Passive exoskeleton for relief of the spinal column

Abstract

The invention relates to an exoskeleton (10) for a user (11) of predetermined morphology, comprising an abdominal belt (12) configured to surround the pelvis of this user, and comprising a pectoral harness (13). For each of the user's shoulders, the exoskeleton comprises at least one spring rod (15) that buckles and / or bends, this spring rod being connected: - at a first end, to this pectoral harness, and - at a second end, to the abdominal belt. This spring rod has a length designed such that, when the user is wearing the exoskeleton, this spring rod adopts the form of an arc passing behind the user's back and exerts a restoring force that tends to lift the user's thorax and to move it away from their abdomen.

Description

[0001] DESCRIPTION

[0002] TITLE OF THE INVENTION: PASSIVE SPINAL RELIEF EXOSKELETON

[0003] Technical field of the invention

[0004] The present invention relates to a passive spinal relief exoskeleton. It falls within the field of assistance to people suffering from spinal or back pain, whether at rest or during exercise, or in outpatient therapy.

[0005] State of the art

[0006] The present invention relates to a spinal decompression device. It is particularly applicable for relieving people suffering from back pain, caused for example by a herniated disc. Such pain occurs, among other things, because the vertebrae excessively compress the intervertebral discs separating them from each other. Furthermore, lower back pain, the leading cause of sick leave in France, is caused by a traumatic event such as a bad movement during a move. For some patients, healing does not occur, the pain returns and the fear of it accentuates it.

[0007] Relief can be obtained by exerting a distraction force on the spine, so as to decoapt the vertebrae, that is to say increase the interarticular space between two surfaces that are too close to each other.

[0008] Spinal decompression devices are known for exerting a distraction force on the user's spine. Such a device is for example proposed by document EP 0319224, which describes a spinal decompression device that surrounds a portion of a user's trunk, comprising an upper support, a lower support, two telescopic bars mounted on the lower and upper supports so as to exert a spreading force on the lower and upper supports. The telescopic bars comprise an actuating lever by means of which a third party, such as a health professional, can, when the device is worn by the user, move the lower and upper supports away from each other, to exert a distraction force on the user's spine. However, such a device is particularly heavy and bulky, and cannot be worn under clothing.Furthermore, it significantly reduces the user's mobility, so it cannot be worn for more than a few minutes. Furthermore, it must be installed and operated with the help of a third party. It also does not allow the spreading force exerted by the telescopic bars to be adapted, for example according to the movements made by the user, so that, for example when the user moves, the distraction effort varies, which tends to limit the relief provided by the device.

[0009] Other devices, or exoskeletons, similar to those described above also include an electronic circuit for actuating the telescopic bars, or pistons. These devices also have the disadvantage of requiring an electrical power supply.

[0010] There are two main types of exoskeleton: the robotic or "active" exoskeleton and the "passive" exoskeleton. The robotic exoskeleton aims to significantly increase the strength of the operator wearing it, but it has the disadvantage of requiring a power source and at least one actuator, which increases the weight of the exoskeleton or, in the case where it is connected to an external power source, limits the user's ability to move. Conversely, the passive exoskeleton aims to reduce the effort required by the operator and does not consume energy. In particular, the passive exoskeleton is part of an approach to reducing the strain when performing repetitive and / or demanding work while preventing the onset of musculoskeletal disorders (MSDs).

[0011] Document DE 55 101 is known, which discloses a corset to support the back of a patient with scoliosis and limit movement to align the spine. This corset has a straight rod mounted between a chest harness and an abdominal belt. A straight rod thus rests on the user's hip and stops between the shoulder blades.

[0012] Two other rods are present on either side of the user's torso in order to limit their movements or create a twisting effect on the user's back.

[0013] Document US 2021 / 137 721 is also known, which discloses rigid rods (or “Rail elements”) mounted on spherical joints so as to obtain a deformable parallelogram between the user’s hips and shoulders.

[0014] Document EP 1 264 583 is also known, which describes flexible rods mounted in the form of a slide on the user's shoulders.

[0015] None of the devices described in these documents therefore leaves great freedom of movement to its user, while relieving the back by reducing the weight exerted by the upper thorax on the lower thorax.

[0016] Statement of the invention

[0017] The present invention aims to remedy all or part of these drawbacks.

[0018] To this end, according to a first aspect, the present invention aims at an exoskeleton for a user of predetermined morphology, comprising an abdominal belt configured to surround the pelvis of this user, a pectoral harness and, for each shoulder of the user, at least one spring rod working in buckling and / or flexion, this spring rod being connected:

[0019] - at a first end, to this pectoral harness and - at a second end, to the abdominal belt; this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc exerting a restoring force tending to lift the user's thorax and move it away from his abdomen.

[0020] Thanks to these arrangements, the user's spine is relieved of part of the weight of the user's thorax and upper limbs. In addition, each spring rod associated with a shoulder being, at least partially, independent of another spring rod associated with another shoulder, the user can perform flexion and twisting movements of his torso without discomfort.

