as a support region 210-2.

[0243] The attachment region 210-1 may consist of a longitudinal extension of the support region 210-2 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 200 to the robotic walker 1.

[0244] The support region 210-2 is adapted to allow a user to lean on it when the user interacts with the robotic walker 1. Thus, in this embodiment, it is the central part 210 which directly undergoes deformation when a force exerted by the user is applied.

[0245] 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 200 independently, the support region 210-2 of the central part 210 may advantageously comprise at least one embedded beam and a deformation bridge.

[0246] The embedded beam advantageously comprises a embedded end 211-1, 211-3 and a free end 211-2, 211-4. The embedded end 211-1, 211-3 is connected to the central part while the free end 211-2, 211-4 is arranged to be movable along a longitudinal axis of the central part 210 allowing movement of said free end when a force is applied to the electronic handle 200. Advantageously, the embedded beam is arranged so that the free end 211-2, 211-4 is able to move when a force is applied according to a first component but is not able to move when a force is applied according to a second component perpendicular to the first component.

[0247] As an illustrative example, the free end 211-2, 211-4 can move (under the effect of the deformation of the beam) 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 211-2, 211-4 only if the applied force has a given non-zero component. For example, the free end 211-2, 211-4 can 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.

[0248] Furthermore, a deformation bridge 212 of the central part 210 may comprise a through opening 212-1 opening onto a recess 213. The through opening 212-1 is arranged to be able to undergo elastic deformation when a force is applied to the electronic handle 200. More particularly, the volume of the through opening 212-1 may increase or decrease depending on the application of the force to the electronic handle 200.

[0249] As an illustrative example, the through opening 212-1 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 212-1, by a displacement of the central part 210 and more particularly of the support region 210-2, only if the applied force has a given non-zero component (e.g. vertical component).

[0250] Thus, the increase or decrease in the volume of the through opening 212-1 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 212-1 can be arranged so as to allow a displacement of the support region 210-2, and therefore an increase or decrease in the volume of the through opening 212-1 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.

[0251] Advantageously, the second photoelectric cell 250 can be fixed to the central part 210, within a suitable cavity. The second shutter element 260 will in this case be fixed directly to a free end 211-2, 211-4 of a recessed beam. Indeed, the application of a force on the support region 210-2, if it is sufficient, will induce an elastic deformation of the central part 210. 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 252. Indeed, the elastic deformation will lead to a displacement of the second shutter element 260 fixed to the free end 211-2 along the axis of the second component of the applied force, thus blocking all or part of the light beam received by the receiver 252 and generated by the diode 251.

[0252] In order to measure the first component of the force applied to the support region 210-2, the first photoelectric cell 230 and the first shutter element 240 can respectively be positioned on either side of the through opening 212-1 of the deformation bridge 212. Indeed, the application of a force to the support region 210-2, if it is sufficient, will induce an elastic deformation of the central part 210. Such a deformation can be measured if the first component of the applied force is non-zero, leading to a modification of the quantity of photons received by the first receiver 232. Indeed, the elastic deformation will lead to a displacement of the first shutter element 240 fixed to the central part 210, more particularly in a suitable housing 214, along the axis of the first component of the applied force, thus blocking all or part of the light beam received by the receiver 232 and generated by the diode 231.

[0253] In order to reduce the weight of the central part 210, the central part 210 may comprise at least two central openings 216-1, 216-2 traversed by a part 215 of the central part making it possible to ensure sufficient rigidity to avoid any significant deformation or breakage of the central part 210 during its handling by the user, said central openings being positioned in the center of the central part, more particularly between the ends of the central part 210.

[0254] Furthermore, in order to facilitate the passage of electrical power supply cables, the central part 210 may advantageously comprise a recess (not shown in the figures) running longitudinally through the central part 210. Such a recess allows in particular the passage of electrical power supply cables from the walker to the electronic handle 200 and more particularly said recess allows the photoelectric cells 230, 250 to be connected so that they are powered.

