An auxiliary device that can be put on by a user to help them lift and carry a load.

Abstract

TITLE: Auxiliary device put on by a user to help them lift and carry a load. Auxiliary device (10), put on, to help them lift and carry a load, comprising: - a support structure (16) having two supports (22) each composed of a back segment (24) and a boom segment (26) and a body attachment (18, 20), two hand attachments (40) coupled by a force connection to the support structure (16) by two driven cable strands (42), engaging the segments (26) via two cable return systems (48). The boom segments (26) each have a variable length so that when the auxiliary device (10) is put on by the user (12), the change in length of a boom segment (26) modifies the distance between the cable return system (48) and the user (12). Figure 1

Description

Title of the invention: Auxiliary device that can be worn by a user to help them lift and carry a load. FIELD OF THE INVENTION

[0001] The present invention relates to an auxiliary device, wearable, to assist the user in lifting and / or carrying loads comprising: a support structure having a first support and a second support, the first support and the second support each having a dorsal segment and a boom segment such that when the auxiliary device is put on by the user, the dorsal segment is on the rear side and principally along the user's back and the boom segment passes from the rear to the front; at least one body attachment for coupling the support structure to a part of the user's body; a first hand attachment for attaching to the right region of the user's hand or wrist, the first hand attachment being coupled by a force connection to the support structure by a first driven cable strand, acting by means of a first cable return system, on the boom segment of the first support;a second hand attachment to be fixed to the left region of the user's hand or wrist, the second hand attachment being coupled by a force link to the support structure by a second driven transmission cable, the second strand of cable attacking the gantry segment of the second support via a second cable return installation. ; STATE OF THE ART

[0002] Such fully mobile auxiliary devices are made in the form of devices that the user can put on and they serve to assist the user in lifting and / or carrying loads. In particular, such a device makes it possible to transfer the stresses that occur when the user lifts objects to specific parts of the body and thus relieve the user's joint and muscular system.

[0003] Such auxiliary devices are, for example, known from document WO 2014 / 195373 A1. This auxiliary device comprises a body-borne support structure and corresponding attachments connected to each of the user's hands. The hand attachments are connected to the support structure by traction cables.

[0004] PURPOSE OF THE INVENTION

[0005] The present invention aims to improve such known auxiliary devices in order to further relieve the user of the burden. Furthermore, it is desirable that the auxiliary device be easy and intuitive to use.

[0006] DESCRIPTION AND ADVANTAGES OF THE INVENTION

[0007] To this end, the invention relates to an auxiliary device, wearable, to help the user lift and / or carry loads comprising: a support structure having a first support and a second support, the first support and the second support each having a dorsal segment and a boom segment such that when the auxiliary device is put on by the user, the dorsal segment is on the rear side and principally along the user's back and the boom segment passes from the rear to the front; at least one body attachment for coupling the support structure to a part of the user's body; a first hand attachment for attaching to the right region of the user's hand or wrist, the first hand attachment being coupled by a force connection to the support structure by a first driven cable strand, acting by means of a first cable return system, on the boom segment of the first support;a second hand attachment to be fixed to the left region of the user's hand or wrist, the second hand attachment being coupled by a force connection to the support structure by a second driven transmission cable, the second cable strand driving the boom segment of the second support via a second cable return system. This device being characterized in that the boom segments each have a variable length such that when the auxiliary device is put on by the user, changing the length of a boom segment modifies the distance between the cable return system of the boom segment and the user.

[0008] The auxiliary device according to the invention is a wearable auxiliary device, that is to say, one that the user can put on to assist them when lifting and / or carrying loads, in the form of a device that a person can wear, that is to say, put on to assist them in lifting and / or carrying objects ("portable or wearable lifting aids"). The auxiliary device is specifically designed to be worn by a person and to allow the person wearing the auxiliary device to move around. In particular, the auxiliary device is designed so that it can be worn like a backpack.

[0009] The auxiliary device comprises a support structure for receiving a weight force and / or an inertial force from a load and transferring it to specific regions of the user's body. The support structure comprises a first support (right) and a second support (left), separate from the first support. The first and second supports each have a dorsal segment and a cantilevered segment. The supports are designed so that when the auxiliary device is put on by the user, the dorsal segment is positioned at the rear, i.e., "on the back" or back of the body, starting practically in the lumbar region, cranially along the user's back, or alternatively, starting at the hip, cranially along the user's back. This does not mean that the rear segment is exactly parallel to the user's back. The dorsal segment may have a straight longitudinal extension or, at least in segments, a curve along its longitudinal length. The support segment is designed so that when the auxiliary device is attached, it transitions from the posterior to the anterior, or ventral, part of the body, or in other words, "from the back to the front of the body." If the user is standing, the dorsal segment is essentially vertical, and the support segment is horizontal, at least in segments. Thus, the dorsal segment can provide vertical support, and the support segment can provide horizontal support.