[0021] In embodiments, for at least one spring rod, the acute angle between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 30 degrees.

[0022] In embodiments, for at least one spring rod, the acute angle between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 60 degrees.

[0023] In embodiments, for at least one spring rod, the acute angle between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 75 degrees.

[0024] In embodiments, for at least one spring rod, between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 45 degrees.

[0025] In embodiments, for at least one spring rod, between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 60 degrees.

[0026] In embodiments, for at least one spring rod, between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 75 degrees.

[0027] In embodiments, for at least one spring rod, the radius of curvature in the middle of this spring rod is, when the exoskeleton is not worn by a user, less than the length of this spring rod.

[0028] In embodiments, for at least one spring rod, the radius of curvature in the middle of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, less than half the length of this spring rod.

[0029] By virtue of each of these provisions relating to the angles and radii of curvature when the exoskeleton is not worn by the user, the installation of the exoskeleton on the user's body is facilitated. By virtue of each of these provisions relating to the angles and radii of curvature when the exoskeleton is worn by the user, the restoring force exerted by the rod concerned is substantially constant during the user's movements, which reduces the efforts made by the user to carry out these movements since he does not have to fight against the variation of this force and the relief of the user's back is substantially constant during these movements of the user.

[0030] In embodiments, the exoskeleton which is the subject of the invention comprises, for each shoulder of the user, a spring rod working in buckling and / or flexion, this spring rod being connected:

[0031] - at a first end, to the pectoral harness, and

[0032] - at a second end, to the abdominal belt; this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc passing behind the user's back and exerts a restoring force tending to lift the user's thorax and move it away from his abdomen.

[0033] This spring rod thus leaves the front of the user free.

[0034] In embodiments, the exoskeleton which is the subject of the invention comprises, for each shoulder of the user, a spring rod working in buckling and / or flexion, this spring rod being connected:

[0035] - at a first end, to the pectoral harness, and

[0036] - at a second end, to the abdominal belt; this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc curved towards the front of the user and exerts a restoring force tending to lift the user's thorax and move it away from his abdomen.

[0037] This spring rod thus leaves the user's back free.

[0038] In embodiments, the exoskeleton which is the subject of the invention comprises, for at least one spring rod, a strap connecting the abdominal belt to the pectoral harness and configured to keep this spring rod flexed, when the exoskeleton is not worn by a user.

[0039] This strap makes it easier to install the exoskeleton on the user's body.

[0040] In embodiments, at least one spring rod is, at rest, a straight rod. The inventor has discovered that, in this case, the force exerted by the spring rod parallel to its chord is substantially constant during the arc deformation of the spring rod.

[0041] In embodiments, the chest harness is configured to surround the user's thorax below the xiphoid process.

[0042] Thanks to these provisions, the support of the rib cage is reinforced. In embodiments, the chest harness comprises, for each shoulder of the user, a strap configured to surround this shoulder, the connection between each spring rod and a strap being positioned above this strap, that is to say in a position further from the abdominal belt than the strap is.

[0043] In these embodiments, the spring rods have a length greater than the distance between the user's hips and collarbones. Thanks to these arrangements, the user's armpit remains free to move since this connection is not located there.

[0044] In embodiments, the connection between each spring rod and a strap is positioned in the upper half of the strap and in the rear half of the strap.

[0045] Thanks to these arrangements, each spring rod is above or behind the user's collarbones, which eliminates the risk of hindering their arm movements.

[0046] In embodiments, the connection between at least one spring rod and the chest harness comprises a ball joint connection.

[0047] In embodiments, the connection between at least one spring rod and the abdominal belt is a ball joint connection.

[0048] Each ball joint can consist of two pivot joints with different axes, or even flexibility of the mechanical parts used for this connection, for example in textile. The user is therefore not hindered when leaning forward or backward, because the ball joint absorbs the inclination of the thorax relative to the user's pelvis. Thanks to each of these arrangements, the movements of the user's pelvis are freer.

[0049] In embodiments, the connection between each spring rod and the abdominal belt is configured to be positioned against a hip of the user.

[0050] The forces exerted by the spring rods are thus applied to the user's hips and therefore do not tend to lean them forward or backward.

[0051] In embodiments, the exoskeleton object of the invention comprises a rigid or elastic link between the central parts of two spring rods.

[0052] Thanks to these arrangements, the spring rods are tightened towards the user's back in their middle part. This reduces the bulk of the exoskeleton at the user's back, and even allows the user to wear rain protection clothing over the exoskeleton.

[0053] In embodiments, at least one connection of at least one spring rod with the abdominal belt and / or with the chest harness is removable by hand without tools.

[0054] Thanks to these provisions, the spring rods can be replaced, for example to adapt the exoskeleton to a user of a different size and / or to modify the force exerted by the spring rods which tends to separate the thorax from the abdomen.