[0255] As described above, each of the electronic handles 200 may comprise an outer casing 220, said outer casing 220 being coupled and / or fixed to the central part 210. Preferably, the outer casing 220 is not fixed to the central part 210 but is only coupled for example by one or more force transmission elements.

[0256] 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 211-2, 211-4 of the embedded beam. 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 220 and passing through the central part 210 in a first housing made in the free end 211-2, 211-4 of the embedded beam and / or in a second housing made in the central part 210.

[0257] 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 210. Preferably, the first housing made in the free end 211-2, 211-4 of the embedded beam and the second housing made in the central part 210 comprises a force transmission element, such as a pin, having a fit with a clearance. The outer casing 220 preferably transmits the external forces to the central part 210 by the pin passing through the central part in its second housing and by the pin passing through the central part in its first housing made in the free end 211-2, 211-4.

[0258] In particular, the pins may correspond to metal cylinders passing through the central part 210 at a first housing provided in the free end 211-2, 211-4 and at a second housing provided in the central part 210 which is housed in the outer casing 220. These pins are advantageously mounted with play so as to rotate freely, they therefore only transmit forces from the outer part to the central part 210.

[0259] As an illustrative example, in order to allow the transmission of a horizontal movement, when a force is applied to the electronic handle 200, by the force transmission element passing through the first housing made in the free end 211-2, 211-4 of the embedded beam, it is provided that the first housing is arranged to accommodate the force transmission element. The force transmission element, advantageously taking the form of a pin, makes it possible to connect the outer casing 220 of the electronic handle 200 to the central part 210.

[0260] Furthermore, in order to allow the transmission of a vertical displacement, when a force is applied to the electronic handle 200, by the force transmission element passing through the second housing of the central part 210, it is provided that the second housing provided in the central part 210 takes the form of an oblong hole and is arranged to accommodate a ball bearing adapted to enclose said force transmission element. Thus, the force transmission element passing through the second housing of the central part 210, advantageously taking the form of a pin, has a degree of freedom in translation and in rotation relative to the central part 210 of the electronic handle 200.

[0261] Such force transmission elements make 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.

[0262] An electronic handle 200 may also include a fastening element such as a screw passing through the central part 210 in the central openings 216-1, 216-2 and / or within a cavity comprising the second photoelectric cell 250.

[0263] Indeed, it is provided that the outer casing 220 can take the form of two half-shells arranged to accommodate the central part 210. For this, the fixing element is arranged to establish a reversible mechanical connection between the two half-shells forming the outer casing 220.

[0264] Such a fixing element makes it possible to avoid torsional forces which can interfere with the measurements when a force is applied by a user, since the fixing element is not in contact with the central part 210.

[0265] Thus, at least one of the electronic handles 200 comprises a sensor coupled, preferably operatively, to a control module 40 and the control module 40 is configured so as to be able to control the movement motor 20. In particular, and as illustrated in figure 9 , the control module 40 will be able to control the movement motor 20 according to values transmitted by the sensor of the electronic handle 200. In addition, the electronic handle 200 may comprise several sensors coupled, preferably functionally, to the control module 40.

[0266] The coupling allows the sensor to transmit data to the control module. The functional coupling of one or more sensors of one of the electronic handles 200 to the control module may correspond to a transmission of information, such as current values (intensity or voltage) from the sensors to the control module, directly or indirectly. In addition, this functional coupling may include a fusion of the information from the sensors so that the control module can give an instruction to one or more motors based on values from several sensors. Such sensor fusion makes it possible, for example, to detect the user's intention to stand up in order to synchronize the movement of the walker with the movement of the human.

[0267] Since the electronic handle 200 is equipped with sensors and electronics, it is necessary to bring cables from the location of the electronics to the chassis. The cables are, for example, integrated directly into the chassis or fixed to it.

[0268] Preferably, the sensor of the electronic handle 200 is arranged so as to be able to measure at least one component of a force applied to the electronic handle 200.