[0010] The stem segment connects, in particular, to the dorsal segment. Preferably, when the auxiliary device is in place, the respective stem segment passes over the user's shoulder. The dorsal segment and the stem segment can be connected either rigidly or flexibly, for example, by a support link. To adapt the auxiliary device to different body sizes, particularly back length, it is advantageous for the dorsal segment of each support to be itself of adjustable length.

[0011] The auxiliary device further comprises at least one attachment to the body for coupling the support structure to the user's body. This connection to the body allows the forces to be transmitted between the body and the support structure. In particular, the connection to the body is designed to fix the support structure to a region of the user's body and thus hold the auxiliary device to the user's body. Under these conditions, the connection to the body is designed, in particular, so that, by coupling the structure to the body via this connection, the auxiliary device can be put on by the user.

[0012] The auxiliary device further comprises a first (right) hand attachment for securing to the right region of the user's hand or wrist, for example, at the hand joint and / or the base of the user's hand. The first hand attachment is coupled to the support structure by means of a first driven cable strand. This first cable strand thus engages the support segment of the first support via a first cable return system, in particular, in the region of the free end of the support segment.

[0013] The auxiliary device further comprises a second (left) hand attachment for securing to the left region of the user's hand or wrist, for example, at the hand joint and / or the base of the user's hand. The second hand attachment is connected to the support structure by a second driven traction cable. This second traction cable thus engages the boom segment of the second support via a second cable guide system, in particular, in a region of the free end of the boom segment.

[0014] The hand attachments thus serve as a connecting element between the human hand and The auxiliary device. Hand restraints and traction cables allow the transfer of weight or inertial forces from the load being carried to the support structure and are thus applied by at least one body restraint to selected areas of the user's body. The assistance provided by the proposed auxiliary device originates, in particular, from the user's hand joint. Preferably, the hand restraints are designed to grasp the load to be lifted directly with the human hand, which, due to its versatility, is far superior to technical gripping systems. For this purpose, the hand restraints can be made in various forms. One can, for example, consider a design in the form of a sleeve that covers the base of the hand and, if necessary, the hand joint.

[0015] The boom segment of the first support and the boom segment of the second support of the auxiliary device according to the invention are of adjustable length so that when the auxiliary device is installed by the user, by modifying the length of a boom segment, the user can modify, and in particular adjust, the distance of the cable routing system provided on that boom segment from the user. These boom segments are made with an adjustable length so that adjusting the length of the boom segment allows the cable routing system to be moved from that boom segment.

[0016] This embodiment links the cable return point to a movement of the user's hand. In particular, the auxiliary device according to the invention allows, by varying the length of the boom segment, the cable return system it carries to be moved so that the cable return point, for a given use, is always located above the handhold or the load being carried, and so that the corresponding cable is suspended vertically from the boom segment. For such a configuration with a vertically suspended cable, the forces on the cable are minimized, and thus the forces to be experienced by the user are reduced.Conversely, in known auxiliary devices with a fixed support length, the cable return point cannot be controlled. This means that when the load is displaced, for example, away from the user, the cable force is not only the force of the load's weight but also the components of the force produced by its displacement. This results in greater effort required from the user. In the case of the auxiliary device according to the invention with a variable length of the support segment, beyond the construction space, this has a positive impact on the user's degree of freedom of movement, compared to embodiments with supports that are merely movable but not of adjustable length.

[0017] As the cable strands are driven, the user can be assisted in a way active in the holding operation, thus reducing the fraction of force that the user must exert. A common cable drive can also be used to drive both the first and second cable strands. Alternatively, a first cable drive can be used to drive the first cable strand and a second cable drive to drive the second cable strand. The single cable drive can be mounted, in particular, on the support structure.

[0018] For efficient force transmission between the support structure and the body, it is particularly advantageous for the auxiliary device to include a high attachment to the body, specifically a torso attachment to couple the support structure to the user's torso. For example, the low attachment to the body can include a belt encircling the user's hips.Alternatively or in addition, the auxiliary device includes a lower attachment to the body, specifically a hip attachment to couple the support structure to the user's pelvic, hip, and / or lumbar region. For example, the upper attachment to the body includes a belt system, designed so that the auxiliary device can be worn by the user like a backpack. In particular, the respective dorsal segment of the supports is connected to the body via the lower attachment, by a first lower connection point, and to a first upper connection point via the upper connection.

[0019] According to an advantageous development, the boom segments comprise at least two support segments mounted one behind the other, in particular along the longitudinal axis of the boom segment. In particular, at least the two support segments form the boom segment. At least the two support segments can be movable by translation relative to each other along a displacement axis, to modify the length of the boom segment.

[0020] Thus, the two support segments are specifically designed and installed so that the movement of the support segments relative to each other modifies the length of the respective boom segment, in particular, adjusts this length. Specifically, at least the two support segments are movable between a retracted configuration in which the length of the boom segment is reduced to a minimum and an extended configuration in which the length of the boom segment is at its maximum. Such an embodiment allows for reliable movement of the cable deflection point and, at the same time, stable transmission of force through the cable deflection system and the boom segment to at least one attachment point on the body. In particular, a first support segment can be connected to the dorsal segment of the respective support, and a second support segment incorporates the respective cable deflection system.Optionally, additional support segments can then be installed between the first and second support segments. This results in a particularly compact construction, especially if at least two support segments are telescopic, i.e., can be... less partially, slid one into the other.