[0055] In embodiments, each spring rod comprises a composite material and has, at rest, a cylindrical shape. According to a second aspect, the present invention relates to a kit comprising an exoskeleton which is the subject of the invention and at least two sets of spring rods having different lengths and / or stiffnesses.

[0056] Thanks to these provisions, by changing the set of spring rods of the exoskeleton, it is adapted to a user of different morphology and / or the force exerted by the spring rods is adapted for the same user morphology. The user can thus choose the set of spring rods which corresponds to his morphology, in particular to the size of his torso and to the assistance he wishes to receive from the exoskeleton, in terms of force tending to separate his thorax from his abdomen.

[0057] Brief description of the figures

[0058] Other advantages, aims and particular characteristics of the invention will emerge from the following non-limiting description of at least one particular embodiment of the exoskeleton which is the subject of the present invention, with reference to the appended drawings, in which:

[0059] Figure 1 represents, in schematic side view, a first particular embodiment of the exoskeleton which is the subject of the invention, worn by a user of predetermined morphology,

[0060] Figure 2 represents, in back view, a second embodiment of the exoskeleton which is the subject of the invention,

[0061] Figure 3 represents, in back perspective, the exoskeleton illustrated in Figure 2,

[0062] Figure 4 represents an enlargement of a first part of Figure 3, comprising a connection between a spring rod and a strap,

[0063] Figure 5 represents an enlargement of a second part of Figure 3, comprising a connection between a shoulder strap and a chest harness,

[0064] Figure 6 represents an enlargement of a third part of Figure 3, comprising a connection between a spring rod and an abdominal belt,

[0065] Figure 7 represents, in a developed schematic view, a third particular embodiment of the exoskeleton which is the subject of the invention, before it is worn by a user, and

[0066] Figure 8 represents, in schematic side view, the exoskeleton illustrated in Figure 7, worn by a user of predetermined morphology.

[0067] Description of the embodiments

[0068] This description is given without limitation, each feature of an embodiment being able to be combined with any other feature of any other embodiment in an advantageous manner. Throughout the description, the term "upper" or "top" refers to that which is at the top when a user wears the exoskeleton which is the subject of the invention and in the figures, and "lower" or "bottom" refers to that which is at the bottom when a user wears the exoskeleton which is the subject of the invention and in these figures. The figures thus represent the normal orientation of the exoskeleton during use by a standing or seated user. The "heights" follow from these definitions. The "widths" are defined from right to left in Figures 2 to 6, therefore also from right to left of the user's body. These are the dimensions in the direction from one shoulder to the other of the user.The term "front", "front", "face" or "ventral" refers to what is on the user's stomach side during use of the exoskeleton and "rear" or "dorsal" refers to what is on the user's back side during use of the exoskeleton. The term "internal" or "interior" refers to what is close to or turned towards the user's trunk and "external" or "exterior" refers to what is far from this trunk or is turned towards what is far from this trunk. The term "chest harness" refers to a set of straps, assembled by an easily detachable buckle, intended to surround a person's torso. Such a harness may take the form of a chest or thoracic belt made up of a single strap. This belt may, if necessary, be supplemented by shoulder straps passing over the shoulders and / or below the pelvis of this person.

[0069] It should be noted, from now on, that figures 2 to 6 are to scale and adapted to an average European man, as defined by statistical studies of this population.

[0070] The exoskeleton that is the subject of the invention aims to combat back pain and improve working conditions by reducing the difficulty of maintaining a standing or sitting position, and its physical and mental consequences for the user.

[0071] This exoskeleton is lightweight, intuitive to use, and designed to relieve the spine of some of the load from the thorax and upper limbs. It is particularly suitable for any work requiring the carrying of loads with the arms. The user thus retains great freedom of movement. They are not hindered in the performance of tasks that do not require mechanical assistance.

[0072] The assistance, that is to say the mass directly supported by the exoskeleton between the thorax and the pelvis of the user without passing through his spine can reach 10 kg, or even 15 kg, 20 kg or more. The mass of the exoskeleton represented in the figures can be of the order of one kilogram. The inventors have observed a time of putting on the exoskeleton of less than two minutes and a time of removing the exoskeleton of approximately one minute.

[0073] An exoskeleton object of the invention is defined for a model user, for example a user with a height of 1.78 m and a mass of 77 kg.

[0074] Of course, the same exoskeleton can be suitable for a set of users whose characteristics are close to those of the model. The person skilled in the art responsible for producing an exoskeleton which is the subject of the invention knows, from the predetermined user for whom the exoskeleton is intended, how to determine the dimensions of his body, and in particular those of his trunk and his limbs. Indeed, these anthropometric data are well documented. A trunk and an arm of a male model user are represented in Figure 1, in broken lines.