[0269] The sensor of the electronic handle 200 may be any device arranged and configured to measure the value of a force or effort. For example, a sensor of the electronic handle 200 may be selected from: a force sensor, a pressure sensor, a barrier photoelectric cell, a displacement sensor. In particular, the sensor of the electronic handle 200 may comprise a strain gauge, a resistive force sensor or a photoelectric cell. Preferably, the electronic handle 200 according to the invention comprises at least one photoelectric cell 230.

[0270] In addition, the control module 40 may comprise a communication module 43 ensuring communication between the different components of the control module 40, in particular via a suitable wired or wireless communication bus.

[0271] Preferably, the communication module 43 is configured to ensure the communication of the data measured by the sensors of a robotic walker 1 according to the invention to a data memory configured to record such data. In addition, the communication module also allows communication between the processor and the data memory in order in particular to calculate a value based on the stored data, said value can then be recorded directly in a suitable field in the data memory. Finally, the communication module also allows the processor to control a movement motor of a robotic walker 1, in particular a command of the motor can be associated with a value calculated from the data measured by the sensors.

[0272] In addition, the control module 40 may comprise a Human Machine Interface (HMI) 44.

[0273] The latter can advantageously be arranged to cooperate with a processor, the human-machine interface can correspond to one or more LEDs, indicator light, sound signal, tactile signal (vibrations), a screen, a printer, a communication port coupled to a computer device or any other interface allowing communication with a human, in a perceptible manner via one of his senses or a computer client via a communication link.

[0274] Such an HMI can also be used to configure the control module. In particular, the control module can interact via an HMI with other electronic devices or connected objects 5 so as to collect configuration data. Such configuration data can, for example, correspond to predetermined threshold values or predetermined durations.

[0275] Furthermore, a robotic walker 1 according to the invention is equipped with a suitable electrical power source (not shown in the figures) enabling the various elements of said robotic walker 1 to operate. Such a power source generally consists of a battery or a plurality of batteries arranged to deliver sufficient electrical energy to enable the operation of the movement motor(s) or to ensure the operation of the various components of the control module.

[0276] A robotic walker 1 according to the invention cannot be limited to a single control module 40; it is provided, in a particular embodiment, that the robotic walker 1 comprises a control module dedicated to each handle. Each of the control modules can thus be arranged inside or outside the handle with which it is associated. In addition, the walker can comprise an electronic power card per motor which makes it possible to control the energy sent to said motor.

[0277] In a particular embodiment, a robotic walker 1 comprises a chassis 10 having a front part 10a and a rear part 10b, a pair of wheels 11a, 11b being arranged to support the rear part 10b of the chassis 10, and a wheel 12 or a pair of wheels being arranged to support the front part 10a of the chassis, the two wheels 11a, 11b, 12 of a pair of wheels being motorized, that is to say each coupled to a movement motor 20, said robotic walker 1 further comprising: a control module 40 configured to control the movement motors 20; a data memory 42 coupled to the control module 40 configured to store a predetermined value of force multiplier coefficient and a predetermined value of adjustment coefficient of the walking assistance; two electronic handles 200 each comprising at least one sensor operatively coupled to the control module 40, said sensor being configured to generate interaction force data between a hand of the user and the robotic walker 1; at least one movement sensor configured to measure movement data of the robotic walker 1 for walking assistance;the control module 40 being configured to ∘ Determine a value of interaction force between a hand of the user and the robotic walker 1 for each of the electronic handles 200 from the data generated by each of the sensors of the electronic handles 200; ∘ Determine a value of movement speed of the robotic walker 1 from measured movement data; ∘ Calculate, for each of the motorized wheels, an increment value from: -- the values of interaction force between a hand of the user and the robotic walker 1 corrected with the predetermined value of force multiplier coefficient, and -- the value of movement speed of the robotic walker 1 corrected by the predetermined value of walking assistance adjustment coefficient. ;

[0278] This walking assistance complements the fall prevention capabilities of the walker according to the invention to reduce the risk of falls for users of a walker according to the present invention.