[0021] According to an advantageous development, the boom segments and cable return installations are made so that a variation in length of a boom segment can be produced by the action of the forces of the cable strand coupled to this boom segment when they are applied to this boom segment.

[0022] In particular, at least two support segments and the cable deflection systems are respectively designed so that a displacement of at least one support segment along the axis of movement, due to the action of cable forces acting on the cable strand coupled to at least one support segment, causes at least one support segment to move. Such an embodiment allows the cable deflection system to be moved solely by hand movement, thus adjusting the cable relative to the vertical direction (passive degree of freedom). In particular, a change in length produced by such components of a cable force acting along the longitudinal axis of the respective support segment, especially along the axis of movement of that support segment.

[0023] To this end, the first and second cable redirection systems are advantageously designed so that such components of a cable force are transmitted to the boom segment coupled to the cable redirection system, in particular to at least one support segment, these components acting along the longitudinal axis of this boom segment, in particular, along the axis of movement. Thus, for example, during a manual operation, if a handhold moves horizontally away from the user, this generates components, particularly horizontal components, of the cable force which are then transmitted by the cable redirection system coupled to the handhold to the corresponding boom segment.The action of these force components lengthens the boom segment and the cable return system remains linked to the movement of the handhold until the horizontal force components disappear, which corresponds to a configuration with a vertically suspended cable.

[0024] In a particularly advantageous manner, the first and second cable return installations are each designed so that both components acting in the deployment direction along the longitudinal or displacement axis are transmitted to the boom segment, and also those acting in the retraction direction along the longitudinal or displacement axis. This allows the boom segment to be lengthened, but also shortened, by the action of cable forces. In the present context, the deployment direction is a direction along the longitudinal or displacement axis of the boom segment in which the boom segment extends, but also, for a retracted auxiliary device, moves away from the user. The retraction direction, or inward direction, is in the present context the opposite direction, that is to say the direction along the longitudinal axis or the extension axis of the stem segment in which the stem segment shortens, that is to say the direction oriented towards the user when the auxiliary device is activated.

[0025] In a simple and robust design, the first and second cable deflection systems each comprise at least two pulleys. Specifically, these two pulleys are associated with a cable deflection system; the cable of the cable strand associated with this cable deflection system is guided around the pulleys so that the components of a cable force are transmitted to the boom segment coupled to the cable deflection system, in particular to a support segment; these forces act along the longitudinal axis of the boom segment, in particular, along the axis of travel. The pulleys can be mounted in a housing or on a frame supporting the cable deflection system. Alternatively, the pulleys can be mounted to rotate on the boom segment.

[0026] An advantageous development of the invention is characterized in that at least two support segments are loaded in a predefined initial configuration, in which the boom segment has a predefined length. When the support segments are deflected from their initial configuration, for example, under the effect of cable forces, the loading causes the support segments, when the force is released, to return to their initial configuration and the boom segment to regain its predefined length. Such an embodiment makes it possible to define a boom segment length that is advantageous for effectively relieving the user.

[0027] In particular, the initial configuration may correspond to a minimum or maximum length of the boom segment. At least the two support segments may be subjected to stress, notably in the extension or retraction direction of the support segments. For example, the support segments may be subjected to stress in the retraction direction so that the boom segment reaches its minimum length in its initial configuration. It may be advantageous to design the cable deflection system so that the forces acting along the axis of movement of the support segments in the extension direction are transmitted to the boom segment. For such an embodiment, for example, to lift a load that is far away, for example, from a shelf, the user may first extend the boom segment by moving the hand rest in the extension direction.After the load is taken on, by applying pressure to the support segments in the retraction direction, i.e. towards the user, the movement of the load will be actively supported towards the user's body.

[0028] At least the two support segments can be subjected, in particular, to stress by a spring in the initial configuration. To this end, the auxiliary device, in particular each support segment, includes a spring system to load at least the two support segments in their initial configuration. Specifically, the spring system comprises at least one tension spring and / or at least one compression spring. The tension spring or compression spring can be mechanically coupled to the support segments so as to load the support segments in their initial configuration. Such an implementation allows the support segments to be loaded in their initial configuration with relatively simple construction methods, which has a positive impact on the overall weight of the auxiliary device. The tension springs and / or compression springs can be integrated, in particular, into the respective support segment, i.e., for example, within the support itself.

[0029] To variably adjust the position of the support segments in the initial configuration, and thus the position of the cable guide point in the resting configuration of the auxiliary device, it is advantageous for the auxiliary device to include at least one tensioning mechanism to modify, and in particular adjust, the preload of at least one tension spring and / or at least one compression spring. By modifying the preload of at least one tension or compression spring, the resting position of the spring is flexibly adjusted, thus individually adapting the length of the support segment in the initial configuration.