[0075] The implementation of the invention therefore involves the production of a range of exoskeletons covering a large part of the users' morphologies, for example a single exoskeleton to cover the morphologies of 70% of the European population, two exoskeletons to cover 90% of the European population.

[0076] In Figure 1, we observe a particular embodiment 10 of the exoskeleton which is the subject of the invention. This exoskeleton 10 is worn by a user 11 (partially shown diagrammatically in broken lines in Figure 1) whose morphology corresponds to that of one of the predetermined model users. This exoskeleton 10 comprises an abdominal belt 12 configured to surround the pelvis of this user 11 and a pectoral harness 13 configured to surround the thorax of the user 11.

[0077] The exoskeleton 10 also comprises, for each shoulder of the user, at least one spring rod 15 working in buckling and / or flexion.

[0078] This spring rod 15 is connected:

[0079] - at a first end, upper, to the pectoral harness 13 and

[0080] - at a second, lower end, to the abdominal belt 12.

[0081] The spring rod 15 has a length configured such that, when the user 11 wears the exoskeleton 10, the spring rod 15 takes the shape of an arc, as illustrated in FIG. 1, this shape passing behind the back of the user 11 and exerting a restoring force tending to lift the thorax of the user 11 and to move it away from his abdomen.

[0082] In the embodiment shown schematically in Figure 1, the chest harness 13 comprises, for each shoulder of the user, a strap 14 configured to surround this shoulder.

[0083] In other embodiments (not shown), the chest harness 13 does not include a strap, each connection between the spring rod 15 and the chest harness 13 is therefore made below the shoulder, for example at the level of an armpit of the user.

[0084] In the embodiment shown schematically in Figure 1, the connection 17 between the spring rod 15 and the strap 14 comprises a housing in which the upper end of the spring rod 15 is fitted and a pivot connection 9 connecting this housing to the strap 14. In the preferred embodiments illustrated in the figures, the spring rods 15 have a length greater than the distance between the hips and the clavicles of the user, this length preferably being at least 20% greater than this distance.

[0085] In the embodiment shown schematically in Figure 1, the connection 16 between the spring rod 15 and the abdominal belt 12 is a pivot connection or a ball joint connection. As can be easily understood with regard to Figure 1, the part of the spine (not shown) of the user 11 between the abdominal belt 12 and the chest harness 13 is relieved, by means of the spring rods 15, of part of the weight of the thorax and the upper limbs of the user. Spinal pain and pain due to lower back pain can thus be reduced.

[0086] In the first embodiment illustrated in figure 1, the connection 17 between each spring rod 15 and a strap 14 is positioned above this strap 14, that is to say in a position further from the abdominal belt 12 than the strap 14 is.

[0087] Figures 2 to 6 show a second embodiment of an exoskeleton 20 that is the subject of the invention. In these figures, the references ending in “D” relate to the right part of the exoskeleton 20, which is located on the right half of the body of the user wearing this exoskeleton. The references ending in “G” relate to the left part of the exoskeleton.

[0088] This exoskeleton 20 comprises an abdominal belt 12 configured to surround the pelvis of this user and a pectoral harness 13D and 13G configured to surround the thorax of the user.

[0089] The abdominal belt 12 comprises a central back support 21 which also serves as a loop for the abdominal belt 12 and an extension 23 (on the right in figures 2 and 3) made of self-gripping fabric, for example velvet, provided with an end 24 made of self-gripping fabric configured to grip onto the self-gripping fabric 23. The abdominal belt 12 comprises, at its opposite end (on the left in figures 2 and 3), a loop 22 for the extension 23. To adjust the waist size, the user passes the extension 23 through the loop 22, pulls on this extension and folds it back on itself so that the self-gripping fabrics 23 and 24 attach. Self-gripping fabrics (not shown) are provided, in addition, at the level of the central back support 21, in order to adapt the waist size to a greater variety of morphologies and so that the 16D and 16G connections are located precisely on the user's hips.The 16D and 16G connection between each 15D and 15G spring rod and the abdominal belt 12 is thus positioned against a hip of the user.

[0090] A clip fastener 36 makes it possible to detach the loop 22 from the left part of the abdominal belt 12. Once the user has adjusted his waist size using the loops 21 and 22, he can simply use the clip fastener 36 to put on or remove the abdominal belt 12.

[0091] The abdominal belt 12 is provided with two links 16D and 16G with two spring rods 15D and 15G. As illustrated in Figure 6, the link 16D comprises, fitted at the lower end of the spring rod 15, a housing secured to a spherical part 31D. This spherical part 31D is retained in a housing 30D in the form of a drawer housing, the housing whose upper opening allows the spherical part 31D to be disengaged. The link 16D is thus a removable ball joint connection, that is to say, removable by hand without tools. Alternatively, the spherical part 31D is replaced by a cylindrical part which provides a pivot connection, the pivoting taking place in the plane tangent to the abdominal belt 12.