[0279] Depending on other optional features of the robotic walker, it may optionally include one or more of the following features, alone or in combination: the predetermined value of force multiplier coefficient is generated by a learning model. the predetermined value of walking assistance adjustment coefficient is generated by a learning model.The adjustment coefficient can take into account a plurality of calibration parameters such as a detection force F mD of the right hand and / or of the left hand F mG for each of the corresponding electronic handles, a support force F aD of the right hand and / or of the left hand F aG on each of the corresponding electronic handles, a walking resistance k (virtual weight) in a straight line, a walking resistance k' (virtual weight) in turns, a force for which the speed remains constant in translation F nom , a minimum force for actuating the movement motors F min , a force for which the speed remains constant in rotation ΔF nom , a minimum force in rotation ΔF min , resolution of the handle, a minimum distance D min between the user and the robotic walker, a maximum distance D max between the user and the robotic walker.

[0280] According to another aspect, the invention relates to a method for preventing 100 a fall of a user of a robotic walker 1, preferably a robotic walker 1 according to the invention.

[0281] A prevention method 100 according to an embodiment of the invention, implemented by a control module 40 comprising program instructions previously recorded in a data memory 42 of said control module, is illustrated in figure 10 .

[0282] As illustrated, a method 100 for preventing a fall of a user of a robotic walker 1 comprises the steps 110 of determining at a given instant, an indicator of an involuntary movement of a user of the robotic walker 1, a step 120 of identifying a previous position at the given instant of at least one of the wheels 11a, 11b, 12, a step 130 of transmitting an immobilization instruction to the movement motor 20 of the robotic walker 1 for a predetermined stopping time, and a step 140 of transmitting a movement instruction to the movement motor 20 of the robotic walker 1 so that it returns to the previous position at the identified given instant.

[0283] So, as illustrated in the figure 9, a method 100 for preventing a fall of a user of a robotic walker 1 comprises a step 110 of determining, at a given instant, an indicator of an involuntary movement of a user of the robotic walker 1 which may lead to a fall of said user. As previously specified, the indicator of an involuntary movement of a user may be determined from a multitude of sensors, located on the chassis 10 of the robotic walker 1, or in an electronic handle 200 or even directly on the user of said robotic walker 1. This identification step 110 may correspond to the comparison of a value measured by one of the sensors with a predetermined threshold value or to the comparison of a variation calculated over a predetermined time interval with a predetermined threshold value of variation. The nature of such a variation, over a given time interval, may differ depending on the type of sensors.This may in particular be a variation in force for a pressure sensor, or a variation in distance for a distance sensor, between the user's trunk and the chassis 10, of the robotic walker 1, or a variation in speed, for a sensor configured to measure the movement of a wheel of a robotic walker 1.

[0284] A method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 120 of identifying a previous position at the given instant of at least one of the wheels 11a, 11b, 12, preferably of at least two wheels.

[0285] Following the identification 110 of an indicator of involuntary movement carried out in a given time interval, it is advantageous to be able to determine what the previous position of the robotic walker 1 was, that is to say before the involuntary movement of said user took place. For this, the identification step 120 can advantageously make it possible to determine an angular variation and a direction taken by at least one of the wheels 11a, 11b, 12, preferably at least two wheels. Indeed, the positions of at least one of said wheels are stored in the data memory 42 of the control module 40 as a function of time, which makes it possible to easily identify the position of at least one of the wheels, preferably at least two wheels, before the identification of the involuntary movement.

[0286] A method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 130 of transmitting to the movement motor 20 an instruction to immobilize the robotic walker 1, for example for a predetermined stopping time previously recorded in the data memory 42 of the control module 40. This makes it possible to completely immobilize the robotic walker 1 in order to prevent the user from falling.

[0287] A method 100 for preventing a fall of a user of a robotic walker 1 further comprises a step 140 of transmitting to the movement motor 20 an instruction to move the robotic walker 1 so that it returns to the previous position at the identified given time, of at least one of the wheels 11a, 11b, 12, preferably at least two wheels. Such a step advantageously makes it possible to help the user of the robotic walker 1 to reestablish his position relative to said robotic walker 1.Indeed, as seen previously, the robotic walker 1 may include various sensors and an involuntary movement may also be associated with a loss of balance, involving for example the application of a pronounced force on an electronic handle 200, or even a moving away or a moving closer of the user's torso relative to the chassis 10 of the robotic walker 1, or even a sudden acceleration of the rotation speed of one of the wheels of the robotic walker 1, resulting in one case or the other in a movement or not of the robotic walker 1. Thus, in order to prevent the user of said robotic walker 1 from falling, the transmission step 140 is particularly suitable for facilitating the restoration of the user's balance.