[0030] According to an advantageous development, the auxiliary device includes an actuation system for modifying the length of the boom segments, in particular at least the length of the two support segments of a respective boom segment along their respective axes of movement, relative to each other. Such an embodiment makes it possible to actively adjust the length of a boom segment and thus the distance between the cable return system and the user, in particular also against the cable force acting on the boom segment. This further reduces the user's workload, as the actuation system provides the necessary effort to modify the boom segment length or move the cable return point.

[0031] In particular, the actuation system can be designed to modify the length of the boom segment so that the cable guide and thus the cable guide point are always located above the handhold and therefore above the object being carried. The actuation system may include, for example, one or more linear actuators for each boom segment. Advantageously, the actuation system is integrated into the support structure, specifically into the boom segment.

[0032] The actuation device may, in addition, include a control An actuation control is designed to operate the actuation system. Specifically, the actuation control is designed to operate the actuation system, particularly based on the force of a cable, so that the actuation system modifies the length of the boom segment coupled to that cable in order to move at least one support segment along the axis of travel to reduce the cable force, specifically to a minimum. Thus, the auxiliary device further includes a sensor installation that cooperates with the actuation control by measuring the cable force.Alternatively or in addition, the actuation control is designed to control the actuation system, specifically based on the cable's angle of travel relative to the vertical. This allows the actuation system to modify the length of the boom segment coupled to the cable, including at least one support segment, in order to move it along the axis of travel relative to the other, and to adjust the cable to a vertical orientation. The auxiliary device may also include a sensor installation that works in conjunction with the actuation control to measure the respective cable's angle of travel relative to the vertical. The actuation system thus enables active control of the respective cable return system, thereby adjusting the cable to achieve a configuration with minimal cable forces and thus minimizing user strain.

[0033] According to an advantageous development, the actuation system cooperates with at least one cable drive mentioned above for the first and / or second traction cable so that, during the length variation of a boom segment by the actuation system, at least one cable drive drives the cable strand coupled to that boom segment, thus maintaining a constant cable length between the cable return system and the hand attachment. In this way, the actuation system and at least one cable drive can cooperate to ensure that, during the movement of a supported load, the cable length between the cable return system and the hand attachment remains constant. This allows an object to be held at a predetermined height and maneuvered, further reducing strain on the user.In particular, the cable drive and the actuation system cooperate so that a shortening of the stem segment by the actuation system of at least one cable drive at least partially winds the cable strand coupled to that stem segment and thus shortens the cable and / or in the case of a displacement of the stem segment by the actuation system, so that the cable drive at least partially unwinds the cable strand and thus lengthens it.

[0034] According to an advantageous development, the first and second hand attachments are coupled to the support structure by a double cable. This double cable comprises a first and / or a second strand of cable. This embodiment halves the forces of the cable. In particular, one end of the double cable can be fixed to the support structure, in particular to the boom segment and the second end can be connected to a cable strand drive.

[0035] According to another advantageous feature, the auxiliary device includes at least one fastening system for fixing the respective boom segment at a predefined or predeterminable length. This simplifies the static holding of a load at a defined distance from the user. In particular, each boom segment can be associated with its own fastening system. This fastening system can, notably, be designed to lock at least two support segments of a boom segment to prevent movement along the axis of travel. For example, so that, in a locked state, the length of the boom segment is reduced to a minimum.

[0036] Furthermore, advantageously, the cable of the first strand and the cable of the second strand are each guided, at least segment by segment, in a corresponding cable guide. This embodiment minimizes the cable's disruptive shape. Moreover, it reduces the risk of the user becoming entangled in the cable during handling. Advantageously, the cable guide is integrated into the support structure, in particular into the respective support and, more specifically, into the boom segment of a respective support, and furthermore, into both the boom segment and the dorsal segment of a respective support. The cable guide is designed so that the cable of the respective strand exits in the region of the free end of the boom segment, in particular on the front face of the boom segment, by means of a cable guide system installed outside the boom segment.The cable return installation can be a cable outlet installation, or the cable return point can be a cable outlet point.

[0037] To prevent any uncontrolled movement of the hand attachment, the first and second traction cables respectively include a cable brake and in particular, the cable brake is integrated into the first or second support, in particular in the respective dorsal segment.

[0038] According to an advantageous development, the boom segment of the first support is pivotally connected to the dorsal segment of the first support and the output segment of the second support is pivotally connected to the dorsal segment of the second support.

[0039] Preferably, the respective stem segment is mounted pivoting about a first stem pivot axis, in particular vertical with respect to the longitudinal axis of the dorsal segment, on the respective dorsal segment. This allows the stem segment to be pivoted to the left or right when the auxiliary device is tightened, in particular without having to pivot the dorsal segment.

[0040] Alternatively or in addition, the respective support segment can be installed in such a way pivoting on the dorsal segment, around a second pivot axis of the stem, orthogonal to the longitudinal axis of the dorsal segment and to a longitudinal axis of the stem segment, in particular a horizontal one. This allows the stem segment to be pivoted "upwards" or "downwards" without having to simultaneously pivot the dorsal segment.