[0092] The chest harness consists of two symmetrical parts 13D and 13G, connected, at the user's back, by a loop 25 to which the rear ends 27D and 27G (in the center in Figures 2 and 3) of the parts 13D and 13G are attached independently. The front ends 26D and 26G of the parts 13D and 13G also have self-gripping fabrics allowing them to be attached to each other in front of the user's chest. Between the ends, respectively 26D and 27D, on the one hand, and 26G and 27G, on the other hand, the parts 13D and 13G are flexible, for example made of textile. 28D and 28G underwires, which are more rigid than these flexible parts, are positioned to lie under the user's armpits and to form the rear part of the 14D and 14G shoulder straps, at the level of the user's shoulder blades. The underwires, for example made of HDPE (acronym for High Density Polyethylene), extend to the 17D and 17G connections of the 15D and 15G spring rods.The remainder of the straps 14D and 14G is made of flexible material, for example textile, and is connected to the frame 28D and 28G by a loop fastener 37 (see figure 4) and self-gripping fabric, as described previously for the loop 22. As illustrated in figure 4, a yoke 33D, removable by hand, terminates the upper end of the spring rod 15D. This yoke 33D has a cylindrical head inserted into a housing 34D, with which it forms a pivot connection with an axis perpendicular to the frame 28D. The yoke 33D comprises two parts mounted on a pivot connection with an axis perpendicular to the upper end of the spring rod 15D. The 17D and 17G connection between each 15D and 15G spring rod and a 14D and 14G strap thus comprises a ball joint connection made up of a succession of two pivot connections with perpendicular axes.This ball joint may consist of two pivot joints with different axes, or even of flexural flexibility of the mechanical parts used for this joint, for example in textile. Alternatively, the connection between the upper end of each 15D and 15G spring rod and a 14D and 14G strap is a pivot joint.

[0093] The 34D housing is movable on the 28D frame and can be locked onto this 28D frame after movement. This movement allows the flexion of the 15D spring rod to be adjusted with the left hand, over the right shoulder.

[0094] An adjustment makes it possible to avoid shearing at the left armpit, as illustrated in Figure 5. Again, a 32G loop and a self-gripping fabric are implemented to ensure the comfort of the user. This 32G loop can be moved between several positions, by means of a lug ending in a spherical head inserted into a through opening 38G of the frame 28G (three openings 38G are shown in Figure 5). A rigid or elastic link, for example a strap, 35 connects the central parts of the spring rods 15D and 15G. This link 35 makes it possible to limit the bulk of the exoskeleton 20 at the back of the user by folding the central parts of the spring rods 15D and 15C towards the center of the back.

[0095] The 15D and 15G spring rods are, as explained above, removable without tools. They can thus be changed, for example when the user wishes to increase the stiffness of the 15D and 15G spring rods in order to increase the force exerted by these 15D and 15G spring rods to relieve the spine.

[0096] The exoskeleton 20 also includes, for each shoulder of the user:

[0097] - a 14D and 14G strap connected to the chest harness 13 and configured to surround this shoulder, and

[0098] - at least one 15D and 15G spring rod working in buckling and / or bending.

[0099] Each 15D and 15G spring rod is connected:

[0100] - at a first end, upper, to a 14D and 14G strap and

[0101] - at a second, lower end, to the abdominal belt 12.

[0102] Each spring rod 15D and 15G has a length configured such that, when the user wears the exoskeleton 20, the spring rod 15D and 15G takes the shape of an arc, as illustrated in FIG. 1, this shape passing behind the user's back and exerting a restoring force tending to lift the user's thorax and away from his abdomen.

[0103] In this second embodiment, the user's spine (not shown) is also relieved of part of the weight of the user's thorax and upper limbs by means of the spring rods 15D and 15G. Spinal pain and pain due to lower back pain are thus reduced.

[0104] Preferably, the chest harness is configured to surround the user's thorax below the xiphoid process.

[0105] In the second embodiment illustrated in Figures 2 to 6, the connection 17D and 17G between each spring rod 15D and 15G and a strap 14D and 14G is positioned in the upper half of the strap 14D and 14G and in the rear half of the strap 14D and 14G. This quarter is represented by perpendicular broken lines, in Figures 1 and 2, for each strap 14, 14D and 14G.

[0106] Preferably, each 15D and 15G spring rod comprises a composite material and has, at rest, a cylindrical shape.

[0107] In embodiments (not shown), the spring rods are, at rest, that is to say in the absence of forces acting on them, straight rods.

[0108] Preferably, a kit comprising the exoskeleton that is the subject of the invention comprises a plurality of sets of 15D and 15G spring rods having different lengths and / or stiffnesses. For example, four stiffnesses of spring rods are used to meet a wide range of user demands, pain conditions or pathologies:

[0109] - 200 Newtons per pair,

[0110] - 110 Newtons per pair,

[0111] - 80 Newtons per pair, and

[0112] - 40 Newtons per pair.