[0288] According to another aspect, the invention relates to a control method 300 of a robotic walker 1, preferably a robotic walker 1 according to the invention.

[0289] A control method 300 according to one embodiment of the invention is illustrated in figure 11 . As illustrated, a method 300 for controlling a robotic walker 1 comprises the steps of measuring 320 at least one force value applied to an electronic handle 200, comparing 330 the at least one force value applied to a predetermined threshold force value, and generating 360 a control instruction to at least one of the movement motors 20 of the robotic walker 1.

[0290] Furthermore, a method 300 for controlling a robotic walker 1 may comprise the steps 310 of customizing the robotic walker 1, calculating 340 a value of variation over time of a force applied to an electronic handle 200, comparing 350 the value of variation over time of a force applied to a predetermined threshold value.

[0291] So, as illustrated in the figure 10, a control method 300 of a robotic walker 1 may comprise a step 310 of customizing the robotic walker 1. Indeed, a control method is advantageously adapted to the user of the robotic walker 1. Thus, it will be advantageous, for example during a first use, to calibrate the robotic walker 1 and to adapt its operation to the morphology and physiology of a given user. In particular, the customization step 310 may comprise a storage, for example on a data memory 42, of: a predetermined threshold value of applied force, a predetermined threshold value of variation of applied force, a predetermined threshold value of speed of at least one of the wheels 11a, 11b, 12, preferably of at least two wheels, a predetermined threshold value of variation of distance, and / or a predetermined threshold value of distance.

[0292] Alternatively, these threshold values may have been pre-recorded in a data memory 42 during the design of the robotic walker 1.

[0293] The storage of such data makes it possible, on the one hand, to adapt the walker in its operation to the morphology of a given user. Indeed, depending on the user's level of autonomy, or their propensity to lose balance, and depending on the sensors positioned on said robotic walker 1, it may be advantageous to adapt the different thresholds in order to prevent any risk of falling. In the remainder of the description, the steps of the control method 300 are described in connection with a force sensor applied to an electronic handle 200. However, the invention cannot be limited to this embodiment and may include, in combination with or instead of such a force sensor applied to an electronic handle, a distance sensor or a sensor configured to measure a variation in speed of a wheel of the robotic walker 1.

[0294] A method 300 for controlling a robotic walker 1 comprises a step 320 of measuring at least one force value applied to an electronic handle 200. This measuring step 320 may correspond to the generation of a value of a component of a force applied to the electronic handle 200 by a user. Preferably, the applied force whose value is measured corresponds to a vertical component of the applied force. Thus, the detection of a user pressing on said handle is done at least in part by measuring the vertical pressing force on the electronic handle 200. Advantageously, this step may comprise the measurement 320 of at least two components of the force applied to the electronic handle 200. Furthermore, this measurement 320 may preferably be carried out for both electronic handles 200.

[0295] This step can be performed by one or more sensors of an electronic handle 200.

[0296] A method 300 for controlling a robotic walker 1 comprises a step 330 of comparing the at least one applied force value to a predetermined threshold value of applied force and / or measuring the distance between the user and the robotic walker 1. Such a comparison makes it possible to generate a posture indicator of the user. For example, the comparison step may lead to generating a binary value (e.g. yes / no).

[0297] Indeed, a method according to the invention will be able to advantageously detect a posture of a user and in particular his capacity or his need to set the robotic walker 1 in motion, by detecting an exceeding of a threshold value by a measured value of applied force.

[0298] This comparison step may also include the generation of a posture indicator in the form of an alphanumeric value or a numerical value. A numerical value may, for example, correspond to a difference between the measured value and the predetermined threshold value. A posture indicator value may advantageously be used in combination with other values when generating a control instruction.