[0041] Thus, in conjunction with the modification of the length of the gantry segments, a greater freedom of movement can be achieved. Brief description of the drawings

[0042] The present invention will be described in more detail below with reference to an embodiment shown in the accompanying drawings in which:

[0043] [Fig-1] Simplified schematic representation of an embodiment of a device auxiliary,

[0044] [Fig.2] Simplified schematic representation to explain the use of the auxiliary device

[0045] [Fig.3] Simplified schematic representation of a segment of the device's support arm auxiliary of the [Fig.l],

[0046] [Fig.4a] Sketch used to describe an embodiment of a return installation cable of the auxiliary device in side view,

[0047] [Fig.4b] Side view sketch of another embodiment of an installation of cable return

[0048] [Fig.4c] Side view sketch of another embodiment of an installation of cable return

[0049] [Fig. 5a] Sketch according to a perspective view used to describe a method of realization installation of a cable return system for the auxiliary device,

[0050] [Fig. 5b] sketch according to a perspective view used to describe a method of realization Installation of a cable return system for the auxiliary device.

[0051] DESCRIPTION OF IMPLEMENTATION METHODS OF THE INVENTION

[0052] In the following description, the different identical elements in the figures bear the same references.

[0053] Figure 1 is a simplified schematic representation of a wearable auxiliary device, generally referred to as part number 10. The auxiliary device 10 is designed to assist a user 12 in lifting and / or carrying a load 14 (see Figure 2). As will be detailed below, the auxiliary device 10 is in the form of a portable device that the user 12 puts on and wears.

[0054] The auxiliary device 10 comprises a support structure 16 for receiving a load force, in particular the weight and / or inertial force of a load 14 carried by a user 12 and deflected towards certain parts of the user's body 12. For this purpose, The auxiliary device 10 further includes at least one body attachment for coupling the support structure 16 to the user's body 12. In the embodiment shown, the auxiliary device 10 has a lower attachment 18 for coupling the support structure 16 to the pelvis, hips and / or lumbar region of the user 12 and a high body attachment 20 for coupling the support structure 16 to the torso of the user 12 (see figures 1 and 2).

[0055] The support structure 16 comprises a first (right) support 21-1 and a second (left) support 22-2. As shown in [Fig. 1], the supports 21-1, 21-2 each have a respective dorsal segment 24-1, 24-2 and a respective cantilever segment 26-1, 26-2. In the example shown, the dorsal segments 24-1, 24-2 are connected to the cantilever segments 26-1, 26-2 by a support joint 28, which is shown only schematically. Alternatively, the cantilever segments 26-1, 26-2 can be connected to the dorsal segments 24-1, 24-2 by cantilever joints (not shown).For example, the stem joint is made so that the respective stem segment 26-1, 26-2 pivots around a first stem axis, in particular vertical, parallel to the longitudinal axis 53 of the dorsal segment 24-1, 24-2 and / or around a second stem axis, orthogonal, in particular horizontal with respect to the longitudinal axis 53 of the dorsal segment 24-1, 24-2 and to the longitudinal axis 54 of the stem segment 26-1, 26-2. .

[0056] As schematically shown in [Fig. 1], the first support 22-1 is connected to a first lower connection point 30-1 to the lower body fixing 18 and to a first upper connection point 32-1 with the upper body fixing 20. The second support 22-2 is connected correspondingly to a second lower connection point 30-2 to the lower body fixing 18 and to a second upper connection point 32-2 to the upper body fixing 20.

[0057] As shown in [Fig. 2], the auxiliary device 10 is designed so that when put on by a user 12, the dorsal segments 24-1, 24-2 are at the rear, i.e., against the back 34 of the user 12, and extend practically cranially (see arrow 36 in [Fig. 2]) from the lower attachment 18 along the dorsal part of the user 12 (for example, in the vertical direction as shown in [Fig. 2]). The support segments 26-1, 26-2 are designed so that when the auxiliary device 10 is worn, they pass from the rear to the front, i.e., from the back 34 to the front side 38 of the user 12, in particular passing over their shoulder.

[0058] In the case of the example shown, the dorsal segments 24-1, 24-2 and the support segments 26-1, 26-2 are orthogonal to each other. When the auxiliary device 10 is put in place, the dorsal segments 24-1, 24-2 are, to a certain extent, practically vertical and the support segments 26-1, 26-2 are practically horizontal (see [Fig. 2]).

[0059] The auxiliary device 10 further comprises a first hand attachment 40-1 to be attached to the right region of the user's right hand or wrist 12, and a second hand attachment 40-2 to be attached to the left region of the user's left hand or wrist 12. As schematically shown in [Fig. 1], the first hand attachment 40-1 is connected to the stem segment 26-1 of the first support 22-1 by a first cable strand 42-1, driven along with cable 44-1. The second hand attachment 40-2 is connected to the stem segment 26-2 of the second support 22-2 by a second cable strand 42-2 driven along with cable 44-2. In the example shown, the first cable strand 42-1 is driven by a first cable drive 46-1 and the second cable strand 42-2 is driven by a second cable drive 46-2. As an example, the cable drives 46-1, 46-2 are provided on the support structure 16, in particular on the dorsal segments 24-1, 24-2 (see [Fig.1]).