[0113] For example, the lengths of the 15D and 15G spring rods of the different sets are in the range of 550 mm to 850 mm.

[0114] The applicant has discovered that, thanks to the arc shape of a straight spring rod at rest, the restoring forces exerted by the spring rods on the belt, on the one hand, and on the chest harness, on the other hand, parallel to the chord of this arc, are substantially constant during the deformation of the spring rods.

[0115] Note that the spring rods installed by the user can be different for both shoulders, for example to relieve pain linked to scoliosis or another back deformity.

[0116] In embodiments, the chest harness includes an extension to at least partially surround the user's neck. These embodiments provide relief from neck pain.

[0117] Further information on embodiments of the invention is given below.

[0118] The exoskeleton of the invention has at least two gripping zones for the spine to stretch it. These two zones are as far apart as possible to stretch a larger segment of the spine. In some embodiments, these zones are represented by:

[0119] - a belt on the user's hips,

[0120] - a high belt at the level of the lower ribs, higher ribs and / or cervical vertebrae.

[0121] In variants of the first two embodiments, instead of or in addition to the spring rods 15, 15D and 15G, the exoskeleton 10 or 20 comprises, for each shoulder of the user, a spring rod (not shown) working in buckling and / or flexion, this spring rod being connected:

[0122] - at a first end, to the pectoral harness 13, and

[0123] - at a second end, to the abdominal belt 12; this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc curved towards the front of the user and exerts a restoring force tending to lift the user's thorax and move it away from his abdomen. Figure 1 shows the tangents 18 and 19 of the spring rod 15 at its lower and upper ends. These tangents are in the same plane. The acute angle (i.e. less than 90 degrees) between these tangents at the ends of this spring rod 15 is, when the exoskeleton 10 is worn by the user 11 of predetermined morphology, preferably greater than 45 degrees, more preferably greater than 60 degrees and, even more preferably, greater than 75 degrees.

[0124] As seen in Figure 2, in which these tangents are shown, but not referenced, the acute angle between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, preferably greater than 30 degrees, more preferably greater than 60 degrees and, even more preferably, greater than 75 degrees.

[0125] Preferably, for at least one spring rod, the radius of curvature in the middle of a spring rod is, when the exoskeleton is not worn by a user, less than the length of this spring rod, as illustrated in figure 2.

[0126] Preferably, for at least one spring rod, the radius of curvature in the middle of a spring rod is, when the exoskeleton is worn by the user of predetermined morphology, less than half the length of this spring rod.

[0127] As a variant (not shown), the exoskeleton 10 or 20 comprises, for at least one spring rod, a strap connecting the abdominal belt 12 to the pectoral harness 13 and configured to keep this spring rod flexed, when the exoskeleton is not worn by a user, in a manner similar to that described with regard to figures 7 and 8.

[0128] In embodiments, the number of spring rods is greater than two, for example four. For example, with four spring rods, two cross over the user's back, with the other two remaining on the same side of the user's body as described with reference to the figures.

[0129] Figure 7 illustrates such a third particular embodiment of the exoskeleton that is the subject of the invention, before it is worn by a user. The exoskeleton 40 comprises a lower abdominal belt 42 and a high belt, or harness, for the chest 43. The lower belt 42 is provided, at each of its ends, with attachment means 62 and 63 intended to connect together when the user encircles the top of his pelvis with this lower belt 42. The attachment means comprise adjustment means (not shown) for the circumference of the lower belt 42. The upper belt 43 is provided, at each of its ends, with attachment means 60 and 61 intended to connect together when the user encircles the bottom of his rib cage with this upper belt 43. The attachment means comprise adjustment means (not shown) for the circumference of the upper belt 43.For example, these attachment means and these adjustment means are similar to those of belts or backpack straps. Preferably, the length adjustment means of the belts 42 and 43 are located on the front face of the user, for ergonomic purposes. In variants, adjustment means are also located on the rear face (in the back) of the user.

[0130] Between these low 42 and high 43 belts are located, for each shoulder of the user, two spring rods working in buckling and / or flexion. For the left shoulder, the spring rod 45 is intended to be located on the left side of the stomach of the predetermined user 11 who wears the exoskeleton 40, as illustrated in figure 8. Similarly, the spring rod 44 is intended to be located on the left side of the back of this user. For the right shoulder, the spring rod 55 is intended to be located on the right side of the stomach of the predetermined user 11 who wears the exoskeleton 40 and the spring rod 54 is intended to be located on the right side of the back of this user.

[0131] Each spring rod 44, 45, 54 and 55 is connected:

[0132] - at a first end, upper, to the belt, or harness, pectoral 43 and

[0133] - at a second end, lower, to the abdominal belt 42.

[0134] Each spring rod 44, 45, 54 and 55 has a length configured such that, when the user 11 wears the exoskeleton 40, this spring rod 44, 45, 54 and 55 takes the shape of an arc, as illustrated in FIG. 8, this shape passing behind the back of the user 11 or in front of the user's stomach, and exerts a restoring force tending to lift the thorax of the user 11 and away from his abdomen.