[0299] This step can be carried out by a control module 40 and in particular by a processor 41 configured to carry out such a comparison and generate the user's posture indicator.

[0300] As illustrated in the figure 10 , a method 300 for controlling a robotic walker 1 can advantageously comprise a step 340 of calculating a value of variation over time of a force applied to an electronic handle 200.

[0301] This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module 40.

[0302] In particular, such a time variation value may correspond to a variation in force applied during a predetermined time interval. The time interval is preferably less than 1 second, more preferably less than 0.5 seconds, even more preferably less than 0.2 seconds.

[0303] Thus, the method according to the invention makes it possible to monitor in real time the interactions of a user with a robotic walker 1 to determine the intention thereof. This value can be calculated for an electronic handle 200 and preferably for the two electronic handles 200. Advantageously, the applied force whose temporal variation is calculated corresponds to a vertical component and a horizontal component of the applied force.

[0304] This calculated value can be used in a step 350 of comparing the time variation value of an applied force to a predetermined threshold value of applied force variation.

[0305] Such a comparison makes it possible to generate an indicator of the user's intention. For example, the comparison step may lead to the generation of a binary value (e.g. yes / no). Such an intention index may in particular correspond to an indicator of the intention to move the robotic walker 1 and therefore the user.

[0306] This comparison step may also include the generation of an intent indicator in the form of an alphanumeric value or a numeric value. A numeric value may, for example, correspond to a difference between the calculated value and the predetermined threshold value. An intent indicator value may advantageously be used in combination with other values when generating a control instruction.

[0307] Thus, the method according to the invention will advantageously be able to best characterize a user's intention to move. In particular, it has been shown that the joint use of a detection threshold based on an applied force value, preferably a vertical and horizontal component value, coupled with a detection threshold based on an applied force variation value allows for better control results and an increase in the specificity of the control of the movement of the robotic walker 1.

[0308] Furthermore, a method 300 for controlling a robotic walker 1 may also comprise a step of determining a distance value between the trunk of a user of the robotic walker 1 and a distance sensor.

[0309] For example, a distance sensor may determine the distance between the user and said distance sensor. This distance value or a position index of the user derived from such a distance value may advantageously be used in combination with other values when generating a control instruction.

[0310] This step can be carried out by a control module 40 and more particularly a processor 41 configured to determine the distance separating a user from a distance sensor positioned on the robotic walker 1, from the data provided by said distance sensor.

[0311] Furthermore, a method 300 for controlling a robotic walker 1 may also comprise a step 360 of generating a control instruction to at least one of the movement motors 20. As discussed, this step of generating a control instruction may be carried out on the basis of the measured value of force applied to an electronic handle or on a posture index value. In particular, the control instruction may be a function of comparing at least one applied force value to a predetermined threshold value of applied force.

[0312] Advantageously, the generation 360 of a control instruction can also take into account other parameters. Preferably, it takes into account the measured value of force applied to an electronic handle 200 or the posture index value in combination with the temporal variation value of a force applied to an electronic handle or the intention index value.

[0313] In addition, the 360 generation of a control instruction may also take into account the position index value or the measured distance value of the user relative to the distance sensor.

[0314] This step can be carried out by a control module 40 of a robotic walker 1 and more particularly by a processor 41 of said control module.

Claims

1. Robotised walker (1) comprising a frame (10) having a front part (10a) and a rear part (10b), a pair of wheels (11a, 11b) being arranged to support the rear part (10b) of the frame (10), and at least one wheel (12) being arranged to support the front part (10a) of the frame, at least one of the wheels (11a, 11b, 12) being coupled to a movement motor (20), said robotised walker (1) comprising a control module (40) configured to be able to control the movement motor(s) (20), said robotised walker (1) being characterised in that the control module (40) is configured to: - determine, at a given moment, an indicator of an involuntary movement of a user of the robotised walker (1) which could lead to a fall of said user, the indicator of an involuntary movement of a user of the robotised walker (1) being determined from values generated by one or more sensors selected from among: a sensor integrated into an electronic handle (200), a sensor configured to measure the movement of a wheel (11a, 11b, 12), a distance sensor configured to measure the distance between the user and the robotised walker, or a sensor positioned on the user of the robotised walker; - identify a position preceding the given moment of at least one of the wheels (11a, 11b, 12), preferably of at least two wheels; - transmit to the movement motor (20) a command to stop the robotised walker (1); and - transmit to the movement motor (20) a command to move the robotised walker (1) so that it recovers the position preceding the identified given moment.