[0060] As shown schematically in [Fig.1], the cables 44-1, 44-2 attack the support segment 26-1, 26-2 associated with a first cable return point 50-1, 50-2 by means of a cable return installation 48-1, 48-2 detailed below.

[0061] In the case of the example shown, the cables 44-1, 44-2 are guided respectively by a cable guide or cable guide (not shown) in the respective support 22-1, 22-2 and they emerge at the free end of the boom segment 26-1, 26-2 by the cable return installations 48-1, 48-2.

[0062] The embodiment of the cantilever segments 26-1, 26-2 will be described below with reference to [Fig. 3] using the cantilever segment 26-1 of the right support 21-1. The cantilever segment 26-2 of the second support 22-2 is functionally identical to the former. As shown in [Fig. 3], the cantilever segment 26-1 of the example presented comprises three support segments 52-1, 52-2, 52-3 one behind the other along the longitudinal axis 54 of the cantilever segment 26-1.

[0063] In embodiments not shown, the gantry segment 26-1, 26-2 may comprise only two support segments 52 or more than three support segments.

[0064] According to [Fig. 1], a first support segment 52-1 is connected to the dorsal segment 24-1 of the support 22-1, and a second support segment 52-2 includes the cable guide assembly 48-1. An optional third support segment 52-3 is provided between the first and second support segments 52-1, 52-2. The support segments 52 are movable relative to each other along a displacement axis 56, which, in the embodiment shown, corresponds to the longitudinal axis 54. By moving the support segments 52 along the displacement axis 56, the length of the boom segment 26-1 can be modified, and when the auxiliary device 10 is in place, the distance of the cable guide assembly 48-1 from the user 12 can be adjusted.

[0065] The support segments 52 of the illustrated embodiment are telescopic. Thus, the support segments 52 retract into each other to decrease the length of the boom segment 26-1, in the retracting direction 58; to lengthen the boom segment 26-2, they are extended from each other in the deployment direction 60.

[0066] To induce a displacement movement of the support segments 52 and thus cause a change in length of the boom segment 26-1, 26-2, an actuation system (not shown) can be provided, designed to move the support segments 52 along the axis of movement 56 relative to each other. For this purpose, the actuation system comprises, for example, one or more linear actuators (not shown) intended to be integrated into the boom segment 26-1, 26-2.

[0067] The auxiliary device 10 may further include an actuation system control (not shown) for controlling the actuation system as described above. The actuation system control may, in particular, be designed to control the deflection angle (a) of the cable 44 relative to the vertical direction, so that the actuation system can modify the length of the boom segment 26-1 coupled to the cable 44-1 to adjust the cable 44-1 relative to the vertical, i.e., so that the cable 44-1 resumes its vertical direction. For this purpose, the auxiliary device 10 includes a sensor installation (not shown) for measuring the deflection angle (a) of the cable 44-1, 44-2 relative to the vertical direction. For this purpose, the auxiliary device 10 includes a sensor installation (not shown) to capture the angle of deviation (a) of the cable 44-1, 44-2 with respect to the vertical.In the case of a deviation of the cable 44-1 as shown, by way of example, in [Fig.3] by the broken line 44-1', the actuation system would then move the support segment 52 in the deployment direction 60, that is to say it would lengthen the boom segment 26-1 so that the cable 44-1' is always at a right angle to the longitudinal axis 54 of the boom segment 26-1.

[0068] In an embodiment with an actuation system, the cable return installation 48-1, 48-2 can, for example, include respectively a single pulley 62 on which the cable 44-1, 44-2 is guided (see [Fig.4a]).

[0069] In addition to or as an alternative to the embodiment with an actuation system, the support segments 52 can be designed to drive the movement of the support segments 52 along the axis of movement 56 by the effect of the forces of the cable 44. Under these conditions, the cable deflection system 48 is designed in particular so that the components of the force of the cable 44 act along the longitudinal axis 54 or the axis of movement 56 to be transmitted to the support segment 52-2 connected to the cable deflection system 48. By way of example, the cable deflection system 48 can be designed to transmit the components of a force of cable to the boom segment 26 which act in the direction of deployment 60 along the axis of displacement 56 as well as the components of a cable force which act in the direction of retraction 58 along the axis of displacement 60.