[0135] Between the lower 42 and upper 43 belts there are also shoulder straps 64 to 67 (not shown in figure 8 for the sake of clarity of this figure) provided with means 68 to 71 for independent adjustment of their lengths. These shoulder straps 64 to 67 ensure the flexion maintenance of the spring rods, respectively 45, 44, 54 and 55, when the exoskeleton 40 is at rest, that is to say when it is not worn by a user.

[0136] The exoskeleton 40 of the third embodiment has the advantage, compared to the exoskeletons 10 and 20 of the first and second embodiments, of having a reduced bulk and of leaving the user's shoulder movements completely free.

[0137] Alternatively, the chest harness 43 of the exoskeleton 40 further comprises shoulder straps (not shown) intended to pass over the user's clavicles, each end of these shoulder straps being linked, removably or permanently, to the upper belt shown in figures 7 and 8.

[0138] Figure 7 shows the tangents of the spring rod 54 at its lower and upper ends. These tangents are in the same plane. The acute angle A (i.e. less than 90 degrees) between these tangents at the ends of this spring rod 54 is, when the exoskeleton 40 is not worn by the user, preferably greater than 45 degrees, more preferably greater than 60 degrees and, even more preferably, greater than 75 degrees.

[0139] As can be seen in Figure 8, in which these tangents are shown, but not referenced, the acute angle B between the tangents at the ends of this spring rod is, when the exoskeleton is worn by a user 11 of predetermined morphology, preferably greater than 30 degrees, more preferably greater than 60 degrees and, even more preferably, greater than 75 degrees.

[0140] Preferably, for at least one spring rod, the radius of curvature in the middle of a spring rod is, when the exoskeleton is not worn by a user, less than the length of this spring rod. Preferably, for at least one spring rod, the radius of curvature in the middle of a spring rod is, when the exoskeleton is worn by the user of predetermined morphology, less than half the length of this spring rod.

[0141] As a variant (not shown) of the third embodiment, the exoskeleton 40 only comprises the spring rods 44 and 54 or only the spring rods 45 and 55.

[0142] Of course, the exoskeleton 40 may have technical characteristics described with regard to figures 1 to 6, in particular:

[0143] - at least one spring rod 44, 45, 54, 55 is, at rest, a straight rod,

[0144] - the chest harness 43 is configured to surround the user's thorax below the xiphoid appendage,

[0145] - the connection 48, 49, 58, 59 between at least one spring rod 44, 45, 54, 55 and the chest harness 43 comprises a ball joint connection,

[0146] - the connection 46, 47, 56, 57 between at least one spring rod 44, 45, 54, 55 and the abdominal belt 42 is a ball joint connection,

[0147] - the connection 46, 47, 56, 57 between each spring rod 44, 45, 54, 55 and the abdominal belt 42 is configured to be positioned against a hip of the user,

[0148] - a rigid or elastic link is placed between the central parts of two spring rods,

[0149] - at least one connection 46, 47, 56, 57, of at least one spring rod 44, 45, 54, 55 with the abdominal belt 42 is removable by hand without tools,

[0150] - at least one connection 48, 49, 58, 59 of at least one spring rod 44, 45, 54, 55 with the chest harness 43 is removable by hand without tools, and / or

[0151] - at least one spring rod 44, 45, 54, 55 comprises a composite material and / or has, at rest, a cylindrical shape.

[0152] Preferably, a kit comprising the exoskeleton which is the subject of the invention comprises a plurality of sets of 15D and 15G spring rods having different lengths and / or stiffnesses.

[0153] The exoskeleton which is the subject of the invention is particularly suitable for workstations requiring prolonged standing or sitting, in particular on a seat without a backrest, with repetitive handling of objects involving movements of the dorsolumbar area of ​​the spine.

[0154] These risky postures cause fatigue and back pain in many sectors and professions (non-exhaustive lists): - industry,

[0155] - distribution and trade,

[0156] - health, and

[0157] - agri-food.

[0158] The exoskeleton that is the subject of the invention is intended in particular for cable installers, electricians, sorting operators, laboratory technicians, clothing workers, welders, health professions, and dairy milking, for example.

Claims

CLAIMS 1. Exoskeleton (10, 20, 40) for a user (11) of predetermined morphology, comprising an abdominal belt (12, 42) configured to surround the pelvis of this user, a pectoral harness (13, 13D, 13G, 43), characterized in that it further comprises, for each shoulder of the user, at least one spring rod (15, 15D, 15G, 44, 45, 54, 55) working in buckling and / or in flexion, this spring rod being connected: - at a first end, to this pectoral harness, and - at a second end, to the abdominal belt; this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc exerting a restoring force tending to lift the user's thorax and move it away from his abdomen.