2. Robotised walker (1) as claimed in claim 1, characterised in that the command to move the robotised walker (1) comprises a predetermined duration of return to the position preceding the identified given moment enabling the control module (40) to determine a speed of movement of the wheels.

3. Robotised walker (1) as claimed in claim 1 or 2, characterised in that the command to stop the robotised walker (1) comprises a predetermined immobilisation duration enabling the control module (40) to determine a speed of movement of the wheels before they stop.

4. Robotised walker (1) as claimed in any one of claims 1 to 3, characterised in that the position preceding the given moment corresponds to the position of the wheel or wheels (11a, 11b, 12) at least ten milliseconds before the given moment.

5. Robotised walker (1) as claimed in any one of claims 1 to 4, characterised in that the indicator of an involuntary movement of a user of the robotised walker (1) is determined from values generated by a sensor integrated into an electronic handle (200) and a distance sensor configured to measure the distance between the user and the robotised walker.

6. Robotised walker (1) as claimed in any one of claims 1 to 5, characterised in that the indicator of an involuntary movement of a user of the robotised walker (1) is determined over a predetermined time interval.

7. Robotised walker (1) as claimed in claim 6, characterised in that the indicator of an involuntary movement of a user of the robotised walker (1) is determined over a time interval of between 0.01 ms and 50 ms.

8. Robotised walker (1) as claimed in any one of claims 1 to 7, characterised in that the indicator of an involuntary movement of a user of the robotised walker (1) is determined from a comparison between a calculated value of variation in the speed of at least one wheel (11a, 11b, 12) and a threshold value of variation in the speed of at least one wheel (11a, 11b, 12).

9. Robotised walker (1) as claimed in any one of claims 1 to 8, characterised in that the robotised walker (1) comprises at least one electronic handle (200) comprising a sensor operatively coupled to a control module (40), said sensor being configured to determine a force of interaction between a hand of the user and the robotised walker (1) and in that the indicator of an involuntary movement is determined from said force of interaction.

10. Robotised walker (1) as claimed in any one of claims 1 to 9, characterised in that the robotised walker (1) comprises at least one distance sensor configured to measure a value of the distance between the user and the robotised walker and in that the control module is further configured to identify the indicator of an involuntary movement of a user of the robotised walker (1) which could lead to a fall of said user from the distance value, preferably when the measured distance value is not between predetermined bounds.

11. Robotised walker (1) as claimed in any one of claims 1 to 10, characterised in that the robotised walker (1) comprises at least one sensor integrated into an electronic handle (200) configured to enable the determination of a value of the force of interaction between a hand of the user and the robotised walker (1), and in that the control module is further configured to identify the indicator of an involuntary movement of a user of the robotised walker (1) which could lead to a fall of said user from the determined value of the force of interaction, preferably when the determined force value is greater than a predetermined threshold value.

12. Robotised walker (1) as claimed in any one of claims 1 to 11, characterised in that it further comprises: - a data memory (42), coupled to the control module (40), configured to store a predetermined value of a force multiplier coefficient and a predetermined value of a walking assistance adjustment coefficient; - two electronic handles (200) each comprising at least one sensor operatively coupled to the control module (40), said sensor being configured to generate data of the force of interaction between a hand of the user and the robotised walker (1); - at least one movement sensor configured to measure movement data of the walking assistance robotised walker (1); - the control module (40) being further configured to: ∘ determine a value of the force of interaction between a hand of the user and the robotised walker (1) for each of the electronic handles (200) from the data generated by each of the sensors of the electronic handles (200); ∘ determine a value of the speed of movement of the robotised walker (1) from measured movement data; ∘ calculate, for each of the motorised wheels, an increment value from: -- values of the force of interaction between a hand of the user and the robotised walker (1) which are corrected with the predetermined value of the force multiplier coefficient, and -- the value of the speed of movement of the robotised walker (1) corrected by the predetermined value of the walking assistance adjustment coefficient.