[0070] Figures 4b and 4c show two examples of the implementation of a cable return installation 48; These embodiments are designed to apply, along the axis of displacement 56, in particular both in the retraction direction 58 and in the deployment direction 60, the forces of the cable in the boom segment 26-1, 26-2, i.e. in the support segment 52-2 connected to the cable return system 48. The cable return system 48 comprises, in both cases, two pulleys 64-1, 64-2 around which the cable 44 passes. As shown in Figures 4a and 4b, the pulleys 64-1, 64-2 can be used either when they are horizontal (in the example embodiment they are parallel to the retraction direction 58 and to the deployment direction 60) or vertical (in [Fig. 4b] this is indicated by the double arrow 66).The pulleys 64-1, 64-2 are housed, for example, in a casing or in a frame of the cable return installation 48. It is also possible to consider holding the cable pulleys 64-1, 64-2 in rotation on the boom segment 26 or the support segment 52-2 by direct mounting.

[0071] In the embodiment shown in [Fig.4b], the cable 44 is first guided along a path from the cable drive 46 to the hand attachment 40 in a counterclockwise direction or around the pulley 64-1 at the rear in the deployment direction 60 and then in a clockwise direction and around the second pulley 64-2.

[0072] In the case of the embodiment shown in [Fig.4c], the cable 44 has a path going from the cable drive 46 to the hand attachment 40, first passing clockwise around the second pulley 64-2, forward, in the direction of deployment 60, and in the high vertical position then counterclockwise passing around the lower pulley 64-1, backward in the direction of deployment 60.

[0073] Figures 5a and 5b show other embodiments of the cable deflection system 48 in the case of the hand clamps 40-1, 40-2 by means of a double cable 68 acting on the boom segment 26-1, 26-2. In particular, the double cable 68 is connected at one end to the support structure 16 and at the other end to the cable drive 46. In both embodiments, the cable deflection system 48 comprises two pulleys 70-1, 70-2 situated in a common plane (in the plane of Figures 5a, 5b) and separated from each other both horizontally and vertically. In embodiments not shown, the pulleys 70-1, 70-2 may also rotate about a common axis of rotation, in particular by being separated from each other along the axis of rotation.

[0074] In the embodiment of the cable return system 48 of [Fig. 5a], the cable 68 passes around the pulleys 70-1, 70-2 so that the cable forces acting at least in the re-entrant direction 58 are transmitted to the boom segments 26-1, 26-2 or to the support segment 52-2 connected to the cable return system 48. In the case of the embodiment of the cable return system 48 of [Fig. 5b], the cable 68 is instead guided around the pulleys 70-1, 70-2 so that the cable forces acting in the re-entrant direction 58 and also in the extension direction 60 are induced in the boom segment 26-1, 26-2, i.e. in the support segment 52-2 connected to the cable return system 48.

[0075] NOMENCLATURE OF MAIN ELEMENTS

[0076] (without suffixes 1 and 2)

[0077] 10 Auxiliary assistance device

[0078] 12 User

[0079] 14 Charge

[0080] 16 Support structure

[0081] 18 Base body attachment

[0082] 20 High body attachment

[0083] 22 Support

[0084] 24 Dorsal segment

[0085] 26 Segment of gallows

[0086] 28 Support link

[0087] 30 Low connection point

[0088] 32 High connection point

[0089] 34 User's back

[0090] 36 Arrow

[0091] 38 Front side

[0092] 40 Hand attachment

[0093] 42 Cable strand

[0094] 44 Cable

[0095] 46 Cable drive

[0096] 48 Cable return installation

[0097] 50 Cable return point

[0098] 52 Support segment

[0099] 54 Longitudinal axis

[0100] 56 Axis of movement

[0101] 58 Inward direction

[0102] 60 Deployment direction

[0103] 64 Pulley

[0104] 66 Double arrow

[0105] 68 Double cable

[0106] 70 Pulley

[0107] a Deflection angle

Claims

Demands

1. An auxiliary device (10), wearable, for assisting a user (12) in lifting and / or carrying loads (14) comprising: - a support structure (16) having a first support (22-1) and a second support (22-2), * the first support (22-1) and the second support (22-2) each having a dorsal segment (24-1, 24-2) and a stem segment (26-1, 26-2) such that when the auxiliary device (10) is put on by the user (12), the dorsal segment (24-1, 24-2) is on the rear side and mainly along the back of the user (12) and the stem segment (26-1, 26-2) passes from the rear to the front, - at least one body attachment (18, 20) to couple the support structure (16) to a part of the user's body (12), - a first hand fixation (40-1) to attach to the right region of the user's hand or wrist (12), * the first hand attachment (40-1) being coupled by a force connection to the support structure (16) by a first driven cable strand (42-1), * the first cable strand (42-1) attacking, via a first cable return installation (48-1), the support segment (26-1) of the first support (22-1), - a second hand attachment (42-2) to attach to the left region of the user's hand or wrist (12), * the second hand attachment (40-2) being coupled by a force connection to the support structure (16) by a second driven cable strand (42-2), * the second cable strand (42-2) attacking, via a second cable return installation (48-2), the support segment (26-2) of the second support (22-1), device characterized in that - the boom segments (26-1, 26-2) each have a variable length so that when the user (12) has put the auxiliary device (10), the change in length of a boom segment (26-1, 26-2) modifies the distance between the cable return installation (48-1, 48-2) of the boom segment (26-1, 26-2) and the user (12).