2. Exoskeleton (10, 20, 40) according to claim 1, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 30 degrees.

3. Exoskeleton (10, 20, 40) according to claim 2, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 60 degrees.

4. Exoskeleton (10, 20, 40) according to claim 3, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is not worn by a user, greater than 75 degrees.

5. Exoskeleton (10, 20, 40) according to one of claims 1 to 4, in which, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 45 degrees.

6. Exoskeleton (10, 20, 40) according to claim 5, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 60 degrees.

7. Exoskeleton (10, 20, 40) according to claim 6, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the acute angle (A) between the tangents at the ends of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, greater than 75 degrees.

8. Exoskeleton (10, 20, 40) according to one of claims 1 to 7, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the radius of curvature in the middle of this spring rod is, when the exoskeleton is not worn by a user, less than the length of this spring rod.

9. Exoskeleton (10, 20, 40) according to one of claims 1 to 8, wherein, for at least one spring rod (15, 15D, 15G, 44, 45, 54, 55), the radius of curvature in the middle of this spring rod is, when the exoskeleton is worn by the user of predetermined morphology, less than half the length of this spring rod.

10. Exoskeleton (10, 20, 40) according to one of claims 1 to 9, which comprises, for each shoulder of the user, a spring rod (15, 15D, 15G, 44, 54) working in buckling and / or in flexion, this spring rod being connected: - at a first end, to the pectoral harness (43), and - at a second end, to the abdominal belt (42); this spring rod having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc passing behind the user's back and exerts a restoring force tending to lift the user's thorax and move it away from his abdomen.

11. Exoskeleton (40) according to one of claims 1 to 10, which comprises, for each shoulder of the user, a spring rod (45, 55) working in buckling and / or flexion, this spring rod being connected: - at a first end, to the pectoral harness (43), and - at a second end, to the abdominal belt (42); this spring rod (45, 55) having a length configured in such a way that, when the user wears the exoskeleton, this spring rod takes the form of an arc curved towards the front of the user and exerts a restoring force tending to lift the user's thorax and move it away from his abdomen.

12. Exoskeleton (40) according to one of claims 1 to 11, which comprises, for at least one spring rod (44, 45, 54, 55), a strap (64 to 67) connecting the abdominal belt (42) to the pectoral harness (43) and configured to keep this spring rod flexed, when the exoskeleton is not worn by a user.

13. Exoskeleton (10, 20) according to one of claims 1 to 12, in which at least one spring rod (15, 15D, 15G) is, at rest, a straight rod.

14. Exoskeleton (10, 20) according to one of claims 1 to 13, wherein the chest harness is configured to surround the user's thorax below the xiphoid process.

15. Exoskeleton (10, 20) according to one of claims 1 to 14, in which the chest harness (13, 13D, 13G) comprises, for each shoulder of the user, a strap (14, 14D, 14G) configured to surround this shoulder, the connection between each spring rod (15, 15D, 15G) and a strap being positioned above this strap, that is to say in a position further from the abdominal belt (12) than the strap is.

16. The exoskeleton (10, 20) of claim 15, wherein the connection (17, 17D, 17G) between each spring rod (15, 15D, 15G) and a shoulder strap (14, 14D, 14G) is positioned in the upper half of the shoulder strap and in the rear half of the shoulder strap.

17. Exoskeleton (10, 20) according to one of claims 1 to 16, in which the connection (17, 17D, 17G) between at least one spring rod (15, 15D, 15G) and the chest harness (13, 13D, 13G) comprises a ball joint connection.

18. Exoskeleton (10, 20) according to one of claims 1 to 17, in which the connection (16, 16D, 16G) between at least one spring rod (15, 15D, 15G) and the abdominal belt (12) is a ball joint connection.

19. Exoskeleton (10, 20) according to one of claims 1 to 18, wherein the connection (16, 16D, 16G) between each spring rod (15, 15D, 15G) and the abdominal belt (12) is configured to be positioned against a hip of the user (11).

20. Exoskeleton (20) according to one of claims 1 to 19, which comprises a rigid or elastic link (35) between the central parts of two spring rods (15D, 15G).

21. Exoskeleton (10, 20) according to one of claims 1 to 20, at least one connection (16, 16D, 16G) of at least one spring rod (15, 15D, 15G) with the abdominal belt (12) is removable by hand without tools.

22. Exoskeleton (10, 20) according to one of claims 1 to 21, at least one connection (17, 17D, 17G) of at least one spring rod (15, 15D, 15G) with the pectoral harness (13, 13D, 13G) is removable by hand without tools.

23. Exoskeleton (10, 20) according to one of claims 1 to 22, in which at least one spring rod (15, 15D, 15G) comprises a composite material and has, at rest, a cylindrical shape.

24. Kit comprising an exoskeleton (10, 20) according to one of claims 1 to 23 and at least two sets of spring rods (15, 15D, 15G) having different lengths and / or stiffnesses.

Images