13. Robotised walker (1) as claimed in any one of claims 1 to 12, characterised in that the electronic handle (200) is arranged so as to enable the measurement of at least two components of a force being applied thereto, said electronic handle (200) comprising: - a first photoelectric cell (230), said first photoelectric cell (230) comprising a first diode (231) suitable for emitting a light beam and a first receiver (232) arranged to receive said light beam, said first photoelectric cell (230) being configured to generate a current proportional to a quantity of photons received by the first receiver (232), and - a first closing element (240) able, depending on its position relative to the first photoelectric cell (230), to modify the quantity of photons received by the first receiver (232), - the first photoelectric cell (230) and the first closing element (240) being arranged such that the force applied to the electronic handle (200) is suitable for causing a modification in the quantity of photons received by the first receiver (232), said modification being proportional to a first component (F1) of the force having been applied to the electronic handle, - a second photoelectric cell (250) comprising a second diode (251) suitable for emitting a light beam and a second receiver (252) arranged to receive said light beam, said second photoelectric cell (250) being configured to generate a current proportional to a quantity of photons received by the second receiver (52), - a second closing element (260) able, depending on its position relative to the second photoelectric cell (250), to modify the quantity of photons received by the second receiver (252), - the second photoelectric cell (250) and the second closing element (260) being arranged such that the force applied to the electronic handle (200) is suitable for causing a modification of the quantity of photons received by the second receiver (252), said modification being proportional to a second component (F2) of the force having been applied to the electronic handle (200), said electronic handle (200) being configured to control said motor depending on the values of the two calculated force components.

14. Robotised walker (1) as claimed in claim 13, characterised in that the electronic handle (200) comprises a central part (210) and an external casing (220) and in that the electronic handle (200 is arranged such that a force, adapted to control of the walking assistance apparatus, applied to the electronic handle (200) is suitable for moving, at least partially, the central part (210) or the external casing (220), in a preferred manner suitable for moving, at least partially, the central part (210).

15. Robotised walker (1) as claimed in claim 14, characterised in that the first photoelectric cell (230) and / or the first closing element (240) and the second photoelectric cell (250) and / or the second closing element (260) are fixed on the central part (210).

16. Robotised walker (1) as claimed in one of claims 14 or 15, characterised in that the central part (210) comprises at least one embedded post comprising an embedded end (211-1, 211-3) and a free end (211-2, 211-4), said free end (211-2, 211-4) having a degree of mobility permitting a movement of said free end in the direction of the second component (F2) of the applied force.

17. System for controlling the movement of a walker comprising: - a robotised walker (1) as claimed in any one of claims 1 to 16, said robotised walker further comprising a beacon associated with the walker, - at least one independent beacon configured to reflect or emit a signal, the robotised walker (1) being configured to actuate braking when the distance between the beacon associated with the walker and the independent beacon is less than a predetermined threshold value.

18. Method (100) for preventing a fall of a user of a robotised walker (1) as claimed in any one of claims 1 to 16, said prevention method comprising the following steps implemented by the control module (40) of the robotised walker (1): - determining (110), at a given moment, an indicator of an involuntary movement of a user of the robotised walker (1) which could lead to a fall of said user; - identifying (120) a position preceding the given moment of at least one of the wheels (11a, 11b, 12), preferably of at least two wheels; - transmitting (130) to the movement motor (20) an instruction to immobilise the robotised walker (1); and - transmitting (140) to the movement motor (20) an instruction to move the robotised walker (1) so that it recovers the position preceding the identified given moment of the at least one of the wheels (11a, 11b, 12).

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