2. A wearable auxiliary device (10) according to claim 1, wherein the gantry segments (26-1, 26-2) each have at least two support segments (52-1, 52-2, 52-3) movable by translation relative to each other, in particular telescopically along a displacement axis (60).

3. Auxiliary device (10) according to any one of claims 1 or 2, wherein a variation in length of a boom segment (26-1, 26-2) in particular a displacement of at least one support segment (52-1, 52-2, 52-3) is controlled by the action on the boom segment (26-1, 26-2) in particular on at least one support segment (52-2), of cable forces of the cable strand (42-1, 42-2) coupled to the boom segment (26-1, 26-2).

4. Auxiliary device (10) according to any one of the preceding claims, wherein the first and second cable return installations (48-1, 48-2) are each made so that the components of a cable force which act along the longitudinal axis (54) of this boom segment (26-1, 26-2) in particular along the axis of displacement (60), are transmitted to the boom segment (26-1, 26-2) in particular to at least one support segment (52-2).

5. Auxiliary device (10) according to any one of the preceding claims, wherein the first and second cable return installation (48-1, 48-2) have respectively at least two pulleys (64-1, 64-2), the cable (44) being guided around the pulleys (64-1, 64-2) to transmit to the boom segment (26-1, 26-2), the components of a force from the cable (44) which act along the longitudinal axis (54) of this boom segment (26-1, 26-2) in particular along the axis of displacement (60).

6. Auxiliary device (10) according to any one of claims 2 to 5, wherein at least two of the support segments (52-1, 52-2, 52-3) are stressed according to an output configuration in particular wherein the length of the boom segment (26-1, 26-2) is minimal or maximal.

7. A putable auxiliary device (10) according to claim 6, comprising a spring installation for stressing at least two of the segments of support (52-1, 52-2, 52-3) in their initial configuration, * the spring installation including in particular a tension spring integrated in particular into the stem segment 26-1, 26-2) and / or at least a compression spring integrated in particular into the stem segment.

8. Auxiliary device (10) according to claim 7, comprising a tensioning mechanism for modifying, in particular adjusting the preload of at least one tension spring and / or at least one compression spring.

9. Auxiliary device (10) according to any one of the preceding claims, further comprising an actuation system in particular with at least one linear actuator for modifying the length of the respective boom segment (26-1, 26-2), in particular moving the two support segments (52-1, 52-2, 52-3) relative to each other.

10. An auxiliary device (10) according to claim 9, comprising an actuation system control for: - controlling the actuation system based on a cable force (44-1, 44-2) so that the actuation system modifies the length of the boom segment (26-1, 26-2) coupled to the cable (44-1, 44-2), in particular displacing at least one support segment (52-1, 52-2, 52-3) along the axis of displacement (60) to reduce, in particular to minimize, the force of the cable strand (44-1, 44-2), and / or - controlling the actuation system based on the deflection angle (a) of the cable (44-1, 44-2) with respect to the vertical direction so that the actuation system modifies the length of the boom segment (26-1, 26-2) coupled to the cable strand (44-1, 44-2) in particular move at least one support segment (52-1, 52-2, 52-3) along the axis of displacement (60) so that the cable (44-1, 44-2) is set to the vertical.

11. Auxiliary device (10) according to any one of claims 9 or 10, comprising at least one cable drive (46-1, 46-2) drives the first and / or second cable strand (42-1, 42-2), * at least this cable drive (46-1, 46-2) cooperates with the actuation system so that during a variation in length of a boom segment (26-1, 26-2) by the actuation system, at least this cable drive (46-1, 46-2) drives the cable strand (42-1, 42-2) coupled to this boom segment (26-1, 26-2) to maintain constant the cable length between the cable return installation (48-1, 48-2) and the hand attachment (40-1, 40-2).

12. Auxiliary device (10) according to any one of the preceding claims, wherein the first and second hand attachment (40-1, 40-2) are coupled to the support structure (16) respectively by a double cable (68), in particular a first end of the double cable (68) is held to the support structure (16), in particular to the boom segment (26-1, 26-2), and * a second end of the cable is connected to a cable drive (46-1, 46-2).

13. Auxiliary device (10) according to any one of the preceding claims, comprising a fastening installation designed to fix the respective boom segment (26-1, 26-2) at a predefined length.

14. Auxiliary device (10) according to any one of the preceding claims, wherein the cable (44-1, 44-2) of the first and second strand of cable (42-1, 42-2) is guided at least segment by segment in a cable guide, * the cable guide being integrated into the support structure (16) in particular into the respective support (22-1, 22-2) in particular so that the cable (44-1, 44-2) exits the boom segment (26-1, 26-2) in the region of the free end of the boom segment (26-1, 26-2) by passing over the cable return installation (48-1, 48-2).

15. Auxiliary device (10) according to any one of the preceding claims, wherein the first and second strands of cable (42-1, 42-2) respectively comprise a cable brake integrated into the support (22-1, 22-2) associated with the strand of cable (42-1, 42-2).

Images